JP7210453B2 - Shaft assembly with first and second articulation lockouts - Google Patents

Description

The present invention relates to surgical instruments, and to surgical stapling and severing instruments designed for stapling and severing tissue in a variety of situations, and staple cartridges for use therewith.

Various features of the embodiments described herein, together with their advantages, can be understood by the following description in conjunction with the accompanying drawings below.
FIG. 100 is a perspective view of a shaft assembly in accordance with at least one embodiment; 2 is a perspective view of the shaft assembly of FIG. 1 illustrated with some components removed; FIG. 2 is a perspective view of a spine assembly of the shaft assembly of FIG. 1; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1; FIG. 2 is an exploded view of the shaft assembly of FIG. 1 illustrated with some components removed; FIG. 4 is a partial cross-sectional view of the shaft assembly of FIG. 3; FIG. 2 is an exploded view of the distal end of the shaft assembly of FIG. 1; FIG. 2 is an exploded view of the intermediate portion of the shaft assembly of FIG. 1; FIG. 2 is an exploded view of the shaft assembly of FIG. 1 illustrated with some components removed; FIG. 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrated in an open, unfired configuration and with an unused staple cartridge; FIG. 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrated before the firing member of the shaft assembly has been advanced distally; FIG. 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrated after the firing member has advanced distally through the closing stroke, but before the firing member has been advanced through the firing stroke; FIG. be. 2 is a partial cross-sectional view of the distal end of the illustrated shaft assembly of FIG. 1 after the firing member's firing stroke has begun; FIG. 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrating the firing member in the retracted position after the firing stroke; FIG. 2 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 illustrating the staple cartridge in a post-use condition and the firing member in a locked out condition; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in an articulating mode of operation; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in a firing mode of operation; FIG. 17 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated in the articulation mode of operation of FIG. 16; FIG. 18 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated in the firing mode of operation of FIG. 17; FIG. 20 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 20-20 in FIG. 18; FIG. 21 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 21-21 in FIG. 18; FIG. 22 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 22-22 in FIG. 19; FIG. 23 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 taken along line 23-23 in FIG. 19; FIG. 2 is a partially exploded view of the shaft assembly of FIG. 1 illustrating a movable clutch in the firing system of the shaft assembly; FIG. 25 is a cross-sectional view of an intermediate firing rod of the firing system of FIG. 24; FIG. 25 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the movable clutch of FIG. 24 in a firing configuration; FIG. 27 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the actuatable clutch of FIG. 24 being transitioned from the firing configuration of FIG. 26 to the articulated configuration; FIG. 26 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the movable clutch of FIG. 24 being transitioned from the fired configuration of FIG. 26 to the articulated configuration; FIG. 25 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the movable clutch of FIG. 24 in an articulated configuration; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in a non-articulated configuration; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrated in an articulated configuration; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the articulation system of the shaft assembly in an unlocked state; FIG. 2 is a partial cross-sectional view of the shaft assembly of FIG. 1 illustrating the articulation system of the shaft assembly in a locked state; FIG. 2 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated with a retraction system for the shaft assembly in an undeployed state; FIG. 35 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrated with the retraction system of FIG. 34 in a deployed state; FIG. 35 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 illustrating the retraction system of FIG. 34 in an activated state; FIG. FIG. 100 is a perspective view of a shaft assembly in accordance with at least one embodiment; 38 is a partial perspective view of the shaft assembly of FIG. 37 illustrated with some components removed; FIG. 38 is a partial perspective view of the shaft assembly of FIG. 37 illustrated with additional components removed; FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37; FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37; FIG. 38 is an exploded view of the shaft assembly of FIG. 37 illustrated with some components removed; FIG. 38 is an exploded view of the distal end portion of the shaft assembly of FIG. 37; FIG. 38 is an exploded view of the proximal end of the shaft assembly of FIG. 37 illustrated with some components removed; FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37 illustrated in a closed or clamped configuration; FIG. 38 is a partial cross-sectional view of the shaft assembly of FIG. 37 illustrated in an open configuration; FIG. FIG. 12 is a perspective view of a shaft assembly, illustrated with some components removed, according to at least one embodiment; 48 is a perspective view of a shift assembly of the shaft assembly of FIG. 47; FIG. 48 is an exploded view of the shaft assembly of FIG. 47 illustrated with some components removed; FIG. 48 is a partial cross-sectional view of the shaft assembly of FIG. 47 illustrated in an articulating mode of operation; FIG. 48 is a partial cross-sectional view of the shaft assembly of FIG. 47 illustrated in a firing mode of operation; FIG. FIG. 12 is a perspective view of a shaft assembly with a shift assembly in accordance with at least one alternative embodiment; 53 is a partial cross-sectional view of the shaft assembly of FIG. 52 illustrated in an articulating mode of operation; FIG. 53 is a partial cross-sectional view of the shaft assembly of FIG. 52 illustrated in a firing mode of operation; FIG. FIG. 100 is a perspective view of a mounting portion of a shaft assembly in accordance with at least one embodiment; 56 is a perspective view of the mounting portion of FIG. 55 illustrated in an open configuration; FIG. 56 is a partial cross-sectional view of the mounting portion of FIG. 55; FIG. 57 is a perspective view of the mounting portion of FIG. 55 with some components removed and illustrated in the open configuration of FIG. 56; FIG. 57 is a perspective view of the mounting portion of FIG. 55 with additional components removed and illustrated in the open configuration of FIG. 56; FIG. 56 is a plan view of the drive train of the mounting portion of FIG. 55 illustrated in a firing mode of operation; FIG. 61 is a cross-sectional view of the drive train of FIG. 60 taken along line 61-61 in FIG. 60 illustrated in the firing mode of operation of FIG. 60; FIG. 62 is a cross-sectional view of the drive train of FIG. 60 taken along line 62-62 in FIG. 60, illustrated in the firing mode of operation of FIG. 60; FIG. 63 is a cross-sectional view of the drive train of FIG. 60 taken along line 63-63 in FIG. 60 illustrated in the firing mode of operation of FIG. 60; FIG. 62 is a cross-sectional view of the drive train of FIG. 60 taken along line 62-62 in FIG. 60 illustrated in a second mode of operation; FIG. 63 is a cross-sectional view of the drive train of FIG. 60 taken along line 63-63 in FIG. 60 illustrated in reverse mode of operation; FIG. 56 is a partial cross-sectional view of the mounting portion of FIG. 55 illustrated in the retracted mode of operation of FIG. 65; FIG. FIG. 10 is a partial cross-section of a shaft assembly comprising an end effector illustrated with a first articulation lock in a locked state and a second articulation lock in an unlocked state; It is a diagram. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 illustrating the first and second articulation locks in a locked state; FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 illustrating the first and second articulation locks in a locked state; FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 illustrated with the first articulation lock in a locked state and the second articulation lock in an unlocked state; FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 illustrated with the first and second articulation locks in an unlocked state; FIG. 1 is a perspective view of a surgical instrument including a handle and an interchangeable shaft assembly; FIG. 1 is a perspective view of a robotic surgical system operably supporting multiple surgical instruments; FIG.

Corresponding reference characters indicate corresponding parts throughout the drawings. The exemplifications set forth herein are illustrative of various embodiments of the invention in one form and such exemplifications should not be construed as limiting the scope of the invention in any way. Absent.

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No., entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF;
- United States Patent Application No., entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS; Attorney Docket No. END7981USNP/160156;
- U.S. Patent Application No. LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS; Attorney Docket No. END7982USNP/160157;
- U.S. Patent Application No., entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF;
－ＬＯＣＫＯＵＴ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲＳ ＡＮＤ ＲＥＰＬＡＣＥＡＢＬＥ ＴＯＯＬ ＡＳＳＥＭＢＬＩＥＳと題する、米国特許出願第 号；代理人整理番号、ＥＮＤ７９８４ＵＳＮＰ／１６０１５９、及び －ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲＳ ＡＮＤ ＡＤＡＰＴＡＢＬＥ ＦＩＲＩＮＧ ＭＥＭＢＥＲＳ ＴＨＥＲＥＦＯＲと題する、米国特許出願第 号；代理人Reference number, END7985USNP/160160.

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No., Attorney Docket No. END7986USNP/160161, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;
－ＳＵＲＧＩＣＡＬ ＴＯＯＬ ＡＳＳＥＭＢＬＩＥＳ ＷＩＴＨ ＣＬＵＴＣＨＩＮＧ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＳＨＩＦＴＩＮＧ ＢＥＴＷＥＥＮ ＣＬＯＳＵＲＥ ＳＹＳＴＥＭＳ ＷＩＴＨ ＣＬＯＳＵＲＥ ＳＴＲＯＫＥ ＲＥＤＵＣＴＩＯＮ ＦＥＡＴＵＲＥＳ ＡＮＤ ＡＲＴＩＣＵＬＡＴＩＯＮ ＡＮＤ ＦＩＲＩＮＧ ＳＹＳＴＥＭＳと題する、米国特許出願第 号、代理人整理番号、ＥＮＤ７９８７ＵＳＮＰ／１６０１６２、
- U.S. Patent Application No., entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
- U.S. Patent Application No., Attorney Docket No. END7989USNP/160164, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES;
- U.S. Patent Application No., Attorney Docket No. END7990USNP/160165, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN;
- U.S. Patent Application No., entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
- U.S. Patent Application No., Attorney Docket No. END7992USNP/160167, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE;
- US Patent Application No., entitled METHODS OF STAPLING TISSUE; Attorney Docket No. END7993USNP/160168;
- U.S. Patent Application No., entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS;
- U.S. Patent Application No., Attorney Docket No. END7995USNP/160170, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS;
- U.S. Patent Application No., entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS;
- U.S. Patent Application No., Attorney Docket No. END7997USNP/160172, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES;
－ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＬＯＣＫＯＵＴ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＰＲＥＶＥＮＴＩＮＧ ＦＩＲＩＮＧ ＳＹＳＴＥＭ ＡＣＴＵＡＴＩＯＮ ＵＮＬＥＳＳ ＡＮ ＵＮＳＰＥＮＴ ＳＴＡＰＬＥ ＣＡＲＴＲＩＤＧＥ ＩＳ ＰＲＥＳＥＮＴと題する、米国特許出願第 号、代理人整理番号、ＥＮＤ７９９８ＵＳＮＰ／１６０１７３、及び －ＳＴＡＰＬＥ ＣＡＲＴＲＩＤＧＥＳ ＡＮＤ ＡＲＲＡＮＧＥＭＥＮＴＳ ＯＦ ＳＴＡＰＬＥＳ ＡＮＤ ＳＴＡＰＬＥ ＣＡＶＩＴＩＥＳ ＴＨＥＲＥＩＮと題する, U.S. Patent Application No., Attorney Docket No. END7999USNP/160174.

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No., Attorney Docket No. END8013USNP/160175, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT;
- U.S. Patent Application No., Attorney Docket No. END8014USNP/160176, entitled STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES;
- US Patent Application No., entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL; Attorney Docket No. END8016USNP/160178;
- U.S. Patent Application No., Attorney Docket No. END8017USNP/160179, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN;
- U.S. Patent Application No., entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER;
- U.S. Patent Application No., Attorney Docket No. END8019USNP/160181, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT;
- US Patent Application No. FIRING ASSEMBLY COMPRISING A LOCKOUT; Attorney Docket No. END8020USNP/160182;
- U.S. Patent Application No., Attorney Docket No. END8021USNP/160183, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRRING ASSEMBLY LOCKOUT;
Attorney Docket No. END8022USNP/160184; and - US Patent Application No. entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE; /160185.

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No., Attorney Docket No. END8038USNP/160186, entitled STAPLE FORMING POCKET ARRANGEMENTS;
- US Patent Application No., entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS; Attorney Docket No. END8039USNP/160187;
- U.S. Patent Application No., Attorney Docket No. END8041USNP/160189, entitled METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT;
- U.S. Patent Application No., Attorney Docket No. END8042USNP/160190, entitled BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS;
- U.S. Patent Application No., Attorney Docket No. END8043USNP/160191, entitled CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRRING SYSTEMS;
- U.S. Patent Application No., Attorney Docket No. END8044USNP/160192, entitled SURGICAL STAPLERS WITH INDEPENDENTLY ACTUAL CLOSING AND FIRRING SYSTEMS;
- U.S. Patent Application No., Attorney Docket No. END8045USNP/160193, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES;
- U.S. Patent Application No., Attorney Docket No. END8047USNP/160195, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS;
- U.S. Patent Application No., Attorney Docket No. END8048USNP/160196, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS;
- U.S. Patent Application No., entitled NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS;
- US Patent Application No., entitled FIRING MEMBER PIN ANGLE; Attorney Docket No. END8051USNP/160199;
- U.S. Patent Application No., Attorney Docket No. END8052USNP/160200, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES;
- U.S. Patent Application No., Attorney Docket No. END8053USNP/160201, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES;
- US Patent Application No., entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS; Attorney Docket No. END8054USNP/160202;
- U.S. Patent Application No., Attorney Docket No. END8060USNP4, entitled SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS;
- US Patent Application No., entitled ANVIL HAVING A KNIFE SLOT WIDTH; Attorney Docket No. END8057USNP/160205;
- U.S. Patent Application No., entitled CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS; Attorney Docket No. END8058USNP/160206; and - U.S. Patent Application No., entitled FIRRING MEMBER PIN CONFIGURATIONS;

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No., Attorney Docket No. END8000USNP/160208, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES;
- U.S. Patent Application No., Attorney Docket No. END8001USNP/160209, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES;
- U.S. Patent Application No., Attorney Docket No. END8002USNP/160210, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES;
- U.S. Patent Application No., Attorney Docket No. END8003USNP/160211, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS;
－ＳＵＲＧＩＣＡＬ ＳＴＡＰＬＩＮＧ ＩＮＳＴＲＵＭＥＮＴＳ ＨＡＶＩＮＧ ＥＮＤ ＥＦＦＥＣＴＯＲＳ ＷＩＴＨ ＰＯＳＩＴＩＶＥ ＯＰＥＮＩＮＧ ＦＥＡＴＵＲＥＳと題する、米国特許出願第 号；代理人整理番号、ＥＮＤ８００４ＵＳＮＰ／１６０２１２、及び －ＣＯＮＮＥＣＴＩＯＮ ＰＯＲＴＩＯＮＳ ＦＯＲ ＤＥＰＯＳＡＢＬＥ ＬＯＡＤＩＮＧ ＵＮＩＴＳ ＦＯＲ ＳＵＲＧＩＣＡＬ ＳＴＡＰＬＩＮＧ ＩＮＳＴＲＵＭＥＮＴＳと題する、米国特許出願第 号； Attorney docket number, END8005USNP/160213.

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No., entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT;
- U.S. Patent Application No., Attorney Docket No. END8007USNP/160215, entitled SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM;
- U.S. Patent Application No. SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS;
- U.S. Patent Application No., Attorney Docket No. END8009USNP/160217, entitled SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRRING MEMBER TO TWO DIFFERENT SYSTEMS;
－ＳＵＲＧＩＣＡＬ ＳＹＳＴＥＭ ＣＯＭＰＲＩＳＩＮＧ Ａ ＦＩＲＩＮＧ ＭＥＭＢＥＲ ＲＯＴＡＴＡＢＬＥ ＩＮＴＯ ＡＮ ＡＲＴＩＣＵＬＡＴＩＯＮ ＳＴＡＴＥ ＴＯ ＡＲＴＩＣＵＬＡＴＥ ＡＮ ＥＮＤ ＥＦＦＥＣＴＯＲ ＯＦ ＴＨＥ ＳＵＲＧＩＣＡＬ ＳＹＳＴＥＭと題する、米国特許出願第 号、代理人整理番号、ＥＮＤ８０１０ＵＳＮＰ／１６０２１８、及び －ＳＨＡＦＴ ＡＳＳＥＭＢＬＹ ＣＯＭＰＲＩＳＩＮＧ Ａ ＬＯＣＫＯＵＴと題する、米国Patent Application No.; Attorney Docket No. END8011USNP/160219.

The applicant of this application owns the following U.S. patent applications filed on even date, each of which is hereby incorporated by reference in its entirety:
- US Patent Application No., entitled SURGICAL STAPLING SYSTEMS; Attorney Docket No. END8024USNP/160221;
- US Patent Application No., entitled SURGICAL STAPLING SYSTEMS; Attorney Docket No. END8025USNP/160222;
- US Patent Application No., entitled SURGICAL STAPLING SYSTEMS; Attorney Docket No. END8026USNP/160223;
- U.S. Patent Application No., Attorney Docket No. END8027USNP/160224, entitled SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMINING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES;
- US Patent Application No., entitled SURGICAL STAPLING SYSTEMS; Attorney Docket No. END8028USNP/160225;
－ＪＡＷ ＡＣＴＵＡＴＥＤ ＬＯＣＫ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＰＲＥＶＥＮＴＩＮＧ ＡＤＶＡＮＣＥＭＥＮＴ ＯＦ Ａ ＦＩＲＩＮＧ ＭＥＭＢＥＲ ＩＮ Ａ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲ ＵＮＬＥＳＳ ＡＮ ＵＮＦＩＲＥＤ ＣＡＲＴＲＩＤＧＥ ＩＳ ＩＮＳＴＡＬＬＥＤ ＩＮ ＴＨＥ ＥＮＤ ＥＦＦＥＣＴＯＲと題する、米国特許出願第 号、代理人整理番号、ＥＮＤ８０２９ＵＳＮＰ／１６０２２６、
- U.S. Patent Application No., Attorney Docket No. END8030USNP/160227, entitled AXIALLY MOVABLE CLOURE SYSTEM ARRANGEMENTS FOR APPLYING CLOURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS;
- U.S. Patent Application No., Attorney Docket No. END 8031 USNP/160228, entitled PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT;
- U.S. Patent Application No., Attorney Docket No. END8032USNP/160229, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATION COOPERATION FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS;
- U.S. Patent Application No., Attorney Docket No. END8033USNP/160230, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT;
- U.S. Patent Application No., entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK;
- U.S. patent application entitled ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM;
－ＬＡＴＥＲＡＬＬＹ ＡＣＴＵＡＴＡＢＬＥ ＡＲＴＩＣＵＬＡＴＩＯＮ ＬＯＣＫ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＬＯＣＫＩＮＧ ＡＮ ＥＮＤ ＥＦＦＥＣＴＯＲ ＯＦ Ａ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＩＮ ＡＮ ＡＲＴＩＣＵＬＡＴＥＤ ＣＯＮＦＩＧＵＲＡＴＩＯＮと題する、米国特許出願第 号、代理人整理番号、ＥＮＤ８０３６ＵＳＮＰ／１６０２３３、及び －ＡＲＴＩＣＵＬＡＴＡＢＬＥ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＡＲＴＩＣＵＬＡＴＩＯＮ ＳＴＲＯＫＥ ＡＭＰＬＩＦＩＣＡＴＩＯＮ ＦＥＡＴＵＲＥＳと題する、 US Patent Application No.; Attorney Docket No. END8037USNP/160234.

The applicant of this application owns the following U.S. patent applications filed June 24, 2016, each of which is hereby incorporated by reference in its entirety:
- US Patent Application No. 15/191,775, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES;
- U.S. patent application Ser.
- US Patent Application No. 15/191,834, entitled STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME;
- US patent application Ser. No. 15/191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES;
- US patent application Ser. No. 15/191,818, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS.

The applicant of this application owns the following U.S. patent applications filed June 24, 2016, each of which is hereby incorporated by reference in its entirety:
- US Design Patent Application No. 29/569,218, entitled SURGICAL FASTENER;
- US Design Patent Application No. 29/569,227, entitled SURGICAL FASTENER,
- US Design Patent Application No. 29/569,259, entitled SURGICAL FASTENER CARTRIDGE; and - US Design Patent Application No. 29/569,264, entitled SURGICAL FASTENER CARTRIDGE.

The applicant of this application owns the following patent applications filed on April 1, 2016, each of which is hereby incorporated by reference in its entirety:
- US patent application Ser. No. 15/089,325 entitled METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM;
- US patent application Ser. No. 15/089,321, entitled MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY
- U.S. patent application Ser.
- US Patent Application No. 15/089,263, entitled SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION;
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 15/089,296, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 15/089,284 entitled SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US Patent Application No. 15/089,324, entitled SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM;
- US patent application Ser.
- US Patent Application No. 15/089,339, entitled SURGICAL STAPLING INSTRUMENT;
- US patent application Ser.
- US patent application Ser.
- US Patent Application No. 15/089,331, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS;
- US patent application Ser. No. 15/089,336, entitled STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES;
- US patent application Ser.
- US patent application Ser. No. 15/089,309, entitled CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM; and - US patent application Ser.

The applicant of this application also owns the following identified U.S. patent applications filed December 31, 2015, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No. 14/984,488 entitled MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS;
－ＭＥＣＨＡＮＩＳＭＳ ＦＯＲ ＣＯＭＰＥＮＳＡＴＩＮＧ ＦＯＲ ＤＲＩＶＥＴＲＡＩＮ ＦＡＩＬＵＲＥ ＩＮ ＰＯＷＥＲＥＤ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳと題する、米国特許出願第１４／９８４，５２５号、及び －ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＳＥＰＡＲＡＢＬＥ ＭＯＴＯＲＳ ＡＮＤ ＭＯＴＯＲ ＣＯＮＴＲＯＬ ＣＩＲＣＵＩＴＳと題する、米国特許出願第１４／９８４，５５２号。

The applicant of this application also owns the following identified U.S. patent applications filed February 9, 2016, each of which is hereby incorporated by reference in its entirety:
- US Patent Application No. 15/019,220 entitled SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR;
- US patent application Ser. No. 15/019,228, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARRANGEMENTS;
- US Patent Application No. 15/019,196 entitled SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT;
- US patent application Ser.
- US patent application Ser. No. 15/019,215, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARRANGEMENTS;
- US Patent Application No. 15/019,227, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS;
- U.S. Patent Application No. 15/019,235, entitled SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS;
- US Patent Application No. 15/019,230, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS;

The applicant of this application also owns the following identified U.S. patent applications filed on February 12, 2016, each of which is hereby incorporated by reference in its entirety:
- U.S. patent application Ser.
- U.S. patent application Ser.
－ＭＥＣＨＡＮＩＳＭＳ ＦＯＲ ＣＯＭＰＥＮＳＡＴＩＮＧ ＦＯＲ ＤＲＩＶＥＴＲＡＩＮ ＦＡＩＬＵＲＥ ＩＮ ＰＯＷＥＲＥＤ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳと題する、米国特許出願第１５／０４３，２７５号、及び －ＭＥＣＨＡＮＩＳＭＳ ＦＯＲ ＣＯＭＰＥＮＳＡＴＩＮＧ ＦＯＲ ＤＲＩＶＥＴＲＡＩＮ ＦＡＩＬＵＲＥ ＩＮ ＰＯＷＥＲＥＤ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳと題する、米国特許出願第１５／０４３，２８９号.

The applicant of the present application owns the following patent applications filed June 18, 2015, each of which is hereby incorporated by reference in its entirety:
- US patent application Ser. No. 14/742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS;
- U.S. Patent Application No. 14/742,941, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES;
- U.S. Patent Application No. 14/742,914 entitled MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS
- U.S. patent application Ser.
－ＤＵＡＬ ＡＲＴＩＣＵＬＡＴＩＯＮ ＤＲＩＶＥ ＳＹＳＴＥＭ ＡＲＲＡＮＧＥＭＥＮＴＳ ＦＯＲ ＡＲＴＩＣＵＬＡＴＡＢＬＥ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳと題する、米国特許出願第１４／７４２，８８５号、及び －ＰＵＳＨ／ＰＵＬＬ ＡＲＴＩＣＵＬＡＴＩＯＮ ＤＲＩＶＥ ＳＹＳＴＥＭＳ ＦＯＲ ＡＲＴＩＣＵＬＡＴＡＢＬＥ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳと題する、米国特許出願第１４／７４２，８７６号。

The applicant of this application owns the following patent applications filed March 6, 2015, each of which is hereby incorporated by reference in its entirety:
- U.S. Patent Application No. 14/640,746 entitled POWERED SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2016/0256184;
- U.S. Patent Application No. 14/640,795 entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016/02561185;
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser.
- U.S. patent application Ser.
- US patent application Ser.
- CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE, now US Patent Application Publication No. 2016/0256155,
- US Patent Application No. 14/640,837 entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now US Patent Application Publication No. 2016/0256163;
- SYSTEM FOR DETECTING THE MIS - INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER, U.S. Patent Application No. 14/640,765, now U.S. Patent Application Publication No. 2016/0256160;
- U.S. patent application Ser. U.S. Patent Application No. 14/640,780, now U.S. Patent Application Publication No. 2016/0256161.

The applicant of this application owns the following patent applications filed on February 27, 2015, each of which is hereby incorporated by reference in its entirety:
- US patent application Ser.
U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 14/633,566 entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S. Patent Application Publication No. 2016/0249918;
U.S. patent application Ser.
U.S. Patent Application No. 14/633,542 entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.
U.S. Patent Application No. 14/633,548 entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2016/0249909;
U.S. Patent Application No. 14/633,526 entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now U.S. Patent Application Publication No. 2016/0249945;
US Patent Application No. 14/633,541 entitled MODULAR STAPLING ASSEMBLY, now US Patent Application Publication No. 2016/0249927, and US Patent Application entitled -SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER No. 14/633,562, now U.S. Patent Application Publication No. 2016/0249917.

The applicant of the present application owns the following patent applications filed December 18, 2014, each of which is hereby incorporated by reference in its entirety:
- U.S. patent application Ser.
- U.S. Patent Application No. 14/574,483 entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Patent Application Publication No.
- US patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 14/575,143 entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS;
- U.S. patent application Ser.
- U.S. patent application Ser.
－ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＡＳＳＥＭＢＬＹ ＣＯＭＰＲＩＳＩＮＧ Ａ ＦＬＥＸＩＢＬＥ ＡＲＴＩＣＵＬＡＴＩＯＮ ＳＹＳＴＥＭと題する、米国特許出願第１４／５７４，４９３号、現在は、米国特許出願公開第２０１６／０１７４９７０号、及び －ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＡＳＳＥＭＢＬＹ ＣＯＭＰＲＩＳＩＮＧ Ａ ＬＯＣＫＡＢＬＥ ＡＲＴＩＣＵＬＡＴＩＯＮ ＳＹＳＴＥＭと題する、米国Patent Application No. 14/574,500, now U.S. Patent Application Publication No. 2016/0174971.

The applicant of the present application owns the following patent applications filed March 1, 2013, each of which is hereby incorporated by reference in its entirety:
- U.S. patent application Ser.
- U.S. Patent Application No. 13/782,323, entitled Rotary Powered Articulation Joints For Surgical Instruments, now U.S. Patent Application Publication No. 2014/0246472;
- U.S. Patent Application No. 13/782,338 entitled Thumbwheel Switch Arrangements For Surgical Instruments, now U.S. Patent Application Publication No. 2014/0249557;
- US patent application Ser. No. 13/782,499 entitled Electromechanical Surgical Device with Signal Relay Arrangement, now US Pat. No. 9,358,003;
- U.S. Patent Application No. 13/782,460 entitled Multiple Processor Motor Control for Modular Surgical Instruments, now U.S. Patent Application Publication No. 2014/0246478;
- U.S. Patent Application No. 13/782,358 entitled Joystick Switch Assemblies For Surgical Instruments, now U.S. Patent No. 9,326,767;
- US patent application Ser. No. 13/782,481 entitled Sensor Straightened End Effector During Removal Through Trocar, now US Pat. No. 9,468,438;
- U.S. Patent Application No. 13/782,518 entitled Control Methods for Surgical Instruments with Removable Implement Parts, now U.S. Patent Application Publication No. 2014/0246475;
- U.S. Patent Application No. 13/782,375, entitled Rotary Powered Surgical Instruments With Multiple Degrees of Freedom, now U.S. Patent No. 9,398,911; 13/782,536, now U.S. Patent No. 9,307,986.

The applicant of this application also owns the following patent applications filed March 14, 2013, each of which is hereby incorporated by reference in its entirety:
- US patent application Ser.
- US patent application Ser. No. 13/803,193 entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now US Pat.
- U.S. Patent Application No. 13/803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.
- U.S. patent application Ser.
- US patent application Ser.
- MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, US Patent Application No. 13/803,148, now US Patent Application Publication No. 2014/0263554;
- US patent application Ser.
- US patent application Ser. No. 13/803,117 entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now US Pat.
- U.S. Patent Application No. 13/803,130 entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent No. 9,351,727; Patent Application No. 13/803,159, now U.S. Patent Application Publication No. 2014/0277017.

The applicant of this application also owns the following patent applications, filed March 7, 2014, the entire contents of which are incorporated herein by reference:
- US Patent Application No. 14/200,111 entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now US Patent Application Publication No. 2014/0263539.

The applicant of this application also owns the following patent applications, filed March 26, 2014, the entire contents of each of which are incorporated herein by reference:
- US Patent Application No. 14/226,106 entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now US Patent Application Publication No. 2015/0272582;
- US Patent Application No. 14/226,099 entitled STERILIZATION VERIFICATION CIRCUIT, now US Patent Application Publication No. 2015/0272581;
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US patent application Ser.
- US Patent Application No. 14/226,126 entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now US Patent Application Publication No. 2015/0272572;
- US Patent Application No. 14/226,133 entitled MODULAR SURGICAL INSTRUMENT SYSTEM, now US Patent Application Publication No. 2015/0272557;
- US patent application Ser.
- U.S. Patent Application No. 14/226,076 entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Patent Application Publication No. 2015/0280424;
- U.S. Patent Application No. 14/226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2015/0272583; , 125, now U.S. Patent Application Publication No. 2015/0280384.

The applicant of this application also owns the following patent applications filed September 5, 2014, each of which is hereby incorporated by reference in its entirety:
- US Patent Application No. 14/479,103 entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now US Patent Application Publication No. 2016/0066912;
- US patent application Ser.
- US patent application Ser.
- U.S. patent application Ser.
- US patent application Ser.
- US Patent Application No. 14/479,098 entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now US Patent Publication No. 2016/0066911;
- U.S. Patent Application No. 14/479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Patent Application Publication No. 2016/0066916; 14/479,108, now U.S. Patent Application Publication No. 2016/0066913.

The applicant of this application also owns the following patent applications filed on April 9, 2014, each of which is hereby incorporated by reference in its entirety:
- US patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 14/248,588 entitled POWERED LINEAR SURGICAL STAPLER, now US Patent Application Publication No. 2014/0309666;
- US patent application Ser.
－ＭＯＤＵＬＡＲ ＭＯＴＯＲ ＤＲＩＶＥＮ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＡＬＩＧＮＭＥＮＴ ＦＥＡＴＵＲＥＳ ＦＯＲ ＡＬＩＧＮＩＮＧ ＲＯＴＡＲＹ ＤＲＩＶＥ ＳＨＡＦＴＳ ＷＩＴＨ ＳＵＲＧＩＣＡＬ ＥＮＤ ＥＦＦＥＣＴＯＲ ＳＨＡＦＴＳと題する、米国特許出願第１４／２４８，５８４号、現在は、米国特許出願公開第２０１４／０３０５９９４号、
- US Patent Application No. 14/248,587 entitled POWERED SURGICAL STAPLER, now US Patent Application Publication No. 2014/0309665;
－ＤＲＩＶＥ ＳＹＳＴＥＭ ＤＥＣＯＵＰＬＩＮＧ ＡＲＲＡＮＧＥＭＥＮＴ ＦＯＲ Ａ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴと題する、米国特許出願第１４／２４８，５８６号、現在は、米国特許出願公開第２０１４／０３０５９９０号、及び －ＭＯＤＵＬＡＲ ＭＯＴＯＲ ＤＲＩＶＥＮ ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴＳ ＷＩＴＨ ＳＴＡＴＵＳ ＩＮＤＩＣＡＴＩＯＮ ＡＲＲＡＮＧＥＭＥＮＴＳと題する、 U.S. Patent Application No. 14/248,607, now U.S. Patent Application Publication No. 2014/0305992.

The applicant of this application also owns the following patent applications filed on April 16, 2013, each of which is hereby incorporated by reference in its entirety:
- US Provisional Patent Application No. 61/812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;
- US Provisional Patent Application No. 61/812,376, entitled LINEAR CUTTER WITH POWER;
- US Provisional Patent Application No. 61/812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;
－ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＨＡＮＤＬＥ ＷＩＴＨ ＭＵＬＴＩＰＬＥ ＡＣＴＵＡＴＩＯＮ ＭＯＴＯＲＳ ＡＮＤ ＭＯＴＯＲ ＣＯＮＴＲＯＬと題する、米国仮特許出願第６１／８１２，３８５号、及び －ＳＵＲＧＩＣＡＬ ＩＮＳＴＲＵＭＥＮＴ ＷＩＴＨ ＭＵＬＴＩＰＬＥ ＦＵＮＣＴＩＯＮＳ ＰＥＲＦＯＲＭＥＤ ＢＹ Ａ ＳＩＮＧＬＥ ＭＯＴＯＲと題する、米国仮特許出願第６１／８１２， No. 372.

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

The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "comprise ( "include" (any form of include, such as "includes" and "including") and "contain" (any form of contain, such as "contains" and "containing") refer to open-ended linkages. is a verb. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more elements has one or more of those elements but not one of them. You are not limited to having only one or more. Similarly, a system, device, or element of apparatus that “comprises,” “has,” “includes,” or “contains” one or more features has those one or more features but does not include those one or more features. It is not limited to having only the above features.

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

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgery. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those associated with open surgery. By reading through the Detailed Description of the Invention herein, the reader will understand that the various instruments disclosed herein can be used to perform an incision or puncture made in tissue, for example, through a natural orifice. It will further be appreciated that it can be inserted into the body in any manner, such as through a hole. The working or end effector portion of these instruments can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced. can also

A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector has a first jaw and a second jaw. The first jaw includes a staple cartridge. Other implementations in which the staple cartridge is attachable to and removable from the first jaw, but the staple cartridge is not removable from the first jaw, or at least not easily replaceable. Morphology is also envisioned. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about the closing axis, although other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. be. The surgical stapling system further includes an articulation joint configured to allow the end effector to rotate or articulate with respect to the shaft. The end effector is rotatable about an articulation axis that extends through the articulation joint. Other embodiments that do not include articulating joints are also envisioned.

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

The staples are supported by a staple driver within the cartridge body. The drive is movable between a first or unfired position and a second or fired position for ejecting staples from the staple cavities. The drive portion is retained within the cartridge body by a retainer extending around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and retain the retainer to the cartridge body. The drives are moveable between their unfired position and their fired position by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled slides under and includes a plurality of ramps configured to lift the drive, with the staples supported thereon, toward the anvil.

In addition to the above, the sled is moved distally by the firing member. A firing member is configured to contact the sled and push the sled toward the distal end. A longitudinal slot defined within the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam engaging the first jaw and a second cam engaging the second jaw portion. In advancing the firing member distally, the first cam and the second cam can control the distance between the deck of the staple cartridge and the anvil, ie, the tissue spacing. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. Desirably, the knife is positioned at least partially proximal to the ramp so that the staples are ejected forward of the knife.

A shaft assembly 1000 is illustrated in FIG. Shaft assembly 1000 comprises mounting portion 1100 , shaft 1200 extending distally from mounting portion 1100 , and end effector 1300 attached to shaft 1200 . Referring to FIGS. 1 and 2, mounting portion 1100 comprises frame 1110, housing 1120 and latch 1130. As shown in FIG. Frame 1110 is configured to engage a frame of a surgical system, such as, for example, a handle of a surgical instrument and/or an arm of a surgical robot. In at least one example, the frame 1110 and the frame of the surgical system comprise interlocking dovetail configurations, for example. Latch 1130 comprises a lock configured to releasably retain shaft assembly 1000 to a surgical system. As a result of the above, shaft assembly 1000 can be selectively used with hand-held surgical instruments and, alternatively, remotely controlled robotic surgical systems.

Referring to FIGS. 3-6, shaft 1200 comprises a frame, or spine, attached to frame 1110 of mounting portion 1100 . The spine includes a proximal spine portion 1210 rotatably engaged with the frame 1110 about a longitudinal shaft axis 1001 extending through the spine. Referring primarily to FIG. 6, proximal spine portion 1210 includes gap 1211 defined therein and configured to receive proximal end 1221 of drive cover 1220 . Drive cover 1220 further comprises a distal end 1222 configured to be positioned within proximal end 1232 of intermediate spine portion 1230 . The spine further comprises upper distal portion 1250 and lower distal portion 1260 that engage distal end 1231 of spine portion 1230 . More specifically, distal portions 1250 and 1260 include proximal ends 1251 and 1261 , respectively, which laterally fit into dovetail slots defined in distal end 1231 of intermediate spine portion 1230 . inserted or slid into. The spine further comprises a cover 1240 configured to surround the opening defined in spine portion 1230 and/or to lock distal portions 1250 and 1260 in place.

Referring primarily to FIG. 7, end effector 1300 includes channel jaw 1310 and anvil jaw 1330 rotatably attached to channel jaw 1310 . Channel jaw 1310 is configured to receive staple cartridge 1320, or any other suitable staple cartridge, therein. Channel jaw 1310 and staple cartridge 1320 include cooperating alignment mechanisms that allow staple cartridge 1320 to fit within channel jaw 1310 in only one proper position and orientation. It is configured. As described in more detail below, once the unused staple cartridge 1320 is properly installed in the channel jaw 1310, the staple firing member enters the staple cartridge 1320 and ejects staples from the staple cartridge 1320. and can sever patient tissue positioned intermediate staple cartridge 1320 and anvil jaw 1330 . Further to the above, anvil jaw 1330 includes firing pockets defined therein that are configured to deform when staples are fired from staple cartridge 1320 .

Referring primarily to FIG. 7, channel jaw 1310 of end effector 1300 is rotatably coupled to the spine of shaft 1200 about articulation joint 1660 . Channel jaw 1310 includes an articulation frame 1270 attached thereto with a pin 1271 extending laterally therefrom and positioned within a gap 1311 defined in cartridge channel 1310 . . Pins 1271 and gaps 1311 are sized and configured to securely attach articulation frame 1270 to cartridge channel 1310 . The articulation frame 1270 includes an articulation gap defined therein and the distal end of the spine includes an articulation post 1262 positioned within the articulation gap. Articulation post 1262 is securely received within the articulation gap such that relative movement between articulation frame 1270 and the spine of shaft 1200 is limited to rotational movement about an axis orthogonal to shaft axis 1001. sized and configured to be

In addition to the above, referring again to FIG. 1 , shaft assembly 1000 further comprises outer frame 1600 . Referring now to FIG. 2, outer frame 1600 is rotatable relative to frame 1110 of mounting portion 1100 about the slip joint. The slip joint includes a proximal flange 1610 parallel, or at least substantially parallel, to a corresponding flange 1111 defined on frame 1110 . In addition to providing a rotatable mechanical interface, slip joints also provide a rotatable electrical interface. More specifically, the slip joint comprises an electrical trace 1190 defined on the flange 1111 as well as an electrical connector 1690 attached to the flange 1610 comprising electrical contacts that engage the trace 1190 . In various examples, the electrical traces 1190 comprise electrically conductive annular rings that are electrically insulated from one another and are each part of a separate electrical circuit. When outer frame 1600 is rotated relative to frame 1110 , electrical connector 1690 contact is maintained in electrical contact with traces 1190 . 5, latch 1130 of mounting portion 1100 is in electrical communication with trace 1190, which is positionable in electrical communication with a surgical system when shaft assembly 1000 is coupled to the surgical system by latch 1130. There is also an electrical connector 1192 that connects. As a result of the above, the sensors of shaft assembly 1000 can communicate with the surgical robot via a controller and/or microprocessor in the handle of the surgical instrument, or alternatively via a slip joint.

Outer frame 1600 further includes a tube 1620 extending distally from proximal flange 1610 . In addition to the above, housing 1120 of mounting portion 1100 is attached to tube 1620 . Housing 1120 includes a finger grip 1128 defined therein configured to assist a clinician in rotating housing 1120 and tube 1620 about longitudinal shaft axis 1001 . Outer frame 1600 further comprises a distal tube portion 1630 rotatably attached to tube 1620 . More specifically, referring primarily to FIG. 7, the outer frame 1600 further comprises a coupling 1640 connecting the distal tube portion 1630 and the tube 1620, between the distal tube portion 1630 and the tube 1620: Provides one or more degrees of freedom. Such one or more degrees of freedom between distal tube portion 1630 and tube 1620 allow end effector 1300 to articulate relative to shaft 1200 about articulation joint 1660 . As a result of the above, the outer frame 1600 is rotatable about the longitudinal shaft axis and rotatable about the articulation joint 1660 . However, outer frame 1600 is not longitudinally translatable with respect to frame 1110 of mounting portion 1100 .

Referring primarily to FIG. 5, shaft assembly 1000 further comprises articulation system 1400 configured to articulate end effector 1300 with respect to shaft 1200 . Further, shaft assembly 1000 is also configured, as discussed above, to partly close anvil jaws 1330 of end effector 1300 and partly fire staples stored in staple cartridge 1320. A launch system 1500 is provided. Articulation system 1400 selectively engages firing system 1500 such that articulation system 1400 can be driven by firing system 1500 to articulate end effector 1300, as discussed in more detail below. It is possible. Once end effector 1300 is fully articulated, articulation system 1400 can be operably disengaged from firing system 1500 . In such respect, firing system 1500 may be operated independently of articulation system 1400 . As also discussed in more detail below, the shaft assembly 1000, on the one hand, locks the end effector 1300 in place and, on the other hand, allows the shaft to move between articulating and firing modes of operation. Further provided is an articulation locking system for switching the assembly 1000 .

Referring primarily to FIG. 9, firing system 1500 includes a firing rod 1510 that is proximally and distally translatable during the articulation and/or firing modes of operation of shaft assembly 1000 . Firing rod 1510 includes a proximal end 1511 that is operably engageable with a drive system of a surgical system, such as, for example, a handle of a surgical instrument and/or an arm of a surgical robot. Firing system 1500 further comprises a rack 1520 fixedly attached to firing rod 1510 so as to be translatable therewith. Firing rod 1510 extends through a longitudinal gap 1521 defined within rack 1520 . Further, rack 1520 is fixedly attached to firing rod 1510 such that rack 1520 and firing rod 1510 are rotatable together about the longitudinal shaft axis. The articulation system 1400 further comprises an articulation driver 1420 attached to the rack 1520 such that the rack 1520 is translatable or longitudinally slidable relative to the articulation driver 1420. . However, articulation drive 1420 is attached to rack 1520 such that articulation drive 1420 , rack 1520 and firing rod 1510 rotate together about longitudinal shaft axis 1001 .

In addition to the above, referring primarily to FIGS. 9, 21 and 23, rack 1520 includes a longitudinal slot 1522 defined on its opposite side, and articulation driver 1420 is positioned in longitudinal slot 1522. A protrusion 1422 is provided. Slots 1522 and protrusions 1422 are configured to allow rack 1520 to move proximally and distally relative to articulation driver 1420 . More specifically, the articulation drive 1420 is configured such that the articulation drive 1420 is prevented from longitudinally translating, or at least substantially translating, relative to the frame 1110 of the mounting portion 1100 . Mounted within mounting portion 1100 of assembly 1000, rack 1520 engages articulation driver 1420 as rack 1520 moves longitudinally to drive articulation system 1400 and/or firing system 1500 of shaft assembly 1000. can move longitudinally relative to the However, slots 1522 and protrusions 1422 are configured to transfer rotational motion from articulation driver 1420 to rack 1520, as described in greater detail below.

Referring primarily to FIG. 8, the articulation system 1400 further includes a shifter 1430 attached to the firing rod 1510 and two articulation drivers 1440 . Shifter 1430 is fixedly attached to firing rod 1510 such that shifter 1430 longitudinally translates with firing rod 1510 . Additionally, shifter 1430 is fixedly attached to firing rod 1510 such that shifter 1430 is rotatable with firing rod 1510 . Shifter 1430 includes longitudinal rack teeth 1431 and likewise articulation driver 1440 includes longitudinal rack teeth 1441 . 16, 18, 20 and 21, teeth 1441 of articulation driver 1440 are in meshing engagement with teeth 1431 of shifter 1430 when shaft assembly 1000 is placed in its articulation mode of operation. In such a configuration, longitudinal movement of firing rod 1510 can be transferred to articulation driver 1440 .

Referring primarily to FIG. 30, articulation driver 1440 further comprises a distal end 1443 having an elongated gap defined therein. The articulation frame 1270 of the end effector 1300 attached to the channel jaw 1310 includes an articulation pin 1444 extending therefrom and positioned in a gap defined in the distal end 1443 . As illustrated in FIG. 31, when shaft assembly 1000 is in its articulation mode of operation and firing rod 1510 is advanced distally, firing rod 1510 moves articulation driver 1440 and articulation pin 1444 distally. position to distally articulate the end effector 1300 in a first direction. As firing rod 1510 is pulled proximally, it pulls articulation driver 1440 and articulation pin 1444 to articulate proximally with end effector 1300 in a second direction opposite the first direction. Join. In use, the clinician can pull and push the articulation driver 1440 to manipulate the surgical system and rotate the end effector 1300 to the desired orientation.

Referring again to FIG. 30, articulation system 1400 further comprises second articulation driver 1450 and transmission gear 1470 . Transmission gear 1470 is attached to the spine of shaft 1200 and is rotatable about a fixed axis. In addition, transmission gear 1470 meshingly engages longitudinal rack teeth 1442 defined on articulation driver 1440 . Similarly, second articulation driver 1450 includes longitudinal rack teeth 1452 in meshing engagement with transmission gear 1470 . Second articulation driver 1450 further comprises a distal end 1453 having an elongated gap defined therein. Articulation frame 1270 of end effector 1300 further includes an articulation pin 1454 extending therefrom and positioned in a gap defined in distal end 1453 . As illustrated in FIG. 31, when articulation driver 1440 is distally advanced by firing rod 1510, articulation driver 1440 rotates transmission gear 1470, which in turn , drives articulation driver 1450 and articulation pin 1454 proximally. As a result, articulation drivers 1440 and 1450 cooperate to rotate end effector 1300 in the same direction. When the articulation driver 1440 is pulled proximally by the firing rod 1510, the articulation driver 1440 rotates the transmission gear 1470 in the opposite direction, correspondingly pushing the articulation driver 1450 and the articulation. Compression pin 1454 is pushed distally.

Once the end effector 1300 is in the desired orientation, the end effector 1300 can be locked into place. Referring primarily to FIGS. 5 and 7-9, shaft assembly 1000 further comprises articulation lock bar 1480 and articulation lock actuator 1410 . Articulation lock bar 1480 has a proximal end 1481 attached to articulation lock actuator 1410 . As articulation lock actuator 1410 is moved from a proximal position (FIG. 32) to a distal position (FIG. 33), articulation lock actuator 1410 pushes locking bar 1480 distally. As articulation lock actuator 1410 is moved from a distal position (FIG. 33) to a proximal position (FIG. 32), articulation lock actuator 1410 pulls locking bar 1480 proximally. Referring primarily to FIG. 9, articulation lock actuator 1410 is operably engageable with an actuator of a surgical system that can move articulation lock actuator 1410 proximally and distally, as described above. There is a proximal drive hook 1411 .

32 and 33, shaft assembly 1000 further comprises an articulation lock 1494 attached to the spine of shaft 1200. As shown in FIG. Articulation lock 1494 includes first and second locking arms 1495 extending therefrom. 32, distal end 1482 of articulation locking bar 1480 does not engage locking arm 1495 when articulation locking actuator 1410 is in its proximal position. In such an example, end effector 1300 is in an unlocked configuration and is rotatable relative to the spine of shaft 1200 . 33, when articulation locking bar 1480 is distally advanced by articulation locking actuator 1410, distal end 1482 of articulation locking bar 1480 engages locking arm 1495 and locking arm 1495 are displaced into engagement with articulation drivers 1440 and 1450 . Referring primarily to FIG. 7, articulation driver 1440 includes longitudinal rack teeth 1445 that are engaged by locking arms 1495 when locking arms 1495 are displaced outwardly by articulation locking bars 1480 . Similarly, articulation driver 1450 includes longitudinal rack teeth 1455 to be engaged by other locking arm 1495 when this locking arm 1495 is displaced outwardly by articulation locking bar 1480 . In such an example, end effector 1300 is in a locked configuration and cannot rotate relative to the spine of shaft 1200 .

Movement of the articulation lock actuator 1410 from its proximal position (FIG. 32) to its distal position (FIG. 33) is sufficient to lock the end effector 1300 in place. This movement also shifts the shaft assembly 1000 from the articulating mode of operation (FIGS. 16, 18, 20 and 21) to the firing mode of operation (FIGS. 17, 19, 22 and 23). Referring primarily to FIG. 9, articulation lock actuator 1410 includes one or more drive projections 1415 extending inwardly into longitudinal gaps 1414 defined in articulation lock actuator 1410 . A longitudinal gap 1414 surrounds, or at least substantially surrounds, the articulation driver 1420 and the drive projection 1415 is positioned within a cam groove 1425 defined in the outer surface of the articulation driver 1420. . In addition to the above, when articulation lock actuator 1410 is advanced distally, drive protrusion 1415 moves from the orientation shown in FIG. 16 to the orientation shown in FIG. Rotate rack 1520 and firing rod 1510 . In such an example, teeth 1431 of shifter 1430 are rotated out of operable engagement with teeth 1441 of articulation driver 1440 such that articulation system 1400 is operable from firing system 1500. separated. Thus, distal movement of articulation lock actuator 1410 locks end effector 1300 in place and transitions shaft assembly 1000 to the firing mode of operation. In various examples, the articulation lock actuator 1410 can be pulled proximally to shift the shaft assembly 1000 back to the articulation mode of operation.

As described above, once articulation system 1400 is operably disengaged from firing system 1500 , firing system 1500 is advanced distally and a closing stroke is performed to approach anvil jaws 1330 and then from staple cartridge 1320 . A firing stroke that fires staples can be performed to cut tissue trapped between staple cartridge 1320 and anvil jaw 1330 . 7-9, firing system 1500 further comprises intermediate firing rod 1530 and firing bar 1550. FIG. Firing rod 1510 is operably engageable with intermediate firing rod 1530 such that longitudinal movement of firing rod 1510 can be transferred to intermediate firing rod 1530, as described in greater detail below. Firing bar 1550 includes a proximal end 1552 positioned in a longitudinal gap 1532 defined in the distal end of distal firing rod 1510 .

Referring to FIG. 11, as intermediate firing rod 1530 is pushed distally by firing rod 1510, intermediate firing rod 1530 pushes firing bar 1550 distally, as illustrated in FIG. Engage to move anvil jaw 1330 toward a closed or clamped position. This distal movement of firing bar 1550 becomes the closing stroke. If the clinician is unsatisfied with the tissue positioning between staple cartridge 1320 and clamped anvil jaws 1330, the clinician can manipulate the surgical system to retract firing bar 1550. FIG. In such instances, a spring compressed between staple cartridge 1320 and clamped anvil jaws 1330 can act to open jaws 1330 .

In addition to the above, when the clinician is satisfied with the tissue positioning between staple cartridge 1320 and clamped anvil jaws 1330, the clinician manipulates the surgical system to advance firing bar 1550 from staple cartridge 1320. from which the staples can be ejected to transversely dissect the tissue. This distal movement of firing bar 1550 becomes the firing stroke, and the beginning of the firing stroke is illustrated in FIG. In this example, the closing stroke and the firing stroke are separate and distinct. If the clinician chooses, the surgical device utilized to operate the firing system 1500 between the closing and firing strokes gives the clinician the opportunity to retract the firing bar 1550 and reopen the anvil jaws 1330 again. Stopped the system, or is stopped. In another example, the closing stroke and the firing stroke are neither separate nor separate. Instead, the surgical system immediately transitions from the closing stroke to the firing stroke. In either case, referring to FIG. 14, the surgical system can be operated to retract firing bar 1550 to its unfired position, allowing the spring to open anvil jaws 1330 again.

Firing rod 1510 is used to drive articulation system 1400 and firing system 1500, as discussed above. Without further ado, it can be assumed that firing rod 1510 moves firing bar 1550 at the same time that firing rod 1510 is used to operate articulation system 1400 . 24-29, however, shaft assembly 1000 operably connects firing rod 1510 and intermediate firing rod 1530 when clutch 1540 is in the firing configuration (FIG. 26) and clutch 1540 articulates. Further provided is a clutch 1540 configured to operably decouple firing rod 1510 from intermediate firing rod 1530 when in the configuration (FIG. 29). Clutch 1540 is configured to be in the articulated configuration (FIG. 29) when shaft assembly 1000 is placed in the articulated mode of operation, and correspondingly in the firing configuration (FIG. 29) when shaft assembly 1000 is placed in the firing mode of operation. Clutch 1540 is constructed as shown in FIG.

Referring primarily to FIG. 24, firing rod 1510 includes distal piston 1515 slidably positioned in cylinder 1535 defined in intermediate firing rod 1530 . Clutch 1540 includes a cantilever beam 1543 fixedly attached to intermediate firing rod 1530 and a cam head 1544 slidably positioned in a lateral slot 1534 defined in intermediate firing rod 1530 . . Cam head 1544 includes a gap 1545 defined therein configured to receive distal piston 1515 of firing rod 1510 therein.

29, when shaft assembly 1000 is in the articulated mode of operation and clutch 1540 is in the articulated configuration, distal piston 1515 is at least partially aligned with cylinder 1535 defined in intermediate firing rod 1530. Positioned at proximal portion 1531 . In such an example, another portion of distal piston 1515 is positioned in gap 1545 defined in cam head 1544 of clutch 1540 . Although the sidewalls of gap 1545 may contact the sides of distal piston 1515, in such instances piston 1515 does not transmit movement by firing rod 1510 to intermediate firing rod 1530, or at least substantially is movable with respect to clutch 1540 and intermediate firing rod 1530 without imparting As a result, when firing rod 1510 is used to drive articulation system 1400, firing rod 1510 does not displace firing bar 1550 distally. In certain instances, a spacing may exist between the proximal end 1552 of the firing bar 1550 and the longitudinal end wall of the gap 1532 such that when the shaft assembly 1000 is placed in the articulating mode of operation, the intermediate firing rod may It can accommodate a certain amount of movement that 1530 can undergo.

In addition to the above, referring again to FIG. 29, cantilever beams 1543 of clutch 1540 are deflected or resiliently flex laterally when clutch 1540 is in its articulated configuration. This is because the gap 1545 defined in the cam head 1544 is of course not aligned with the distal piston 1515, and to accommodate this forced alignment, the distal piston 1515 is forced into the gap 1545. , cam head 1544 is laterally displaced and beam 1543 is laterally deflected. When shaft assembly 1000 is placed in the firing mode of operation and firing rod 1510 is advanced distally, distal piston 1515 moves distally relative to cam head 1544 until the entirety of distal piston 1515 passes through gap 1545 . position. In this regard, referring to FIG. 26, the clutch 1540 is resiliently returned to its undeflected state and the clutch 1540 is placed in the firing configuration. It is noted that in these instances cam head 1544 shifts laterally to lock behind the proximal shoulder of distal piston 1515 to retain distal piston 1515 within cylinder 1535 . As a result, clutch 1540 locks firing rod 1510 to intermediate firing rod 1530 throughout operation of firing assembly 1500 such that longitudinal movement of firing rod 1510 is imparted to intermediate firing rod 1530 during the firing stroke.

In addition to the above, clutch 1540 continues to retain firing rod 1510 and intermediate firing rod 1530 after the firing stroke is completed, or at least partially completed. As a result, firing rod 1510 can be moved proximally to retract intermediate firing rod 1530 and firing bar 1550 proximally. In various examples, a used staple cartridge 1320 can be removed from the end effector 1300 and an unused staple cartridge 1320 can be installed in the channel jaws 1310, for example. If the clinician continues to be satisfied with the orientation of end effector 1300, the clinician can manipulate firing assembly 1500 again. However, if the clinician wishes to change the orientation of the end effector 1300, the clinician manipulates the surgical system to retract the firing rod 1510 further proximally to disconnect the firing rod 1510 from the intermediate firing rod 1530. to re-enter the articulation mode of operation of the shaft assembly 1000 . This transition is described in more detail below.

27 and 28, the spine of shaft assembly 1000 is configured to laterally deflect cam head 1544 of clutch 1540 as cam head 1544 contacts cam 1234 as intermediate firing rod 1530 retracts proximally. A cam 1234 is provided. Once the cam head 1544 is laterally deflected, the gap 1545 defined in the cam head 1544 is realigned with the distal piston 1515 so that the distal piston 1515 is released from the clutch 1540 and Proximal to cam 1540 can be moved to an articulated configuration (FIG. 29). At such point, firing rod 1510 can be used to manipulate articulation system 1400 to reorient end effector 1300 . Once the clinician is satisfied with the orientation of the end effector 1300, the clinician can use the surgical system to distally advance the distal piston 1515 to shift the clutch 1540 back into the firing configuration. . Further, it should be understood that the clutch 1540 can be shifted from its firing configuration and its articulating configuration whenever the clinician desires to switch between the firing mode and the articulating mode of operation of the shaft assembly 1000. .

10-12, the firing bar 1550 moves from the open position (FIG. 11) to at least the closed position (FIG. 12) during the closing stroke of the firing assembly 1500. Distally movable to move jaws 1330 . Firing bar 1550 includes anvil cam 1564 configured to engage anvil jaw 1330 as well as cartridge cam 1563 configured to engage channel jaw 1310 . Anvil jaw 1330 includes a bottom camming surface with a longitudinal slot 1334 defined therein. Similarly, channel jaw 1310 includes a longitudinal slot 1313 defined therein that includes an upper camming surface. As firing bar 1550 advances distally, anvil cam 1564 can engage the bottom camming surface of longitudinal slot 1334 and cartridge cam 1563 can engage the top camming surface of longitudinal slot 1313 to drive staples. The position of anvil jaws 1330 relative to cartridge 1320 can be cooperatively controlled.

As discussed above, anvil jaw 1330 is rotatably coupled to channel jaw 1310 . In at least one example, anvil jaw 1330 is attached to channel jaw 1310 by one or more pins and is pivotable about a fixed axis. In other examples, anvil jaw 1330 is not attached to channel jaw 1310 about a fixed axis. In at least one such example, anvil jaw 1330 is translatable relative to channel jaw 1310 as anvil jaw 1330 rotates relative to channel jaw 1310 . In any case, cartridge jaw 1310 may be referred to as a fixed jaw even if cartridge jaw 1310 is rotatable or articulatable about articulation joint 1660 . In this context, the term fixed means that surgical system 1000 does not rotate channel jaws 1310 between the open and closed positions. Alternative embodiments are envisioned in which cartridge jaw 1310 is rotatable relative to anvil jaw 1330 . In such examples, anvil jaw 1330 may be a fixed jaw.

Referring to FIG. 7, anvil jaw 1330 consists of several components assembled together. More specifically, anvil jaw 1330 includes one or more lateral side plates 1333 attached thereto. In at least one example, for example, anvil jaw 1330 and side plate 1333 are made of steel and welded together. Among other things, such an arrangement may simplify the manufacturing process used to create longitudinal slots 1334 defined in anvil jaws 1330 . In at least one example, side plate 1333 can be attached to anvil jaw 1330 after a portion of longitudinal slot 1334 is formed in side plate 1333 . In various examples, the bottom cam surface of longitudinal slot 1334 comprises a curved contour that can be formed in side plate 1333 using, for example, grinding. Further, in certain cases, the side plate 1333 can be heat treated, unlike the base portion of the anvil jaw 1330 . Even so, anvil jaw 1330 may be formed using any suitable manufacturing process.

In addition to the above, staple cartridge 1320 includes cartridge body 1322 and sled 1360 movably positioned in cartridge body 1322 . Sled 1360 is movable between a proximal unfired position ( FIGS. 10 , 11 and 12 ) and a distal fired position with firing bar 1550 . More specifically, firing bar 1550 includes a coupling member 1560 attached to its distal end that is configured to abut sled 1360 and engage sled 1360 during the firing stroke. Move distally. However, it is noted that coupling member 1560 does not contact sled 1360 during the closing stroke of firing member 1550 . As a result, firing member 1550 can be moved proximally and distally to open and close anvil jaws 1330 without displacing sled 1360 distally. As a result, staple cartridge 1320 remains unused regardless of how many times anvil jaws 1330 are opened and closed before a firing stroke is made.

In addition to the above, the staple cartridge 1320 is replaceable. As a result, various instances can occur when the staple cartridge is not positioned in channel jaw 1310 . Additionally, cases can occur when a used staple cartridge is positioned in channel jaw 1310 . 10-15, shaft assembly 1000 includes a lockout configured to prevent the firing stroke from starting if any condition exists. The lockout includes a lock 1570 rotatably attached to firing bar 1550 and movable between an unlocked position (FIGS. 10-14) and a locked position (FIG. 15). Lock 1570 includes lateral ledges 1572 pivotally attached to opposing lateral sides of coupling member 1560 that provide an axis of rotation about which lock 1570 rotates. 10-12, as firing bar 1550 is moved longitudinally to open and close anvil jaws 1330, channel jaws 1310 retain lock 1570 in the unlocked position.

13, when the firing stroke of firing bar 1550 is initiated, sled 1360 is configured to support lock 1570 in its unlocked position when sled 1360 is in its proximal unfired position. there is More specifically, sled 1360 includes a proximal ledge 1365 configured to support distal shoulder 1575 of lock 1570 as lock 1570 approaches locking recess 1315 defined in channel jaw 1310 . Stated another way, sled 1360 may prevent lock 1570 from entering lock recess 1315, but only if sled 1360 is in its proximal, unfired position. Once distal shoulder 1575 is supported by proximal ledge 1365 of sled 1360 at the beginning of the firing stroke, proximal ledge 1365 can continue to support distal shoulder 1575 throughout the firing stroke. However, once lock 1570 is moved distally with respect to locking recess 1315, lock 1570 cannot enter locking recess 1315, and ledge 1365 remains against shoulder 1575 for the remainder of the firing stroke. No need to endorse.

Referring again to FIGS. 10-13, the lockout further comprises a lock spring 1370 configured to bias lock 1570 against lock recess 1315 . Lock spring 1370 has a proximal end 1371 fixedly attached to articulation frame 1270 and also a distal end 1375 positioned opposite proximal end 1371 . 10-12, ledge 1572 can slide against locking spring 1370 when firing bar 1550 is used to open and close anvil jaw 1330 during the closing stroke. When firing bar 1550 is advanced distally to make a firing stroke and sled 1360 is in its proximal, unfired position, ledge 1572 slides under it, as illustrated in FIG. Distal end 1375 of locking spring 1370 can be bent upward to allow movement. Once firing bar 1550 is advanced distally to allow ledge 1572 to pass distal end 1375 of locking spring 1370, locking spring 1370 can resiliently return to its undeflected state.

After the firing stroke is completed, or at least fully completed, as illustrated in FIG. 14, the firing bar 1550 can be retracted back to its proximal, unfired position. Note that sled 1360 does not retract proximally with firing bar 1550 . Rather, sled 1360 remains in the distal firing position. As a result, sled 1360 of spent cartridge 1320 is unable to hold lock 1570 in its unlocked position when firing bar 1550 is advanced distally for a second firing stroke. 15, lock spring 1370 biases lateral ledge 1572 of lock 1570 into lock recess 1315, thereby causing firing bar 1550 to move through the second firing stroke, i.e., into channel jaw 1310. A firing stroke with a spent staple cartridge would be prevented. As illustrated in FIG. 15 , distal end 1375 of lock spring 1370 engages ledge 1572 of lock 1570 at a location distal to the rotary joint connecting lock 1570 to coupling member 1560 . As a result, lock spring 1370 is configured to exert a downward biasing torque on lock 1570 causing lock 1570 to rotate downward in its locked position and lock recess 1315 . To reset lock 1570 to its unlocked position, firing bar 1550 may pull lock 1570 proximally out of lock recess 1315 until lock 1570 is once again supported by channel jaws 1310 .

Firing system 1500 is used even when a spent staple cartridge is positioned in channel jaw 1310, even though a firing stroke cannot be made when the spent cartridge is positioned in channel jaw 1310. to open and close the anvil jaws 1330 . Additionally, firing system 1500 can also be operated using articulation system 1400 even when a spent staple cartridge is positioned in channel jaw 1310 . Similarly, the firing system 1500 can be used to open and close the anvil jaws 1330 and/or manipulate the articulation system 1400 when the staple cartridge is dislodged from the channel jaws 1310 . However, in order to reuse the shaft assembly 1000 to fire another staple cartridge, the used staple cartridge 1320 must be removed from the channel jaw 1310 and replaced with an unused staple cartridge, such as another staple cartridge 1320. . Such an unused staple cartridge must have sled 1360 in its proximal, unfired position to allow firing bar 1550 to enter through another firing stroke.

10-15, coupling member 1560 of firing bar 1550 has a cutting edge 1565 configured to laterally dissect tissue captured between staple cartridge 1320 and anvil jaw 1330. Prepare. It is noted that coupling member 1560 is not displaced downwardly into locking recess 1315 defined in channel jaw 1310 by locking spring 1370 . Rather, only lock 1570 is displaced downward by lock spring 1370 . As a result, cutting edge 1565 remains undisplaced and aligned relative to tissue captured between staple cartridge 1320 and anvil jaw 1330 during the firing stroke of firing bar 1550 . be.

As described above, firing system 1500 is configured to perform a closing stroke to close end effector 1300 and a firing stroke to staple and sever tissue captured within end effector 1300 . As also described above, firing system 1500 is operably coupled to and driven by a drive system of the surgical system. In various examples, the drive system of the surgical system may fail and be unable to advance and/or retract the firing system 1500 once the closing stroke and/or the firing stroke are performed. Sometimes. Since the end effector 1300 is locked closed by the firing bar 1550, such an example can be very problematic. More particularly, as discussed above, firing bar 1550 has cams 1563 and 1564 configured to hold anvil jaw 1330 and channel jaw 1310 in place relative to each other during the closing and firing strokes. (FIGS. 10-15) and if firing bar 1550 cannot be retracted, cams 1563 and 1564 effectively lock jaws 1310 and 1330 together without further action. Retraction systems configured to pull firing bar 1550 proximally so that anvil jaws 1330 can reopen are described below.

34-36, shaft assembly 1000 includes a retraction or emergency removal system 1700. As shown in FIG. It is configured to be selectively positioned to engage firing system 1500 and retract firing bar 1550 proximally. Referring primarily to FIG. 34, retraction system 1700 includes actuator 1702 rotatably attached to housing 1120 of mounting portion 1100 about handle or pivot pin 1704 . Pivot pin 1704 defines a fixed axis of rotation about which handle 1702 may rotate. Retraction system 1700 further comprises pawl 1706 rotatably attached to handle 1702 about pivot pin 1708 . Pivot pin 1708 defines an axis of rotation about which pawl 1706 is rotatable that is fixed relative to handle 1702 . Pawl 1706 includes teeth defined thereon configured to engage longitudinal rack teeth 1526 defined on rack 1520 . As illustrated in FIG. 34, the teeth of the pawl 1706 are not engaged with the rack teeth 1526 when the handle 1702 is stored or deployed.

Referring again to FIG. 34, housing 1120 includes access window 1129 defined therein. Access window 1129 is sized and configured to allow a clinician to grasp handle 1702 and rotate handle 1702 to a deployed position as illustrated in FIG. In addition to the above, the tube 1620 of the outer frame 1600 includes a window 1629, similarly the spine of the shaft 1200 is aligned with the window 1129 defined in and through them in the housing 1120, or A window 1229 is provided that is at least substantially aligned. Windows 1629 and 1229 are configured to allow pawl 1706 to access rack teeth 1526 defined on rack 1520 . As illustrated in FIG. 35, the teeth of pawl 1706 engage rack teeth 1526 when handle 1702 is raised to the deployed position. At such point, handle 1702 can be rotated to drive rack 1520, firing rod 1510, intermediate firing rod 1530 and firing bar 1550 proximally.

In addition to the above, handle 1702 and pawl 1706 may be used to extend firing system 1500 to a proximal position where firing bar 1550 is sufficiently disengaged from anvil jaws 1330 to allow anvil jaws 1330 to open, if desired. a ratchet assembly that can be actuated several times to drive the With the handle 1702 in the deployed position of FIG. 35, the handle 1702 can be rotated distally about 45 degrees to pull the firing system 1500 proximally, e.g., to the position illustrated in FIG. can. Such 45 degree rotation of handle 1702 may or may not be sufficient to disengage firing bar 1550 from anvil jaw 1330 . If that is not sufficient, the handle 1702 can be rotated proximally back to the position illustrated in FIG. 35 so that it again retracts the firing bar 1550 further. can be operated as This process can be repeated as many times as necessary until the anvil jaws 1330 can be opened to unclamp the end effector 1300 from tissue and remove the shaft assembly 1000 from the surgical site.

In addition to the above, situations may arise that require shaft assembly 1000 to be removed from the surgical system before firing bar 1550 is retracted, or at least fully retracted. In such instances, similar to the above, shaft assembly 1000 is not powered by the surgical system. However, retraction system 1700 can be used to quickly release end effector 1300 from tissue even when shaft assembly 1000 is not attached to a surgical system. Such an arrangement is an improvement over other arrangements in which the retraction system is part of the surgical system instead of the attachable shaft assembly. In such other arrangements, the shaft assembly may have to remain attached to the surgical system in order to use the retraction system to reopen the end effector.

Using retraction system 1700 after a portion of the closing stroke has been performed, after a full closing stroke has been performed, after a portion of the firing stroke has been performed, and/or after a full firing stroke has been performed. Firing assembly 1500 can be retracted. When the firing stroke has been completed and the retraction system 1700 is used to retract the firing assembly 1500, the clinician retracts the firing bar 1550 through the full firing stroke and even through the full closing stroke to release the end effector 1300. It may be necessary to crank the retraction system 1700 several times to open the . While such a situation is perfectly preferred, many actuations of retraction system 1700 can be taken to fully retract firing bar 1550 . Shaft assemblies with alternative emergency removal systems are discussed below.

Shaft assembly 2000 is illustrated in FIGS. 37-46 and is similar to shaft assembly 1000 in many respects. Some of these are not discussed here for the sake of brevity. Referring primarily to FIG. 37, shaft assembly 2000 is configured to releasably attach shaft assembly 2000 to a surgical system, such as, for example, the handle of a surgical instrument, and alternatively the arm of a surgical robot. A mounting portion 2100 is provided. The shaft assembly 2000 comprises an end effector 2300 , an articulation system 1400 configured to articulate the end effector 2300 about an articulation joint 1660 , and a staple cartridge positioned at the end effector 2300 to fire staples. Further provided is a launch system 1500 configured. Referring primarily to FIGS. 38 and 39, shaft assembly 2000 also includes an outer frame 1600 attached to frame 2110 of mounting portion 2100 and rotatable relative to frame 2110 about longitudinal shaft axis 2001. . Such placement may allow the end effector 2300 to be reoriented relative to the patient's tissue. For example, the anvil jaws 1330 of the end effector 2300 can be rotated from one side of patient tissue to another before clamping the anvil jaws 1330 onto the tissue. However, the outer frame 1600 is attached to the frame 2110 of the mounting portion 2100 such that the outer frame 1660 is not, or at least substantially not, translatable relative to the frame 2110 .

Similar to shaft assembly 1000 , shaft assembly 2000 includes retraction system 1700 configured to retract firing system 1500 . In addition to the above, retraction system 1700 is operable to retract firing bar 1550 proximally, re-opening end effector 2300 from a closed or clamped configuration (FIG. 45) to an open configuration (FIG. 46). make it possible. Referring primarily to FIGS. 42-44, shaft assembly 2000 drives end effector 2300 from a closed or clamped configuration (FIG. 45) to an open configuration (FIG. 46) to reopen end effector 2300. It further comprises a translatable spine 2200 and an emergency detachment system 2800 configured to. As described in more detail below, emergency removal system 2800 moves spine 2200 distally from a proximal non-actuated position (FIG. 45) to a distal actuated position (FIG. 46) for firing. It is configured to move channel jaw 2310 of end effector 2300 distally relative to bar 1550 .

Translatable spine 2200 is similar to spine 1200 in many respects. Referring primarily to FIGS. 42-44, spine 2200 comprises a proximal spine portion 2210 rotatable relative to frame 2110 about longitudinal shaft axis 2001 . Proximal spine portion 2210 includes a gap defined therein configured to receive the proximal end of drive cover 2220 . Drive cover 2220 further comprises a distal end configured to be positioned within a proximal end of intermediate spine portion 2230 of spine 2200 . Spine 2200 further comprises upper distal portion 2250 and lower distal portion 2260 that engage the distal end of spine portion 2230 . Distal portions 2250 and 2260 include proximal ends that are laterally inserted or slid into dovetail slots defined in the distal end of intermediate spine portion 2230 . Spine 2200 further comprises a cover 2240 configured to surround the opening defined in spine portion 2230 and/or to lock distal portions 2250 and 2260 in place. The lower distal portion 2260 includes an articulation projection 1262 extending therefrom that approaches within the articulation gap defined in the articulation frame 2270 mounted within the channel jaw 2210 . are positioned

Unlike spine 1200, which is attached to frame 1110 to prevent translational movement of spine 1200 relative to frame 1110, spine 2200 is slidably positioned on frame 2110 and is removed from frame 2110 by emergency removal system 2800. can be moved proximally and distally. Referring primarily to FIGS. 38 and 39, emergency detachment system 2800 comprises emergency detachment lever 2802 rotatably attached to frame 2110 about fixed axis pivot 2804 . Indeed, referring to FIG. 41, emergency removal system 2800 is rotatably attached to frame 2110 on its opposite side interconnected by crossbar 2807 as illustrated in FIG. , with two emergency release levers 2802 . The emergency release lever 2802 thus rotates together. Emergency detachment system 2800 further comprises a drive connection 2806 rotatably attached to each of emergency detachment levers 2802 . 41, emergency release levers 2802 each extend into a drive gap defined in drive connection 2806 and have a drive pin that operably couples drive connection 2806 to emergency release lever 2802. 2803.

40 and 41, each of the drive connections 2806 includes a drive pin 2808 extending therefrom and positioned in an annular slot 2218 defined in the proximal spine portion 2210. As shown in FIG. 46, when emergency release lever 2802 is rotated distally to its actuated position, emergency release lever 2802 pulls drive linkage 2806 and spine 2200 distally, causing firing bar 1550 to engage. Translate the channel jaw 2310 distally. Additionally, distal movement of channel jaw 2310 also translates anvil jaw 1330 distally as a result of anvil jaw 1330 being rotatably attached to channel jaw 2310 . Such distal movement of jaws 2310 and 1330 disengages anvil jaw 1330 from anvil cam 1564 of firing bar 1550, allowing anvil jaw 1330 to move to an open position for emergency removal opening. Including stroke. In addition to the above, end effector 2300 includes a compression biasing member, such as a spring, which pushes anvil jaw 1330 into its open position once anvil jaw 1330 is sufficiently disengaged from anvil cam 1564 . 1330 can be activated.

The reader should understand that emergency removal system 2800 is separate and distinct from retraction system 1700 . As a result, emergency removal system 2800 and retraction system 1700 can operate independently of each other. In at least one example, the emergency removal system 2800 can be used to open the end effector 2300 during the closing stroke if necessary, and the retraction system 1700 can be used during the firing stroke if necessary. , can be used to open the end of the end effector 2300 . In various examples, retraction system 1700 can be used to open end effector 2300 at any point during the closing stroke and/or during the firing stroke. In certain cases, the emergency removal system 2800 can be used to open the end effector 2300 during the closing stroke and/or firing stroke. In at least one such example, the emergency unloading opening stroke provided by the emergency unloading system 2800 will open the end effector 2300 at any point during the closing stroke and/or during the firing stroke. is sufficient for However, in some instances, the emergency unloading opening stroke provided by the emergency unloading system 2800 may be insufficient to open the end effector 2300 during the firing stroke. In such instances, the clinician may use retraction system 1700 in addition to or instead of emergency removal system 2800 to open end effector 2300 .

In addition to the above, emergency removal system 2800 is operable to quickly open end effector 2300 . By comparison, the retraction system 1700 may have to be cranked several times to open the end effector 2300, while the emergency removal system 2800 may open the end effector 2300 with a single stroke. In instances where the emergency removal system 2800 cannot open the end effector 2300 alone, the emergency removal system 2800 operates to reduce the number of times the retraction system 1700 must be cranked to open the end effector 2300. can be done. Further, in such an example, channel jaw 2310 is pushed distally away from firing bar 1550 and firing bar 1550 is pulled proximally away from anvil jaw 1330 . In instances where emergency removal system 2800 can open end effector 2300 alone, firing bar 1550 of firing system 1500 need not be retracted to open end effector 2300 .

In various examples, in addition to the above, the emergency detach lever 2802 of the emergency detachment system 2800 rotates from its proximal, non-actuated position (FIG. 45) to its distal, actuated position (FIG. 46) to remove the end effector 2300. can be opened to release the end effector 2300 from patient tissue. The end effector 2300 can then be moved away from the patient tissue. The emergency release lever 2802 is then rotated from its distal actuated position (FIG. 46) to its proximal non-actuated position (FIG. 45) to pull the spine 2200 and channel jaws 2310 proximally and release the end effector 2300. can be closed. In various examples, such a mechanism may be useful when removing end effector 2300 from a surgical site, as removal of end effector 2300 from a surgical site may be easier when end effector 2300 is in its closed configuration. , can be particularly useful. In any event, the emergency removal system 2800 can be activated and deactivated to open and close the end effector 2300 as often as needed.

32 and 33, to lock the end effector 1300 in place and prevent the end effector 1300 from being articulated by the articulation system 1400, the shaft assembly 1000 , the articulation lock bar 1480 configured to engage the articulation lock 1494 of the shaft assembly 1000 and to engage the arms 1495 of the articulation lock 1494 with the articulation drivers 1440 and 1450 of the articulation system 1400 . Prepare. Since both arms 1495 engage articulation drivers 1440 and 1450 at the same time, or at least substantially the same time, such an arrangement comprises a single stage articulation locking system. In an alternative embodiment, the shaft assembly 6000 illustrated in FIGS. 67-71 incorporates a two-stage articulation locking system 6490 configured to lock an end effector, such as end effector 1300, in place. Prepare.

Shaft assembly 6000 is similar to shaft assemblies 1000 and 2000 in many respects. Some of these are not discussed here for the sake of brevity. Although not necessarily shown in FIGS. 67-71, shaft assembly 6000 includes shaft 1200, end effector 1300, articulation system 1400, firing system 1500 and outer frame 1600. As shown in FIG. Shaft assembly 6000 also includes an articulation lock actuator configured to move relative end effector 1300 locking bar 6480 and engage locking bar 6480 and articulation locking system 6490 . As described in more detail below, the locking system 6490 is configured, on the one hand, to directly engage the end effector 1300 with the first lock and, on the other hand, to articulate with the second lock. It is configured to engage articulation drivers 1440 and 1450 of system 1400 . In such an example, the first and second locks of the articulation locking system 6490 can cooperate to hold the end effector 1300 in place.

Referring primarily to FIG. 67, two-stage articulation locking system 6490 comprises frame 6491 positioned in outer tube 1620 of outer frame 1600 and fixedly attached to the spine of shaft 1200 . The articulation locking system 6490 includes, on the one hand, a first lock 6496 slidably positioned within a cavity 6492 defined in the frame 6491, and on the two end, the first lock 6496. There is also a biasing spring 6499 configured to bias the effector 1300 into engagement with the articulation frame 1270 . The first lock 6496 includes a flange 6498 extending therefrom and a biasing spring 6499 is compressed between the flange 6498 and the proximal end wall of the cavity 6492 defined in the frame 6491. . As a result, the biasing spring 6499 moves the first lock 6496 out of engagement with the articulation frame 1270 from the proximal unlocked position (FIG. 66) in which the first lock 6496 does not engage the articulation frame 1270 . configured to move the first lock 6496 to a mating distal locking position (FIGS. 67-70).

Further to the above, articulation frame 1270 is engaged by tooth recess 6497 defined in the distal end of first lock 6496 upon distal advancement of first lock 6496 to its locking position. Circumferentially arranged teeth 1277 each configured to: The arrayed teeth 1277 extend around the proximal perimeter of the articulation frame 1270 such that the teeth 1277 are aligned with the first lock 6496 regardless of the orientation of the end effector 1300, or are at least substantially aligned. As a result, the tooth 1277 is always in front of the distal end of the first lock 6496 and thus the first lock 6496 is biased by the biasing spring 6499 to its locked position. If so, the end effector 1300 can be locked in place.

Articulation lock system 6490 further comprises a second articulation lock 6494 configured to selectively engage articulation drivers 1440 and 1450 of articulation system 1400 . Articulation lock 6494 is fixedly attached to the spine of shaft assembly 6490 and includes locking arm 6495 extending therefrom. Locking arms 6495 can be configured in a non-bent configuration where they do not engage articulation drivers 1440 and 1450 (FIG. 67) and a curved configuration where they engage articulation drivers 1440 and 1450 (FIG. 68). It is possible to move between Stated another way, locking arm 6495 is susceptible to lateral or outward deflection to change from the unlocked configuration to the locked configuration to engage articulation drivers 1440 and 1450 .

Lock arms 6495 each include teeth defined thereon to engage articulation drivers 1440 and 1450 when lock arms 6495 are deflected outwardly to engage articulation drivers 1440 and 1450. is configured to More particularly, the teeth of the first locking arm 6495 are configured to engage teeth 1445 defined on the articulation driver 1440 and the teeth of the second locking arm 6495 are configured to engage the articulation. It is configured to engage teeth 1455 defined on driver 1450 . interaction between locking arm 6495 and articulation drivers 1440 and 1450 prevents articulation drivers 1440 and 1450 from moving proximally and distally to articulate with end effector 1330; This locks the end effector 1330 in place. Lock arm 6495 is also configured to prevent articulation drivers 1440 and 1450 from being driven in reverse by end effector 1330 when torque is applied to end effector 1330 .

67 and 68 illustrate the locking sequence of the two-stage articulation locking system 6490. FIG. As illustrated in FIG. 67, the first articulation lock 6496 is biased into the locked state by a biasing spring 6499 as discussed above. As a result, the first articulation lock 6496 does not require activation of the articulation locking system 6490 to enter the first locked state. However, when the articulation lock system 6490 is in the first locked state, the second articulation lock 6494 because the lock arm 6495 of the articulation lock 6494 is not biased to engage the articulation drivers 1640 and 1650 . do not engage the articulation drivers 1640 and 1650 . 68, locking bar 6480 must be advanced distally to engage locking arm 6495 and displace locking arm 6495 into engagement with articulation drivers 1640 and 1650. FIG. As a result, the second articulation lock 6494 must be actuated to place the articulation locking system 6490 into the second locked state.

Referring again to FIG. 67, locking bar 6480 has a shaft portion 6481 configured to slide between locking arms 6495 without displacing locking arms 6495 into engagement with articulation drivers 1440 and 1450. Prepare. However, referring now to FIG. 68, locking bar 6480 engages locking arm 6495 and deflects locking arm 6495 into the locked configuration when locking bar 6480 is advanced distally. An enlarged portion 6485 is defined on a shaft portion 6481 that is configured to. At such point, articulation locking system 6490 is in its second locked state. A first articulation lock 6496 engages the end effector 1300 and a second articulation lock 6494 engages the articulation drivers 1440 and 1450 when the articulation locking system 6490 is in its second locked state. It is noted that Similarly, after the first articulation lock 6496 engages the end effector 1300, while in the two-step locking sequence of the articulation locking system 6490, the second articulation lock 6494 engages the articulation driver 1440 and Note that 1450 engages.

69-71 illustrate the unlocking sequence for the two-stage articulation locking system 6490. FIG. FIG. 69 illustrates the articulation locking system 6490 in its second locked state to unlock the end effector 1300 so that it can be articulated as described above. The 6490 is sequentially placed in a first locked state, as illustrated in FIG. 70, and then in an unlocked state, as illustrated in FIG. 70, locking bar 6480 retracts proximally to disengage enlargement 6485 from locking arm 6495 so that locking arm 6495 resiliently flexes inward to provide articulation drive. can be disengaged from vessels 1440 and 1450; At such point, articulation locking system 6490 returns to its first locked state. The locking bar 6480 includes a distal end 6482 slidably positioned in an elongated gap 6493 defined in the first articulation lock 6496 such that, as discussed above, the locking bar 6480 moves proximally. When moved to transition the articulation locking system from the second locked state to the first locked state, the distal end 6482 moves through the elongated gap without moving the first articulation lock 6496 from the locked state. It is noted that the 6493 can be slid into.

As described above, once the articulation locking system 6490 is returned to the first locked state, the locking bar 6480 is retracted further proximally to withdraw the first articulation lock 6496 and engage the articulation frame 1270. can be removed. More specifically, the distal end 6482 of the locking bar 6480 pushes against the proximal end wall of the gap 6483 when the locking bar 6480 is proximally retracted to apply a retraction force to the first articulation lock 6494. can come into contact with Such proximal retraction forces move the first articulation lock 6496 proximally and must be able to overcome the distal biasing force that the spring 6499 applies to the first articulation lock 6496 . In any event, the articulation lock system 6490 is unlocked once the first articulation lock 6496 is disengaged from the articulation frame 1270 . In this regard, the end effector 1300 can be articulated. To relock the end effector 1300 in place, the locking bar 6480 is released, again allowing the biasing spring 6499 to force the first articulation lock 6496 into its locked state. Alternatively, locking bar 6480 can be driven distally to relock end effector 1300 in place.

As discussed above, the two-stage articulation lock system 6490 is configured to sequentially lock the first articulation lock 6496 and then the second articulation lock 6494 . Alternate embodiments are envisioned in which the articulation locking system is configured to sequentially lock the second articulation lock 6494 and then the first articulation lock 6496 . Further, alternate embodiments configured to lock the first articulation lock 6494 and the second articulation lock 6494 simultaneously are envisioned.

As also discussed above, the two-step articulation lock system 6490 is configured to sequentially unlock the second articulation lock 6494 and then the first articulation lock 6496 . Alternate embodiments are envisioned in which the articulation lock system is configured to sequentially unlock the first articulation lock 6496 and then the second articulation lock 6494 . Further, alternative embodiments configured to unlock the first articulation lock 6494 and the second articulation lock 6494 simultaneously are envisioned.

A shaft assembly 3000 is illustrated in FIGS. 47-51. Shaft assembly 3000 is similar to shaft assembly 1000 in many respects. Some of these are not discussed here for the sake of brevity. 47-51, shaft assembly 3000 is attached to mounting portion 3100 that is rotatable, but not translatable, relative to mounting portion 3100 and frame 3110 of mounting portion 3100. Equipped with a spine. Shaft assembly 3000 also includes an end effector 1300 , an articulation system 1400 configured to articulate end effector 1300 , and a firing system 1500 . As discussed above, end effector 1300 includes anvil jaws 1330 that are rotatable relative to channel jaws 1310 between open and closed positions. Shaft assembly 3000 further includes an outer shaft portion 3600 configured to engage anvil jaw 1330 and move anvil jaw 1330 toward its closed position, as described in greater detail below.

47 and 49, outer shaft assembly 3600 comprises a proximal portion 3610, an intermediate portion 3620 coupled to proximal portion 3610, and a distal portion 3630 coupled to intermediate portion 3620. As shown in FIG. The proximal portion 3610 is attached to the frame 3110 of the mounting portion 3100 such that the proximal portion 3610 is rotatable relative to the frame 3110, but not translatable. Proximal portion 3610 includes longitudinal passageway 3615 extending therethrough, and intermediate portion 3620 similarly includes longitudinal passageway 3625 extending therethrough. Longitudinal passages 3615 and 3625 are aligned, or at least substantially aligned, with each other and with the periphery of the spine, articulation system 1400 , and firing system 1500 of shaft assembly 3600 . In addition to the above, distal portion 3630 includes longitudinal passages 3635 extending therethrough and aligned with longitudinal passages 3625 defined in intermediate portion 3620 . A proximal end of the distal portion 3630 is positioned in the longitudinal passageway 3625 and is press-fitted to engage the intermediate portion 3620 to provide relative movement between the intermediate portion 3620 and the distal portion 3630. Very little to do.

Referring again to FIG. 49, proximal portion 3610 of outer shaft assembly 3600 includes distal flange 3611 . In addition, intermediate portion 3620 of outer shaft assembly 3600 includes proximal flange 3621 positioned adjacent distal flange 3611 . Distal flange 3611 and proximal flange 3621 are parallel, or at least substantially parallel, to each other. Referring primarily to FIGS. 48 and 49, outer shaft assembly 3600 further comprises extension assembly 3700 connecting distal flange 3611 of proximal portion 3610 to proximal flange 3621 of intermediate portion 3620 . Extension assembly 3700 is configured to allow outer shaft assembly 3600 to shift between a contracted configuration (FIG. 50) and an expanded configuration (FIG. 51), as discussed in greater detail below. there is

48 and 49, extension assembly 3700 includes a first linkage including proximal linkage 3710 and distal linkage 3720, and a second linkage further including proximal linkage 3730 and distal linkage 3740. 2 cooperation units are provided. Proximal coupling 3710 is rotatably attached to proximal portion 3610 of outer shaft assembly 3600 . The proximal portion 3610 includes a mounting post 3612 extending therefrom and positioned in a post gap 3712 defined in the proximal link 3710 . Similarly, distal coupling 3720 is rotatably attached to intermediate portion 3620 of outer shaft assembly 3600 . Intermediate portion 3620 includes a mounting gap 3622 defined therein and configured to receive a post 3722 extending from distal link 3720 . Additionally, proximal link 3710 is rotatably coupled to distal link 3720 . More specifically, the proximal link 3710 includes a connector post 3724 extending therefrom and rotatably positioned in a connector gap 3724 defined in the distal link 3720 .

In addition to the above, proximal coupling 3730 of extension assembly 3700 is rotatably attached to proximal portion 3610 of outer shaft assembly 3600 . Proximal portion 3610 includes mounting post 3616 extending therefrom and positioned in post gap 3736 defined in proximal link 3730 . Similarly, distal coupling 3740 of extension assembly 3700 is rotatably attached to intermediate portion 3620 of outer shaft assembly 3600 . Intermediate portion 3620 includes a mounting gap defined therein and configured to receive post 3746 extending from distal link 3740 . Additionally, proximal link 3730 is rotatably coupled to distal link 3740 . More specifically, each proximal link 3730 has a connector post 3734 extending therefrom that is rotatably positioned in a connector gap 3744 defined in distal link 3740 . 3734.

50, after extension assembly 3700 of outer shaft assembly 3600 is positioned distally relative to rack 1520 of firing system 1500, rack 1520 is advanced distally by firing rod 1510 to close. Make a stroke and/or a firing stroke. 51, as rack 1520 is advanced distally, rack 1520 engages extension assembly 3700 and drives outer shaft assembly 3600 from its contracted configuration (FIG. 50) to its expanded configuration (FIG. 51). shift. More specifically, rack 1520 contacts couplings 3710 and 3720 of extension assembly 3700 and rotates them laterally or outwardly, such that couplings 3730 and 3740 are pushed distally or longitudinally. . Referring primarily to FIG. 49, links 3710 and 3720 can include cam surfaces 3715 defined therein and engaged and driven by rack 1520 . As a result of the above, the intermediate portion 3620 and distal portion 3630 of the outer shaft assembly 3600 are compressed relative to the proximal portion 3610 when the outer shaft assembly 3600 is switched from the contracted configuration (FIG. 50) to the expanded configuration (FIG. 51). pushed distally.

In addition to the above, and referring primarily to FIG. 51, distal portion 3630 of outer shaft assembly 3600 is positioned in the anvil when distal portion 3630 is advanced distally, thereby rotating anvil jaws 1330 to its closed position. engages jaws 1330; Stated another way, distal movement of rack 1520 of firing system 1500 causes a closing stroke that closes end effector 1300 . Firing system 1500 can then be used to drive firing rod 1510, rack 1520, intermediate firing rod 1530, and firing bar 1550 through the firing stroke. This is discussed in more detail above. Accordingly, firing system 1500 imparts separate and distinct closing and firing strokes to end effector 1300 via outer shaft assembly 1600 and firing bar 1550, respectively. When the articulation lock actuator 1410 is advanced distally to lock the end effector 1300 in place, the firing system 1500 performs a closing stroke after the shaft assembly 3000 is switched from the articulation mode of operation to the firing mode of operation. It is noted that it is possible to generate These are again discussed in more detail above.

As discussed above, during the closing stroke, rack 1520 of firing system 1500 engages extension assembly 3700 to place outer shaft assembly 3600 into its extended configuration. Rack 1520 remains engaged with extension assembly 3700 throughout the closing and firing strokes, thereby retaining outer shaft assembly 3600 in the extended configuration throughout the closing and firing strokes. After the closing stroke and/or the firing stroke are completed, or at least sufficiently completed, firing system 1500 can be operated to retract firing rod 1510 and rack 1520 proximally. As rack 1520 retracts proximally, rack 1520 disengages from extension assembly 3700 so that outer shaft assembly 3600 will not be retained in the extended configuration by rack 1520 .

Referring again to FIG. 49, outer shaft assembly 3600 includes a spring 3750 configured to bias or pull intermediate portion 3620 toward proximal portion 3610 and return outer shaft assembly 3600 to the contracted configuration. Prepare more. Distal flange 3611 of proximal portion 3610 includes a gap 3619 defined therein and configured to attach spring 3750 to proximal portion 3610; A gap 3629 is defined therein and configured to attach the spring 3750 to the intermediate portion 3620 . As intermediate portion 3620 of outer shaft assembly 3600 is displaced distally by rack 1520 , rack 1520 must apply a distal extension force to extension assembly 3700 that overcomes the proximal biasing force of spring 3750 .

An alternative shaft assembly 4000 is illustrated in FIGS. 52-54. Shaft assembly 4000 is similar to shaft assembly 3000 in many respects. Most of these are not discussed here for the sake of brevity. Shaft assembly 4000 comprises an outer shaft assembly including proximal portion 4610 and intermediate portion 4620 connected by a tension spring 4750 extending around extension assembly 3700 . Similar to above, tension spring 4750 exerts a proximal biasing force on intermediate portion 4620 when intermediate portion 4620 is displaced distally away from proximal portion 4610 by rack 1520 . Also similar to that described above, tension spring 4750 retracts intermediate portion 4620 toward proximal portion 4610 after rack 1520 is disengaged from extension assembly 3700 .

As discussed above, referring again to FIGS. 34-36, shaft assembly 1000 includes retraction system 1700 configured to manually retract firing system 1500 . 55-66, shaft assembly 5000 also includes a manually actuated retraction system, which is discussed in further detail below. Shaft assembly 5000 is similar to shaft assembly 1000 in many respects. Most of these are not discussed here for the sake of brevity.

Referring to FIG. 55, shaft assembly 5000 comprises mounting portion 5100 including outer housing 5120 . Referring primarily to FIG. 57, outer housing 5120 comprises first and second housing portions 5121 attached together to form a housing frame. Housing portions 5121 may be coupled together by, for example, one or more snap-fit mechanisms, one or more press-fit mechanisms, and/or one or more fasteners. Outer housing 5120 is configured to releasably couple mounting portion 5100 to a frame of a surgical system, such as a handle of a surgical instrument and, alternatively, an arm of a surgical robot. A mechanism is further provided. Housing portion 5121 includes, for example, one or more bearing surfaces configured to slidably support the translatable components of drive assembly 5500, as well as the rotatable configuration of drive assembly 5500. One or more bearing clearances configured to rotatably support the element.

Referring primarily to FIGS. 57-59, drive assembly 5500 includes a translatable firing rod 5510 configured to operably couple with a drive system of a surgical system. Drive assembly 5500 further comprises an input rack 5520 fixedly attached to firing rod 5510 such that input rack 5520 is translatable with firing rod 5510 . The drive assembly 5500 is configured to transfer translational motion of the input rack 5520 to the first rack 5560 of the first drive system and alternatively to the second rack 5580 of the second drive system. . To accomplish this, the drive assembly 5500 is arranged in a first position (FIG. 64) in which the input rack 5520 is operably coupled to the first rack 5560 and in a second position during a first mode of operation. Input rack 5520 includes a shiftable shaft 5540 that is displaceable between a second position (FIGS. 60-62) in which input rack 5520 is operably coupled to second rack 5580 during a mode of operation. The shaft 5540 has a first end 5542 extending from the first housing portion 5121 and a second end 5542 extending from the second housing portion 5121 . First and second ends 5542 of shaft 5540 are each displaced to slide or toggle shaft 5540 between a first position (FIG. 64) and a second position (FIGS. 60-62). It has a pushable surface that can be

Referring again to FIGS. 57-59, the drive assembly 5500 includes a gear 5530 slidably attached to the shaft 5540, a first output gear 5550 operably engagable with the shaft 5540, and the shaft 5540 further comprising a second output gear 5570 operably engagable with the . Referring to FIG. 62, gear 5530 includes an array of teeth 5536 extending around its circumference and also splined gaps 5534 extending therethrough. Teeth 5536 are operably interdigitated with longitudinally arranged teeth 5526 defined on input rack 5520 . When input rack 5520 is displaced distally, input rack 5520 rotates gear 5530 in a first direction, and when input rack 5520 is displaced proximally, input rack 5520 rotates in a second direction or vice versa. rotate gear 5530 in the direction of Splined clearance 5534 of gear 5530 operably intermesh with splined portion 5544 defined on shaft 5540 . As a result, when gear 5530 rotates in a first direction, gear 5530 causes shaft 5540 to rotate in a first direction. Similarly, when gear 5530 rotates in a second direction, gear 5530 rotates shaft 5540 in a second direction.

In addition to the above, gear 5530 is constrained within housing 5120 such that gear 5530 does not move, or at least substantially moves, relative to first output gear 5550 and second output gear 5570. do not do. However, shaft 5540 moves between a first position (FIG. 64) that places shaft assembly 5000 in a first mode of operation and a second position (FIG. 62) that places shaft assembly 5000 in a second mode of operation. Shaft 5540 is then laterally movable with respect to gear 5530 , first output gear 5550 and second output gear 5570 . Splined portion 5544 of shaft 5540 is sufficient to operably couple gear 5530 to shaft 5540 whether shaft 5540 is in the first position (FIG. 64) or the second position (FIG. 62). length. As a result of the above, gear 5530 remains operably engaged with input rack 5520 and shaft 5540 regardless of the position of shaft 5540 and regardless of the mode of operation in which shaft assembly 5000 is placed.

Referring to FIG. 64, when shaft 5540 is in its first position, splined portion 5544 of shaft 5540 is operably engaged with first output gear 5550 . More specifically, the splined portion 5544 of the shaft 5540 is positioned in the splined clearance 5554 defined in the first output gear 5550 when the shaft 5540 is in its first position, thus allowing the shaft 5540 to is transmitted to the first output gear 5550 . As a result, shaft 5540 rotates first output gear 5550 in a first direction when shaft 5540 rotates in a first direction, and correspondingly shaft 5540 rotates shaft 5540 in a second direction. direction, causes the first output gear 5550 to rotate in the second direction. The first output gear 5550 has an array of teeth 5556 extending about its circumference and operably intermeshing with longitudinally arrayed teeth 5566 defined on the first rack 5560 . Prepare. As a result, when the input rack 5520 is displaced distally, the first rack 5560 is displaced distally, and correspondingly when the input rack 5520 is displaced proximally, the first rack 5560 is displaced proximally. is displaced to Like gear 5530 , first output gear 5550 is constrained within housing 5520 such that first output gear 5550 does not move laterally, or at least substantially, relative to first rack 5560 . don't move. As a result, first output gear 5550 remains operably engaged with first rack 5560 regardless of the operating mode of shaft assembly 5000 .

Referring to FIG. 62, when shaft 5540 is in its second position, splined portion 5544 of shaft 5540 is operably engaged with second output gear 5570 . More specifically, the splined portion 5544 of the shaft 5540 is positioned in the splined clearance 5574 defined in the second output gear 5570 when the shaft 5540 is in its second position, thus allowing rotation of the shaft 5540. is transmitted to the second output gear 5570 . As a result, when shaft 5540 rotates in a first direction, it causes second output gear 5570 to rotate in a first direction, and correspondingly, when shaft 5540 rotates in a second direction, the shaft 5540 rotates a second output gear 5570 in a second direction. The second output gear 5570 has an array of teeth 5576 extending about its circumference and operably intermeshing with longitudinally arrayed teeth 5586 defined on the second rack 5580 . Prepare. As a result, when the input rack 5520 is displaced distally, the second rack 5580 is displaced distally, and correspondingly when the input rack 5520 is displaced proximally, the second rack 5580 is displaced proximally. is displaced to Like gear 5530 and first output gear 5550 , second output gear 5570 is constrained within housing 5520 such that second output gear 5570 does not move laterally relative to second rack 5580 . , or at least not substantially moving. As a result, second output gear 5570 remains operably engaged with second rack 5580 regardless of the operating mode of shaft assembly 5000 .

Further to the above, splined portion 5544 of shaft 5540 has a length that prevents shaft 5540 from simultaneously driving the first drive system and the second drive system. More specifically, when splined portion 5544 is operably engaged with first output gear 5550 , splined portion 5544 is not operably engaged with second output gear 5570 . Correspondingly, splined portion 5544 is not operably engaged with first output gear 5550 when splined portion 5544 is operably engaged with second output gear 5570 . As a result, firing rod 1510 can engage first rack 5560 and second rack 5580, but not both at the same time. Alternate embodiments are envisioned in which the splined portion 5544 is selectively positionable in an intermediate position where the splined portion 5544 is operably engaged simultaneously with the first output gear 5550 and the second output gear 5570. . In such examples, firing rod 1510 can drive first rack 5560 and second rack 5580 simultaneously.

Drive system 5500 can be used to selectively drive a first drive system including first rack 5560 or a second drive system including second rack 5580 . First drive system and second drive system may be configured to perform any suitable function of shaft assembly 5000 . For example, a first drive system can be used to produce a closing stroke that closes an end effector of shaft assembly 5000, e.g., a second drive system can drive staples from a staple cartridge positioned in the end effector. can be used to produce a firing stroke that fires a In such instances, the shaft assembly 5000 can perform discrete closing and firing strokes that are separate. For example, a first drive system could alternatively be used to articulate the end effector of shaft assembly 5000 and a second drive system could close the end effector to eject staples from the staple cartridge. Can be used to produce more than one stroke. In either event, drive system 5500 is configured to selectively transmit linear input motion applied to firing rod 5510 to two separate drive systems.

Referring primarily to FIG. 60, drive system 5500 further comprises output shaft assembly 5590 . Output shaft assembly 5590 includes a splined portion 5594, a gear 5596 slidably attached to splined portion 5594, and a bevel gear 5598 fixedly attached thereto. Gear 5596 is slidable between a driven position (FIGS. 60, 61 and 63) and a retracted position (FIG. 65). 60, 61 and 63, when the gear 5596 is in its drive position, the gear 5596 operably intermesh with longitudinally arranged teeth 5586 defined on the second rack 5580. . In such an example, shaft assembly 5590 can be rotated via gear 5596 as second rack 5580 is driven proximally and distally by firing rod 1510, as described above. 65, gear 5596 is operably disengaged from second rack 5580 when gear 5596 is in its retracted position. Instead, in such instances, gear 5596 is operably coupled with retraction system 5700, as described in greater detail below.

Referring to FIG. 56, retraction system 5700 is stored or stowed away in housing 5120 of mounting portion 5100 . Housing 5120 includes a cover or hatch 5125 rotatably attached to one of housing portions 5121 that can be opened to access retraction system 5700 . Referring to FIG. 57, cover 5125 includes pin gaps 5128 defined therein and aligned with pin gaps 5123 defined in housing portion 5121 . Each set of pin gaps 5123 , 5128 is configured to receive a pin 5127 therein that rotatably couples cover 5125 to housing portion 5121 . Other arrangements for connecting cover 5125 to housing portion 5121 can be used. Housing 5120 further includes an opening 5122 defined therethrough through which retraction system 5700 may be accessible when cover 5125 is rotated from a closed position (FIG. 55) to an open position (FIG. 56). Cover 5125 extends therefrom and engages gear 5596 of shaft assembly 5590 when cover 5125 is rotated from a closed position (FIG. 55) to an open position (FIG. 56), as described in more detail below. Note that there is an arm 5126 configured to engage.

Further to the above, when the cover 5125 is opened, the cover 5125 is configured to push the gear 5596 from the drive position (Fig. 63) to the retracted position (Fig. 65). 63, when gear 5596 is in its drive position, gear 5596 is operably engaged with rack 5580 and operably disengaged from retraction system 5700. Referring to FIG. 65, gear 5596 is operably disengaged from second rack 5580 and operably engaged with retraction system 5700 when gear 5596 is in its retracted position. Thus, when cover 5125 is opened to access retraction system 5700, cover 5125 automatically shifts shaft assembly 5000 from the second mode of operation to the retracted mode of operation (FIGS. 65 and 66). As a result, the retraction system 5700 is operably coupled with the shaft assembly 5590 such that the clinician can grasp the crank 5702 of the retraction system 5700 after the second rack 5580 is operably disconnected from the shaft assembly 5590. can even be done. Additionally, cover 5125 retains gear 5596 in the retracted position as long as cover 5125 is in its open position.

In view of the above, the shaft assembly 5590 can be driven by the second rack 5580 or the retraction system 5700 depending on the mode of operation of the shaft assembly 5000. In either the second mode of operation or the retracted mode of operation, referring primarily to FIG. 60, bevel gear 5598 of shaft assembly 5590 is operably engaged with output system 5600 . Output system 5600 includes bevel gear 5608 operably intermeshing with bevel gear 5598 . Output system 5600 further comprises a rotatable output shaft 5606 . Bevel gear 5608 is fixedly attached to output shaft 5606 such that output shaft 5606 rotates when shaft assembly 5590 rotates. Output system 5600 further comprises a rotatable firing shaft 5602 and a gear drop box 5604 operably coupling rotatable firing shaft 5602 and rotatable output shaft 5606 . In addition to the above, when shaft assembly 5000 is in its second mode of operation and gear 5596 is operably coupled to second rack 5580, firing shaft 5602 can move in a first direction or in a second direction. Depending on the direction in which the two racks 5580 are displaced, the second rack 5580 can rotate in the opposite direction. When shaft assembly 5000 is in the retracted mode of operation, retraction system 5700 can only rotate firing shaft 5602 in the opposite direction, as described in greater detail below.

58, 59 and 66, crank 5702 of retraction system 5700 is rotatable relative to shaft 5710 which is rotatably supported by housing 5120. Referring to FIGS. It is noted that crank 5702 does not directly drive shaft 5710 when crank 5702 is rotated. However, crank 5702 includes a pawl 5706 rotatably attached thereto and driving a ratchet gear 5716 fixedly attached to shaft 5710 . Referring primarily to FIG. 59, pawl 5706 is rotatably coupled to crank 5702 about pin 5704 attached to crank 5702 . In use, pawl 5706 is configured to drive ratchet gear 5716 to rotate firing shaft 5602 in the opposite direction when crank 5702 is rotated in a first direction. On the other hand, pawl 5706 is configured to slide against ratchet gear 5716 when crank 5702 is rotated in a second or opposite direction. Retraction system 5700 further includes a gear 5712 fixedly attached to shaft 5710 that rotates with shaft 5710 when shaft 5710 rotates by pawl 5706 . Referring primarily to FIG. 66, gear 5712 is operably intermeshing with gear 5722 rotatably mounted on shaft 5724 such that rotation of gear 5712 is imparted to gear 5722 . Further to the above, gear 5596 operably meshes with gear 5722 when gear 5596 is in its retracted position. As a result, rotation of crank 5702 in its first direction illustrated in FIG. 66 is transferred to shaft assembly 5690 to rotate firing shaft 5602 in its opposite direction. In various examples, for example, rotating firing shaft 5602 causes the firing member to retract proximally away from the end effector of shaft assembly 5000 .

An opening in cover 5125 permanently disconnects gear 5596 from second rack 5580 and, correspondingly, permanently disconnects firing shaft 5602 from input shaft 5510 . More specifically, after moving to the retracted position (FIG. 65), the gear 5596 is not, or at least not easily resettable, to the drive position (FIG. 63). As a result, shaft assembly 5000 cannot return to the second mode of operation after entering the retracted mode of operation. For example, if the cover 5125 were to be opened and then closed again, the arms 5126 of the cover 5125 would disengage from the gear 5596, but the gear 5596 would move back to the second position. There is no engagement with rack 5580 . However, in such instances, retraction system 5700 can still be used to rotate firing rod 5602 in its opposite direction. Further, in such examples, drive system 5500 can be used to engage first rack 5560 with firing rod 5510 to operate the first drive system. Such an arrangement prevents the clinician from reusing the shaft assembly 5000, which could be defective. This is because the act of opening cover 5125 may indicate that something may be wrong with shaft assembly 5000 .

Various alternative embodiments are envisioned in which the shaft assembly 5000 can be reset to the second mode of operation after entering the retracted mode of operation. For example, shaft assembly 5000 is compressed by gear 5596 and intermediate gear 5596 and bevel gear 5598 when cover 5125 is opened and gear 5596 is slid along spline portion 5594 of shaft assembly 5590 to a retracted position. A positioned spring may be provided. When the cover 5125 is closed in such an instance, the spring can bias the gear 5596 back to its driven position to operably re-engage the gear 5596 with the second rack 5580 . Such an arrangement allows the shaft assembly 5000 to be repaired during use and then used to complete the surgical procedure.

FIG. 72 illustrates an exemplary surgical instrument 100 with a handle 110 and an interchangeable shaft assembly 200 operably coupled thereto. Handle 110 includes a housing 140 that is configured to be grasped, manipulated, and/or actuated by a clinician. Shaft assembly 200 includes shaft 210 and end effector 300 . Shaft 210 includes a shaft frame (not shown in FIG. 78) and a hollow outer sleeve or closure tube 250 through which the shaft frame extends. Shaft assembly 200 further includes a nozzle assembly 290 that cooperates with outer sleeve 250 and is configured to allow a clinician to selectively rotate shaft 210 about its longitudinal axis. Shaft assembly 200 also includes a latch 230 that is part of a locking system that releasably locks shaft assembly 200 to handle 110 . In various circumstances, latch 230 can close an electrical circuit within handle 110 , for example, when latch 230 is engaged with handle 110 . The entire disclosure of U.S. Patent Application Serial No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, filed March 14, 2013, is incorporated herein by reference. All of the embodiments disclosed herein can be used with handle 110 .

FIG. 73, for example, illustrates an exemplary surgical robot 500 configured to actuate a plurality of surgical instruments generally designated 600. As shown in FIG. Surgical robot 500 interfaces with a master controller (not shown) configured to allow a surgeon to control and observe surgical procedures being performed by surgical robot 500 . can be used as In various forms, the surgical robot 500 has, in the illustrated embodiment, a base 510, for example, from which three surgical tools 600 are supported. In various forms, surgical instruments 600 are each supported by a series of articulated linkages, commonly referred to as arms 520 , operably coupled to one or more drive systems 530 . These structures are illustrated with protective covers that obscure many of their movable components. These protective covers may be optional, and in some embodiments are limited in size or eliminated entirely, resulting from the servo mechanism used to operate arm 520. May minimize inertia. In various forms, the surgical robot 500 has wheels that allow the surgical robot 500 to be positioned adjacent to the operating platform by a single attendant. FIG. 73 further illustrates working envelope 700 of surgical robot 500 . This working envelope 700 refers to the range of motion of the surgical tool 600 of the surgical robot 500 . The shape and size of work envelope 700 illustrated in FIG. 73 are merely exemplary. Accordingly, the working envelope is not limited to the particular size and shape of the sample working envelope illustrated in FIG. The entire disclosure of US Pat. No. 9,060,770, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, issued Jun. 23, 2015, is incorporated herein by reference. All of the embodiments disclosed herein can be used with surgical robot 500 .

Example 1 - A method comprising obtaining a shaft assembly with an end effector, attaching the shaft assembly to a handle of a surgical instrument, and removing the shaft assembly from the handle. The method also
The steps of attaching the shaft assembly to an arm of the surgical robot and removing the shaft assembly from the arm are included.

Example 2 - Prior to attaching the shaft assembly to the surgical robotic arm, the step of removing the shaft assembly from the surgical instrument handle is performed, and the steps of sterilizing the shaft assembly after removing the shaft assembly from the surgical instrument handle are further included. The method of Example 1, comprising:

Example 3—Before the step of attaching the shaft assembly to the surgical robotic arm, remove the shaft assembly from the surgical robotic arm, and further include the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical robotic arm. The method of Example 1, comprising:

Example 4 - The shaft assembly comprises a firing member, the surgical instrument handle comprises an electric motor operably couplable with the firing member during the step of attaching the shaft assembly to the surgical instrument handle, and the surgical robotic arm comprises: 4. The method of example 1, 2, or 3, comprising an electric motor operably couplable with the firing member during the step of attaching the shaft assembly to the surgical robotic arm.

[0051] Example 5 - The method of Examples 1, 2, 3, or 4, wherein the shaft assembly comprises a latch configured to engage a handle of a surgical instrument and, alternatively, an arm of a surgical robot.

Example 6 - The shaft assembly comprises a shaft microprocessor and a shaft electrical connector, the handle comprises a handle microprocessor and a handle electrical connector, and the surgical robot comprises a robot microprocessor and a robot connector, Examples 1, 2 , 3, 4 or 5.

[0043] Example 7 - The method of Example 6, wherein attaching the shaft assembly to the handle of the surgical instrument comprises electrically coupling the shaft electrical connector to the handle electrical connector.

Example 8 - The method of example 6, wherein attaching the shaft assembly to the handle of the surgical instrument comprises placing a shaft microprocessor in signal communication with the handle microprocessor.

[0040] Example 9 - The method of Example 6, wherein attaching the shaft assembly to the arm of the surgical robot comprises electrically coupling the shaft electrical connector to the robot electrical connector.

Example 10 - The method of example 6, wherein attaching the shaft assembly to the arm of the surgical robot comprises placing a shaft microprocessor in signal communication with the robot microprocessor.

Example 11 - Example 1, 2, 3, 4, 5, 6, 7, 8, 9 or, further comprising attaching the staple cartridge to the shaft assembly prior to attaching the shaft assembly to the surgical instrument handle. 10 ways.

Example 12 - Example 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10 further comprising attaching the staple cartridge to the shaft assembly after attaching the shaft assembly to the surgical instrument handle the method of.

Example 13 - Example 1, 2, 3, 4, 5, 6, 7, 8, 9 or, further comprising attaching the staple cartridge to the shaft assembly prior to attaching the shaft assembly to the surgical robotic arm. 10 ways.

Example 14 - Example 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10 further comprising attaching the staple cartridge to the shaft assembly after attaching the shaft assembly to the surgical robotic arm the method of.

Example 15—The method of Example 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, or 14, further comprising assembling the end effector to the shaft assembly.

Example 16 - A method comprising obtaining a shaft assembly, attaching the shaft assembly to a handle of a surgical instrument, and alternatively attaching the shaft assembly to an arm of a surgical robot.

Example 17 - The method of Example 16, further comprising attaching the end effector to the shaft assembly.

Example 18 - The method of Example 17, further comprising attaching the staple cartridge to the end effector.

Example 19 - A method comprising obtaining a shaft assembly and selectively attaching the shaft assembly to a handle of a surgical instrument or an arm of a surgical robot.

Example 20 - A powered surgical system, wherein the shaft assembly comprises a frame selectively attachable to a powered surgical system, a shaft extending from the frame, and an end effector coupled to the shaft A shaft assembly for use with the system.
The shaft assembly also includes a firing member operably engageable with the powered surgical system, the firing member movable toward the end effector during the firing stroke. The shaft assembly further includes a retraction crank rotatably attached to the frame and selectively engageable with the firing member, wherein the retraction crank is adapted when the shaft assembly is not attached to the powered surgical system. A retraction crank is selectively operable to retract the firing member away from the end effector.

Example 21 - The end effector comprises jaws movable between an open position and a closed position, wherein the firing member is configured to move the jaws in a direction from the open position to the closed position during the firing stroke, The shaft assembly of Example 20.

Example 22 - An end effector comprising a first jaw and a second jaw, the first jaw being movable between an open position and a closed position, and a shaft assembly moving the first jaw to the closed position 22. The shaft assembly of embodiment 20 or 21, further comprising a closure member configured to move in the direction of .

Example 23 - The shaft comprises a shaft frame slidable relative to the frame, the second jaw is attached to the shaft frame, the second jaw is movable by the shaft frame, the first jaw 23. The shaft assembly of embodiment 20, 21 or 22, moving toward the open position.

Embodiment 24 - An embodiment further comprising a retraction pawl pivotally attached to the retraction crank, wherein the retraction pawl is configured to engage the firing member when the retraction crank is rotated relative to the frame 20, 21, 22 or 23 shaft assemblies.

Embodiment 25 - A powered surgical system comprises a first powered surgical system, a frame configured to attach to a second powered surgical system, and a firing member operable to the second powered surgical system 25. The shaft assembly of embodiment 20, 21, 22, 23 or 24, configured to be coupled to a.

[00410] Example 26 - The shaft assembly of example 25, wherein the first powered surgical system comprises a surgical instrument handle and the second powered surgical system comprises a surgical robot.

Example 27 - The shaft assembly of example 20, 21, 22, 23, 24, 25 or 26, wherein the end effector comprises a staple cartridge.

Example 28 - The shaft assembly of Example 27, wherein the staple cartridge is replaceable.

Example 29 - A surgical system comprising a first powered surgical system with a first electric motor, a second powered surgical system with a second electric motor, and a shaft assembly. The shaft assembly includes a frame selectively attachable to the first powered surgical system and the second powered surgical system. The shaft assembly also includes a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engagable with the first electric motor and the second electric motor. , the firing member is movable toward the end effector during the firing stroke. The shaft assembly further comprises a retraction crank rotatably attached to the frame, the retraction crank selectively engagable with the firing member, the retraction crank and the shaft assembly connecting to the first powered surgical system. from the end effector, when attached to a second powered surgical system, and when attached to neither the first nor the second powered surgical system. It is selectively operable to retract the firing member apart.

Embodiment 30 - The end effector comprises jaws movable between an open position and a closed position, and the firing member is configured to move the jaws in a direction from the open position to the closed position during the firing stroke , the surgical system of Example 29.

Example 31 - An end effector comprising a first jaw and a second jaw, the first jaw being movable between an open position and a closed position, and a shaft assembly moving the first jaw to the closed position 31. The surgical system of example 29 or 30, further comprising a closure member configured to move.

Example 32—The shaft comprises a shaft frame slidable relative to the frame, and a second jaw is attached to the shaft frame, the second jaw moving the first jaw toward the open position. , movable by the shaft frame.

Embodiment 33 - An embodiment further comprising a retraction pawl pivotally attached to the retraction crank, wherein the retraction pawl is configured to engage the firing member when the retraction crank is rotated relative to the frame 29, 30, 31 or 32 surgical system.

[00433] Example 34 - The surgical system of example 29, 30, 31, 32, or 33, wherein the first powered surgical system comprises a surgical instrument handle and the second powered surgical system comprises a surgical robot.

Example 35 - The shaft assembly of example 29, 30, 31, 32, 33 or 34, wherein the end effector comprises a staple cartridge.

Example 36 - The shaft assembly of example 35, wherein the staple cartridge is replaceable.

Example 37 - A first surgical instrument system and a second surgical instrument system wherein the shaft assembly comprises a frame selectively attachable to the first surgical instrument system and the second surgical instrument system A shaft assembly for use with the system. The shaft assembly also includes a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first surgical instrument system and the second surgical instrument system. so that the firing member is movable toward the end effector during the firing stroke. The shaft assembly further includes manually operable retraction means for selectively engaging the firing member to retract the firing member away from the end effector.

Example 38—The shaft assembly of example 37, wherein the end effector comprises a staple cartridge.

Example 39—The shaft assembly of Example 38, wherein the staple cartridge is replaceable.

Example 40 - For use with a surgical system wherein the shaft assembly comprises a frame, the frame comprising a proximal portion configured to be attached to the surgical system, and a tube extending distally from the proximal portion shaft assembly for The shaft assembly also includes a spine that extends through the tube and is slidably attached to the proximal portion. The shaft assembly also includes an end effector including a first jaw extending distally from the spine, a second jaw rotatably attached to the first jaw, and a second jaw extending distally from the spine. Jaws are rotatable between open and closed positions. The shaft assembly also includes a firing member operably engageable with the drive system of the surgical system, the firing member being movable distally relative to the spine during the firing stroke. The shaft assembly is configured to allow a firing member retraction system configured to pull the firing member proximally and a spine distally to rotate the second jaw to an open position. and an end effector opening system.

Example 41 - The shaft assembly of Example 40, wherein the firing member retraction system comprises a manually actuatable lever.

Example 42—The shaft assembly of Example 40 or 41, wherein the end effector opening system comprises a manually actuatable lever.

Example 43—The shaft assembly of example 40, 41 or 42, wherein the end effector further comprises a staple cartridge.

Example 44—The shaft assembly of example 43, wherein the staple cartridge is replaceably mountable in the first jaw.

Example 45—The shaft assembly of example 43, wherein the staple cartridge is replaceably mountable in the second jaw.

[00400] Embodiment 46 - The shaft assembly of embodiments 40, 41, 42, 43, 44, or 45, further comprising a spring configured to bias the second jaw to the open position.

Example 47—The shaft assembly of Examples 40, 41, 42, 43, 44, 45, or 46, wherein the end effector opening system and firing member are operable independently of one another.

Example 48 - A firing member has a first cam configured to engage a first jaw and a second cam configured to engage a second jaw during a firing stroke 48. The shaft assembly of embodiment 40, 41, 42, 43, 44, 45, 46 or 47, comprising a cam member.

Embodiment 49 - Embodiment 43, 44, 45, 46, 47 or wherein the staple cartridge comprises staples removably stored therein and the firing member is configured to fire the staples from the staple cartridge 48 shaft assembly.

Example 50 - Examples 40, 41, 42 wherein the end effector further comprises a staple cartridge comprising staples removably stored therein, and wherein the firing member is configured to fire the staples from the staple cartridge , 43, 44, 45, 46, 47, 48 or 49.

Embodiment 51 - Embodiments 40, 41, 42, 43, 44, 45 further comprising a closing member configured to move the second jaw from the open position toward the closed position during the closing stroke, 46, 47, 48, 49 or 50 shaft assemblies.

Example 52—The shaft assembly of Example 51, wherein the closing stroke causes the firing member to engage and move the closing member.

Example 53 - The closure member is configurable in a contracted configuration and an expanded configuration, and wherein the closure member is configured to undergo a closing stroke as the closure member transitions between the contracted configuration and the expanded configuration, or 52 shaft assembly.

[0054] Example 54 - The shaft assembly of example 51, 52 or 53, wherein the closure member comprises a latch configured to releasably retain the closure member in the contracted configuration.

[0050] 55 - The shaft assembly of 51, 52, 53 or 54, wherein the firing member is configured to engage the closure member and release the latch prior to making a firing stroke.

Example 56 - The closure member comprises a proximal portion and a distal portion, the proximal portion of the closure member is attached to the proximal portion of the frame, and the distal portion is proximal of the closure member during the closing stroke. 56. The shaft assembly of embodiment 51, 52, 53, 54 or 55, movable apart from the portion.

Example 57 - The shaft assembly of example 51, 52, 53, 54, 55 or 56, wherein the closure member further comprises a spring configured to bias the distal portion toward the proximal portion of the closure member .

[0058] Example 58 - The shaft assembly of example 53, further comprising a spring configured to bias the closure member to the contracted configuration.

Example 59 - A shaft assembly comprises a frame attachable to a surgical system and an end effector, the end effector having a first jaw and a second rotatably attached to the first jaw A shaft assembly for use with a surgical system comprising jaws, the second jaw being rotatable between an open position and a closed position. The shaft assembly further includes a closure member configurable in a contracted configuration and an expanded configuration, wherein transitioning the closure member from the contracted configuration to the expanded configuration during the closing stroke causes the closure member to move the second jaw toward the closed position. configured to move to

[00104] Embodiment 60 - The shaft assembly of embodiment 59, further comprising a firing member operably engageable with a drive system of the surgical system, the firing member movable through a firing stroke by the drive system.

Example 61 - The shaft assembly of example 60, wherein the firing member is configured to engage the closure member and transition the closure member from the contracted configuration to the expanded configuration.

[00103] Example 62 - The shaft assembly of example 60 or 61, wherein the closure member comprises a latch configured to releasably retain the closure member in the contracted configuration.

Example 63 - The shaft assembly of example 60, 61 or 62, wherein the firing member is configured to release the latch prior to making a firing stroke.

Example 64 - A closure member comprises a proximal portion and a distal portion, wherein the proximal portion of the closure member is attached to a frame, and the distal portion is movable apart from the proximal portion during the closing stroke The shaft assembly of embodiment 59, 60, 61, 62 or 63 is

[00103] Example 65 - The shaft assembly of example 64, wherein the closure member further comprises a spring configured to bias the distal portion of the closure member toward the proximal portion.

[00103] Example 66 - The shaft assembly of example 59, 60, 61, 62, 63, 64 or 65, further comprising a spring configured to bias the closure member to the contracted configuration.

Example 67—The shaft assembly of example 59, 60, 61, 62, 63, 64, 65 or 66, wherein the end effector further comprises a staple cartridge.

Example 68 - The shaft assembly of Example 67, wherein the staple cartridge is replaceable.

Example 69—The shaft assembly of example 67 or 68, wherein the staple cartridge is mountable in the first jaw.

Example 70—The shaft assembly of example 67 or 68, wherein the staple cartridge is mountable in the second jaw.

Example 71 - A shaft assembly for use with a surgical system comprising an end effector and an attachment portion. the end effector includes a first jaw, a second jaw, and a closure member configured to move the first jaw relative to the second jaw between an open position and a closed position; a firing member movable through a firing stroke. The mounting portion is operably coupled to the shaft frame configured to engage the frame of the surgical system, the rotatable input configured to receive rotational movement from the surgical system, and the closure member. and a closure system. The mounting portion also includes a firing system operably connected to the firing member and a clutch configurable in a closed mode and a firing mode. The clutch operably couples the rotatable input to the closing system when the clutch is placed in the closed mode, and the clutch operably disconnects the firing system from the rotatable input when the clutch is placed in the closed mode. The clutch couples the rotatable input with the firing system when the clutch is placed in the firing mode, and operably disconnects the closure system from the rotatable input when the clutch is placed in the firing mode.

Example 72—The shaft assembly of example 71, wherein the clutch comprises a toggle positionable in a closed position for placing the clutch in closed mode and a firing position for placing the clutch in firing mode.

Example 73—The shaft assembly of example 71 or 72, wherein the toggle comprises a first pushable end and a second pushable end.

[00103] Example 74 - The shaft assembly of Examples 71, 72 or 73, further comprising a manually operable retraction system configured to retract the firing member.

Example 75 - The shaft of Example 74 wherein the retraction system is configurable in a rest configuration and an actuation configuration, and wherein the retraction system is configured to disconnect the rotational input from the firing system when the retraction system is placed in the actuation configuration assembly.

[00101] Example 76 - The shaft assembly of Example 74 or 75, wherein the closure system is operably engageable with the rotary input when the retraction system is placed in the activated configuration.

[00101] Example 77 - The shaft assembly of Examples 74, 75 or 76, wherein the firing system is permanently disconnected from the rotational input when the retraction system is placed in the activated configuration.

Example 78—The shaft assembly of example 75, wherein the firing system is operably connectable with the rotary input after the retraction system returns to the rest configuration.

Example 79 - Example 74, 75, 76, 77 or 78, wherein the mounting portion comprises a housing, the housing is movable between a closed position and an open position, and comprises a cover exposing a lever of the retraction system shaft assembly.

Example 80—The shaft assembly of example 79, wherein the cover is configured to operably disengage the firing system from the rotatable input when the cover moves from the closed position to the open position.

[00103] Example 81 - The shaft assembly of example 79 or 80, wherein the cover does not operably disengage the closure system from the rotatable input when the cover moves from the closed position to the open position.

Example 82—The shaft assembly of example 80, wherein the firing system is operably reengageable with the rotatable input when the cover is moved back to the closed position.

Example 83 - The shaft assembly of example 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81 or 82, wherein the firing member comprises a rotatable output shaft.

Example 84 - When the firing system comprises a first gear and a second gear and the cover is in the closed position, the first gear is operably intermeshed with the second gear and the cover is in the open position 84. The shaft assembly of embodiment 80, 81, 82 or 83, wherein the first gear is disengaged from the second gear if so.

[00103] Example 85 - The shaft assembly of example 84, further comprising a spring configured to bias the first gear and act with and intermesh the second gear.

Example 86 - The shaft assembly of examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, wherein the end effector further comprises a staple cartridge.

Example 87 - The shaft assembly of example 86, wherein the staple cartridge is replaceable.

Example 88 - Examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, wherein the firing member is rotatable and the closure member is translatable, 85, 86 or 87 shaft assembly.

Example 89 - A shaft assembly for use with a surgical system comprising an end effector, a first drive system, and a second drive system. The shaft assembly also includes a mounting portion, the mounting portion comprising a shaft frame configured to engage a frame of the surgical system and a rotatable input shaft configured to receive rotational motion from the surgical system. with configuration. The mounting portion also includes a clutch configurable for a first mode of operation and a second mode of operation. The clutch operably couples the rotatable input shaft to the first drive system when the clutch is engaged in the first mode of operation, and the clutch couples the rotatable input shaft to the first drive system when the clutch is engaged in the first mode of operation. operably disconnecting the second drive system; The clutch operatively couples the rotatable input shaft with the second drive system when the clutch is engaged in the second mode of operation, and the clutch operably couples the rotatable input shaft when the clutch is engaged in the second mode of operation. operably disconnecting the first drive system;

Example 90 - A shaft assembly for use with a surgical system comprising a first drive system, a second drive system, and a shaft frame configured to engage a frame of the surgical system. The shaft assembly also includes a rotatable input shaft configured to receive rotational motion from the surgical system and a transmission configurable for first and second modes of operation. The transmission operably couples the rotatable input shaft to the first drive system when the transmission is placed in the first mode of operation, and the transmission rotates when the transmission is placed in the first mode of operation. operably disconnecting the second drive system from the enable input shaft; The transmission operably couples the rotatable input shaft to the second drive system when the transmission is placed in the second mode of operation, and the transmission rotates when the transmission is placed in the second mode of operation. A manually operable retraction system for operably decoupling the first drive system from the enabling input shaft is configured to operably terminate the first mode of operation and retract the second drive system when activated. ing.

Example 91 - An end effector wherein the shaft assembly comprises a frame attachable to a surgical system, a first jaw, a second jaw, the first jaw being rotatable relative to the second jaw and a staple cartridge comprising staples removably stored therein. The shaft assembly also includes an articulation joint and the end effector is rotatably connected to the frame about the articulation joint. The shaft assembly also includes a firing member translatable between an unfired position and a firing position during a firing stroke of firing staples from the staple cartridge, the firing member having first and second orientations. It is possible to rotate between The shaft assembly further includes an articulation driver configured to rotate the end effector about the articulation joint such that the firing member is operable with the articulation driver when the firing member is in the first orientation. coupled such that translational motion of the firing member is imparted to the articulation driver when the firing member is in a first orientation and the firing member is operable from the articulation driver when the firing member is in a second orientation; separated.

Embodiment 92—Further comprising an articulation lock movable between an unlocked configuration and a locked configuration, wherein the end effector is rotatable relative to the frame when the articulation lock is in the unlocked configuration, and the articulation lock 92. The shaft assembly of embodiment 91, wherein the articulation lock is configured to prevent rotation of the end effector relative to the frame when is in the locked configuration.

Example 93 - The shaft of example 92 wherein the articulation lock is configured to engage the articulation drive to hold the articulation drive in place when the articulation lock is in the locked configuration assembly.

[00104] Example 94 - The shaft assembly of example 92 or 93, wherein the articulation lock is configured to engage the end effector to hold the end effector in place when the articulation lock is in the locked configuration.

[00104] Example 95 - The shaft assembly of example 92, 93 or 94, further comprising an articulation lock actuator configured to move the articulation lock between an unlocked configuration and a locked configuration.

Example 96 - When the articulation lock actuator moves the articulation lock to the unlocked configuration, the articulation lock actuator is operable to rotate the firing member in the first orientation and manipulate the firing member to the articulation driver 96. The shaft assembly of embodiment 95, wherein the shaft assembly is configured to couple to a.

Example 97—When the articulation lock actuator moves the articulation lock to the unlocked configuration, the articulation lock actuator rotates the firing member in the second orientation and moves the firing member from the articulation driver to the unlocked configuration. 97. The shaft assembly of embodiment 95 or 96, wherein the shaft assembly is configured to operably disconnect the .

Example 98 - A firing member is configured to engage the first jaw and move the first jaw toward the second jaw during the closing stroke, wherein the firing member 98. The shaft assembly of embodiment 91, 92, 93, 94, 95, 96 or 97, configured to perform a closing stroke.

Example 99 - Further comprising a retraction actuator, wherein the retraction actuator is selectively engageable with the firing member and manually operable to retract the firing member to an unfired position, Examples 91, 92, 93, 94, 95, 96, 97 or 98 shaft assembly.

Embodiment 100 - Embodiments 91, 92, 93 further comprising a closing member configured to engage the first jaw and move the first jaw toward the second jaw during the closing stroke , 94, 95, 96, 97, 98 or 99.

Embodiment 101 - A firing member comprises a first portion, a second portion, and a clutch, wherein the clutch is configured to switch the firing member between an articulated mode configuration and a firing mode configuration the first portion is movable relative to the second portion when the firing member is in the articulated mode configuration and the first portion is movable relative to the second portion when the firing member is in the firing mode configuration; to drive the second portion distally.

Example 102 - The shaft assembly of example 101, wherein the clutch comprises a lock configured to releasably retain the firing member in the firing mode configuration.

Example 103—The shaft assembly of example 101 or 102, wherein the lock is attached to the second portion of the firing member.

Embodiment 104 - When the clutch transitions the firing member between the articulated mode configuration and the firing mode configuration, the first portion of the firing member is movable toward the firing position such that the lock causes the first 104. The shaft assembly of embodiment 101, 102 or 103, wherein the portion of is releasably graspable into operative engagement with the second portion.

Embodiment 105—The frame further comprises a key, the lock configured to engage the key when the firing member is retracted toward the unfired position, the key unlocking the lock and the firing member 105. The shaft assembly of example 101, 102, 103 or 104, configured to allow the transition from a launch mode configuration to an articulation mode configuration.

Embodiment 106 - The frame comprises a first rotation stop and a second rotation stop, the first rotation stop configured to stop the firing member in the first orientation, and the second 92. The shaft assembly of Example 91, wherein the rotation stop is configured to stop the firing member in the second orientation.

Example 107—The shaft assembly of Example 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105 or 106, wherein the staple cartridge is replaceable.

Example 108 - An end effector wherein the shaft assembly comprises a frame attachable to a surgical system, a first jaw, a second jaw, the first jaw being rotatable relative to the second jaw A shaft assembly for use with a surgical system comprising: The shaft assembly also includes an articulation joint, the end effector is rotatably connected to the frame about the articulation joint, and the articulation driver is configured to rotate the end effector about the articulation joint. It is The shaft assembly further includes a firing assembly translatable between an unfired position and a fired position during the firing stroke, the firing assembly including a first portion and a second portion. The first portion is rotatable with respect to the second portion between an articulation mode orientation and a firing mode orientation, wherein the first portion is rotatable relative to the second portion when in the articulation mode orientation. is operably connected to the articulation driver. Translational motion of the firing assembly is imparted to the articulation driver when the first portion is oriented in the articulation mode, and the firing assembly is manipulated from the articulation driver when the first portion is oriented in the firing mode. separated as much as possible.

Example 109—The shaft assembly of example 108, wherein the end effector further comprises a staple cartridge.

Embodiment 110 - A shaft assembly for use with a surgical system comprising a frame attachable to the surgical system and an end effector, the end effector comprising a first jaw and a second jaw , a shaft assembly in which the first jaw is rotatable relative to the second jaw. The shaft assembly is also an articulation joint wherein the end effector is rotatably connected to the frame about the articulation joint and configured to rotate the end effector about the articulation joint. with an articulating driver. The shaft assembly also includes a firing assembly translatable between an unfired position and a fired position during the firing stroke, the firing assembly including a first portion and a second portion. The shaft assembly includes means for selectively rotating the first portion of the firing assembly into and out of operable engagement with the articulation driver; Means for operably decoupling the second portion of the firing assembly from the first portion when operably engaged with the articulation driver.

Example 111 - A shaft assembly for use with a surgical system comprising a staple cartridge, an end effector, and a firing member. The staple cartridge has a cartridge body including a staple cavity, staples removably stored in the staple cavity, and movable between an unfired position and a fired position during a firing stroke for ejecting the staples from the staple cavity. and a thread. The end effector includes a cartridge channel configured to receive a staple cartridge, the cartridge channel including a lockout recess. The end effector further comprises an anvil configured to deform the staple and a locking spring. The firing member comprises a firing bar with a cutting edge configured to cut patient tissue during a firing stroke. The firing member further comprises a lock rotatably attached to the firing bar, the lock being rotatable between an unlocked position and a locked position with the staple cartridge seated in the cartridge channel and the sled unfired. position, the sled is configured to hold the lock in the unlocked position and the lock springs from the unlocked position to the locked position when the staple cartridge is not in the cartridge channel and the sled is not in the unfired position. can be rotated by

Example 112—The shaft assembly of Example 111, further comprising a staple drive, wherein the sled is configured to engage the staple drive and eject the staples from the staple cavities during the firing stroke.

Example 113—The shaft assembly of example 112, wherein the staple driver is integrally formed with the staple.

Embodiment 114—The firing bar further comprises a coupling member, the coupling member comprising a cutting edge, the coupling member engaging the cartridge cam and the anvil configured to engage the cartridge channel during the firing stroke. and an anvil cam configured to mate.

Example 115 - of example 114 wherein the anvil is rotatable relative to the cartridge channel between an open position and a closed position, and wherein the coupling member is configured to control the position of the anvil relative to the staple cartridge shaft assembly.

Example 116 - The shaft of example 114 wherein the cartridge channel is rotatable relative to the anvil between an open position and a closed position and the coupling member is configured to control the position of the staple cartridge relative to the anvil assembly.

Embodiment 117 - The anvil is rotatable relative to the cartridge channel between an open position and a closed position, and the shaft assembly further comprises a closure member configured to move the anvil toward the closed position. The shaft assembly of embodiment 111, 112, 113, 114, 115 or 116.

Embodiment 118—The cartridge channel is rotatable relative to the anvil between an open position and a closed position, and the shaft assembly further comprises a closure member configured to move the cartridge channel toward the closed position , embodiment 111, 112, 113, 114, 115, 116 or 117.

Example 119 - Example 111, 112, 113, 114, 115, 116, 117 wherein the end effector comprises a proximal end and a distal end and the lock extends distally with respect to the cutting edge, or 118 shaft assembly;

Example 120—When the firing stroke is initiated, the staple cartridge is not in the cartridge channel, and the sled is not in the unfired position, the lock is biased into the lockout recess by the lock spring, and the firing stroke is initiated by the lock and lockout recess. 120. The shaft assembly of embodiment 111, 112, 113, 114, 115, 116, 117, 118, or 119, wherein the staples are ejected from the staple cavities after being stopped.

Example 121 - The shaft assembly of example 111, 112, 113, 114, 115, 116, 117, 118, 119 or 120, wherein the firing bar is not biased towards the lockout recess by the lock spring.

Example 122 - Examples 111, 112, 113 wherein the lock is configured to push the sled through the firing stroke when the staple cartridge is installed in the cartridge channel and the sled is in the unfired position at the beginning of the firing stroke , 114, 115, 116, 117, 118, 119, 120 or 121.

Example 123 - The shaft assembly of Example 122, wherein the firing member is retractable after at least a portion of the firing stroke is completed and the sled is non-retractable with the firing member.

Example 124 - The firing member is allowed to retract after at least a portion of the firing stroke is completed, and the lock is configured to remain in the unlocked position upon retraction past the lock spring, or 123 shaft assembly.

Example 125 - Example 111, 112 wherein the lock comprises a cantilever with a proximal end fixedly attached to the cartridge channel and a distal end movable relative to the proximal end , 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123 or 124.

Example 126 - of Example 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124 or 125, wherein the cartridge channel is removably attachable to the end effector shaft assembly.

Example 127 - of Example 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124 or 125, wherein the cartridge channel is not removably attachable to the end effector shaft assembly.

Example 128 - A shaft assembly for use with a surgical system, wherein the shaft assembly comprises a staple cartridge, an end effector, and a firing assembly. The staple cartridge includes a cartridge body and staples, each staple being at least partially housed in the cartridge body. The staple cartridge further includes a sled movable between an unfired position and a fired position during a firing stroke for ejecting staples from the cartridge body. The end effector includes a cartridge channel configured to receive a staple cartridge, the cartridge channel including a lockout. The end effector further comprises an anvil configured to deform the staple and a biasing member. The firing assembly includes a firing member and a lock rotatably attached to the firing member, the lock being rotatable between an unlocked position and a locked position with the staple cartridge mounted in the cartridge channel and threaded. The sled is configured to hold the lock in the unlocked position when the is in the unfired position, and the lock is configured to hold the lock in the unlocked position when the staple cartridge is not in the cartridge channel and the sled is not in the unfired position. It is rotatable by the biasing member to the locked position.

Example 129 - An end effector for use with a surgical system, wherein the end effector comprises a staple cartridge, the staple cartridge comprising a cartridge body and staples, each of the staples being at least partially housed in the cartridge body . The staple cartridge further includes a sled movable between an unfired position and a fired position during a firing stroke for ejecting staples from the cartridge body. The end effector also includes a cartridge channel configured to receive a staple cartridge, the cartridge channel including a lockout, an anvil configured to deform the staples, and a biasing member. The end effector further comprises a firing assembly comprising a firing member and a lock rotatably attached to the firing member, the lock rotatable between an unlocked position and a locked position, and a staple The sled is configured to hold the lock in the unlocked position when the cartridge is installed in the cartridge channel and the sled is in the unfired position, the staple cartridge is not in the cartridge channel and the sled is not in the unfired position. The lock is then rotatable by the biasing member from the unlocked position to the locked position.

Example 130—A shaft assembly comprising a shaft frame, an end effector comprising an end effector frame, and an articulation joint rotatably connecting the end effector frame to the shaft frame. The shaft assembly also includes an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly includes a first articulation lock selectively operable to engage the end effector frame and prevent the end effector frame from rotating relative to the shaft frame; A second articulation lock is selectively operable to engage and prevent rotation of the end effector frame relative to the shaft frame.

[00139] Example 131 - The shaft assembly of example 130, wherein the first articulation lock and the second articulation lock are both actuated to the locked state by the lock actuator during the locking operation.

Embodiment 132 - The first articulation lock is configured to engage the end effector frame before the second articulation lock engages the articulation driver during the locking operation, embodiment 130 or 131 shaft assembly.

Embodiment 133 - During the unlocking motion of the lock actuator, the second articulation lock disengages from the articulation driver before the first articulation lock disengages from the end effector frame. 132. The shaft assembly of embodiment 130 or 131, configured.

Example 134 - Example 130 wherein the first articulation lock is configured to engage the end effector frame after the second articulation lock engages the articulation driver during the locking stroke or 131 shaft assembly.

Embodiment 135—A second articulation lock is configured to disengage from the articulation driver after the first articulation lock disengages from the end effector frame during the unlocking motion of the lock actuator. 132. The shaft assembly of embodiment 130 or 131, wherein:

Example 136—Embodiment 130 wherein the first articulation lock is configured to engage the end effector frame at the same time that the second articulation lock engages the articulation driver during the locking stroke or 131 shaft assembly.

Embodiment 137—Constructed to disengage a second articulation lock from the articulation driver at the same time that the first articulation lock disengages from the end effector frame during the unlocking motion of the lock actuator The shaft assembly of embodiment 130 or 131, wherein:

[00139] Example 138 - The shaft assembly of example 130, wherein the first articulation lock and the second articulation lock are independently operable.

Embodiment 139—An articulation driver comprises a first articulation driver configured to rotate the end effector in a first direction, and a shaft assembly rotates about the articulation joint in a second direction Examples 130, 131, 132, 133, 134, 135, further comprising a second articulation driver configured to rotate the end effector to , wherein the second direction is opposite the first direction, 136, 137 or 138 shaft assembly.

Example 140—Activation of the second articulation lock engages the second articulation driver to prevent rotation of the end effector frame relative to the shaft frame 139. The shaft assembly of Example 139 configured to:

Embodiment 141 - An embodiment wherein the second articulation lock is configured to simultaneously engage the first articulation driver and the second articulation driver when the second articulation lock is actuated The shaft assembly of Example 139.

Embodiment 142—When activating a second articulation lock, the second articulation lock is configured to engage the first articulation driver and the second articulation driver at different times , Example 139.

Embodiment 143 - A second articulation lock is configured to engage a first articulation driver and a first arm configured to engage a first articulation driver a second arm, wherein the first articulation lock engages the first arm and the first articulation driver during locking operation of the first articulation lock; 143. The shaft assembly of embodiment 139, 140, 141 or 142, configured to engage the arm and the second articulation driver.

Example 144—The shaft assembly of example 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, or 143, wherein the end effector further comprises a staple cartridge.

Example 145—The shaft assembly of Example 144, wherein the staple cartridge is replaceable.

Example 146—A shaft assembly comprising an end effector comprising a shaft frame and an end effector frame. The shaft assembly also includes an articulation joint rotatably connecting the end effector frame to the shaft frame, and an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly engages the end effector frame to prevent rotation of the end effector frame relative to the shaft frame and engages the articulation driver to rotate the end effector frame relative to the shaft frame. A locking system configured to prevent rotation is further provided.

Example 147—The shaft assembly of example 146, wherein the end effector further comprises a staple cartridge.

Example 148 - A shaft assembly comprising a shaft frame and an end effector comprising an end effector frame. The shaft assembly also includes an articulation joint rotatably connecting the end effector frame to the shaft frame, and an articulation driver displaceable to rotate the end effector about the articulation joint. The shaft assembly has first locking means for selectively preventing rotation of the end effector about the articulation joint and second locking means for selectively preventing displacement of the articulation driver. And further comprising.

Example 149—The shaft assembly of example 148, wherein the end effector further comprises a staple cartridge.

Many of the surgical instrument systems described herein are powered by electric motors. However, the surgical instrument systems described herein can operate in any suitable manner. In various instances, the surgical instrument systems described herein can be operated by, for example, manually operated triggers. In certain instances, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. For example, U.S. patent application Ser. No. 13/118,241 (now U.S. Pat. No. 9,072,535), entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, describes in more detail some examples of robotic surgical instrument systems. disclosed in

The surgical instrument systems described herein are described in the context of staple deployment and deformation. However, the embodiments described herein are not so limited. Various embodiments are also envisioned that deploy fasteners other than staples, such as clamps or tacks. Further, various embodiments are envisioned utilizing any suitable means for sealing tissue. For example, an end effector according to various embodiments may include electrodes configured to heat and seal tissue. Similarly, for example, an end effector according to certain embodiments can apply vibrational energy to seal tissue.

Full disclosure below:
- U.S. Patent No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, issued April 4, 1995;
- U.S. Patent No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, issued February 21, 2006;
- U.S. Patent No. 7,422,139 entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, issued September 9, 2008;
- U.S. Patent No. 7,464,849 entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, issued December 16, 2008;
- U.S. Patent No. 7,670,334 entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, issued March 2, 2010;
- U.S. Patent No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, issued July 13, 2010;
- U.S. Patent No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, issued March 12, 2013;
- US Patent Application No. 11/343,803 entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now US Patent No. 7,845,537;
- US patent application Ser.
- U.S. patent application Ser.
- US Patent Application No. 12/235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now US Patent No. 8,210,411;
- U.S. patent application Ser.
- U.S. patent application Ser.
- US patent application Ser.
- US patent application Ser.
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- U.S. patent application Ser.
- US patent application Ser. No. 13/800,025 entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, now US Pat.
- U.S. patent application Ser.
- U.S. Patent Application Publication No. 2007/0175955 entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed January 31, 2006;
- US Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed April 22, 2010, now US Patent No. 8,308,040, is incorporated herein by reference; incorporated into the book.

Although various devices have been described herein in conjunction with specific embodiments, modifications and changes may be made to those embodiments. The specified features, structures or properties may be combined in any suitable way in one or more embodiments. As such, any particular feature, structure or characteristic illustrated or described with respect to one embodiment may, without limitation, be combined in whole or in part with the features, structures or characteristics of one or more other embodiments. good too. Similarly, although materials are disclosed for particular components, other materials may be used. Further, according to various embodiments, single components may be replaced with multiple components, and multiple components may be replaced with a single component to perform a given function(s). can be replaced with The foregoing description and the following claims are intended to cover all such modifications and variations.

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

The devices disclosed herein can be processed pre-operatively. Initially, a new or used instrument may be obtained and cleaned as necessary. The instruments can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic bag or TYVEK bag. The container and instrument can then be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, and/or high-energy electrons. Radiation can kill bacteria on the device and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device may also be sterilized using any other technique known in the art including, but not limited to, beta radiation, gamma radiation, ethylene oxide, hydrogen peroxide plasma, and/or water vapor.

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

All patents, publications, or other disclosures that are incorporated herein in whole or in part by reference to any existing definitions, statements, or other disclosures in which the incorporated material is set forth in this disclosure. It is incorporated herein only to the extent not inconsistent with its content. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting statements incorporated herein by reference. Any content, or portion thereof, that is inconsistent with the current definitions, opinions, or other disclosures set forth herein, is hereby incorporated by reference, but the reference content and the current disclosure are hereby incorporated by reference. References shall be made only to the extent that there is no inconsistency between

[Mode of implementation]
(1) A shaft assembly comprising:
shaft frame;
an end effector comprising an end effector frame;
an articulation joint rotatably connecting the end effector frame to the shaft frame;
an articulation driver configured to rotate the end effector about the articulation joint;
a first articulation lock selectively operable to engage the end effector frame and prevent the end effector frame from rotating relative to the shaft frame;
a second articulation lock selectively operable to engage the articulation driver and prevent the end effector frame from rotating relative to the shaft frame;
a shaft assembly.
Clause 2. The shaft assembly of clause 1, wherein both the first articulation lock and the second articulation lock are actuated into a locked state by a lock actuator during a locking operation.
(3) the first articulation lock is configured to engage the end effector frame before the second articulation lock engages the articulation driver during the locking operation; 3. The shaft assembly of embodiment 2.
(4) during an unlocking motion of the lock actuator, the second articulation lock disengages from the articulation driver before the first articulation lock disengages from the end effector frame; 4. The shaft assembly of embodiment 3, configured to unmate.
(5) during the locking stroke, the first articulation lock engages the end effector frame after the second articulation lock engages the articulation driver; 3. The shaft assembly of claim 2.

(6) during an unlocking motion of the lock actuator, the second articulation lock disengages from the articulation driver after the first articulation lock disengages from the end effector frame; 6. The shaft assembly of embodiment 5, wherein the shaft assembly is configured to.
(7) during said locking stroke, said first articulation lock is adapted to engage said end effector frame at the same time as said second articulation lock engages said articulation driver; 3. The shaft assembly of embodiment 2, wherein the shaft assembly comprises:
(8) during an unlocking motion of the lock actuator, the second articulation lock is disengaged from the articulation driver at the same time that the first articulation lock disengages from the end effector frame; 8. The shaft assembly of embodiment 7, configured to disengage.
Clause 9. The shaft assembly of clause 1, wherein the first articulation lock and the second articulation lock are independently operable.
(10) the articulation driver comprises a first articulation driver configured to rotate the end effector in a first direction, the shaft assembly pivoting about the articulation joint; 2. The shaft of embodiment 1, further comprising a second articulation driver configured to rotate the end effector in a second direction, the second direction opposite the first direction. assembly.

(11) actuating the second articulation lock engages the second articulation driver to rotate the end effector frame relative to the shaft frame; 11. The shaft assembly of embodiment 10, configured to prevent .
(12) when actuating the second articulation lock, the second articulation lock is configured to simultaneously engage the first articulation driver and the second articulation driver; 12. The shaft assembly of embodiment 11, wherein
(13) when actuating the second articulation lock, the second articulation lock engages the first articulation driver and the second articulation driver at different times; 12. The shaft assembly of claim 11, wherein:
(14) the second articulation lock is configured to engage a first arm configured to engage the first articulation driver; and the second articulation driver. said first articulation lock engaging said first arm and said first articulation driver during locking operation of said first articulation lock; 12. The shaft assembly of claim 11 , configured to engage and engage the second arm and the second articulation driver.
Clause 15. The shaft assembly of clause 1, wherein the end effector further comprises a staple cartridge.

Clause 16. The shaft assembly of Clause 15, wherein the staple cartridge is replaceable.
(17) A shaft assembly comprising:
shaft frame;
an end effector comprising an end effector frame;
an articulation joint rotatably connecting the end effector frame to the shaft frame;
an articulation driver configured to rotate the end effector about the articulation joint;
a locking system,
engages the end effector frame to prevent rotation of the end effector frame relative to the shaft frame; and
engaging the articulation driver to prevent the end effector frame from rotating relative to the shaft frame;
a locking system configured to
a shaft assembly.
Clause 18. The shaft assembly of clause 17, wherein the end effector further comprises a staple cartridge.
(19) A shaft assembly comprising:
shaft frame;
an end effector comprising an end effector frame;
an articulation joint rotatably connecting the end effector frame to the shaft frame;
an articulation driver displaceable to rotate the end effector about the articulation joint;
first locking means for selectively preventing said rotation of said end effector about said articulation joint;
second locking means for selectively preventing said displacement of said articulation driver;
a shaft assembly.
Clause 20. The shaft assembly of clause 19, wherein the end effector further comprises a staple cartridge.

Claims (16)

A shaft assembly,
shaft frame;
an end effector comprising an end effector frame;
an articulation joint rotatably connecting the end effector frame to the shaft frame;
an articulation driver configured to rotate the end effector about the articulation joint;
a first articulation lock selectively operable to engage the end effector frame and prevent the end effector frame from rotating relative to the shaft frame;
A second articulation lock selectively operable to lock movement of the articulation drive to engage the articulation drive to rotate the end effector frame relative to the shaft frame. When,
a shaft assembly. 2. The method of claim 1, wherein engagement of the first articulation lock with the end effector frame and engagement of the second articulation lock with the articulation driver are both actuated by a lock actuator. shaft assembly. 3. The shaft assembly of claim 2, wherein the first articulation lock is configured to engage the end effector frame before the second articulation lock engages the articulation driver. . 4. The second articulation lock is configured to disengage from the articulation driver before the first articulation lock disengages from the end effector frame. shaft assembly. 3. The shaft assembly of claim 2, wherein the first articulation lock is configured to engage the end effector frame after the second articulation lock engages the articulation driver. 6. The shaft of claim 5, wherein the second articulation lock is configured to disengage from the articulation driver after the first articulation lock disengages from the end effector frame. assembly. 3. The shaft of claim 2, wherein the first articulation lock is configured to engage the end effector frame at the same time that the second articulation lock engages the articulation driver. assembly. 8. The articulation lock of claim 7, wherein the second articulation lock is configured to disengage from the articulation driver at the same time that the first articulation lock disengages from the end effector frame. Shaft assembly as described. A shaft assembly,
shaft frame;
an end effector comprising an end effector frame;
an articulation joint rotatably connecting the end effector frame to the shaft frame;
an articulation driver configured to rotate the end effector about the articulation joint;
a first articulation lock selectively operable to engage the end effector frame and prevent the end effector frame from rotating relative to the shaft frame;
a second articulation lock selectively operable to engage the articulation driver and prevent the end effector frame from rotating relative to the shaft frame;
with
The shaft assembly, wherein the first articulation lock and the second articulation lock are individually operable. The articulation driver comprises a first articulation driver configured to rotate the end effector in a first direction, and the shaft assembly rotates about the articulation joint in a second direction. The shaft assembly of claim 1, further comprising a second articulation driver configured to rotate the end effector in a direction, the second direction opposite the first direction. Upon actuation of the second articulation lock, the second articulation lock engages the second articulation driver to prevent the end effector frame from rotating relative to the shaft frame. 11. The shaft assembly of claim 10, configured to prevent. and wherein the second articulation lock is configured to simultaneously engage the first articulation driver and the second articulation driver when actuating the second articulation lock. 12. The shaft assembly of paragraph 11. A shaft assembly,
shaft frame;
an end effector comprising an end effector frame;
an articulation joint rotatably connecting the end effector frame to the shaft frame;
an articulation driver configured to rotate the end effector about the articulation joint;
a first articulation lock selectively operable to engage the end effector frame and prevent the end effector frame from rotating relative to the shaft frame;
a second articulation lock selectively operable to engage the articulation driver and prevent the end effector frame from rotating relative to the shaft frame;
with
The articulation driver comprises a first articulation driver configured to rotate the end effector in a first direction, and the shaft assembly rotates about the articulation joint in a second direction. further comprising a second articulation driver configured to rotate the end effector in a direction, the second direction being opposite the first direction;
Upon actuation of the second articulation lock, the second articulation lock engages the second articulation driver to prevent the end effector frame from rotating relative to the shaft frame. configured to prevent
When actuating the second articulation lock, the second articulation lock is configured to engage the first articulation driver and the second articulation driver at different times. , shaft assembly. The second articulation lock comprises a first arm configured to engage the first articulation driver and a second arm configured to engage the second articulation driver. and two arms, wherein during locking operation of the first articulation lock, the second articulation lock engages the first arm and the first articulation driver; and 12. The shaft assembly of claim 11, configured to engage the second arm and the second articulation driver. The shaft assembly of Claim 1, wherein the end effector further comprises a staple cartridge. The shaft assembly of Claim 15, wherein the staple cartridge is replaceable.

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