CN110114005B

CN110114005B - Shaft assembly including first and second articulation latches

Info

Publication number: CN110114005B
Application number: CN201780079677.0A
Authority: CN
Inventors: A·T·贝克曼; R·L·科赫; J·S·斯韦兹; M·S·齐纳; F·E·谢尔顿四世; J·L·哈里斯
Original assignee: Ethicon LLC
Current assignee: Ethicon LLC
Priority date: 2016-12-21
Filing date: 2017-12-12
Publication date: 2022-08-09
Anticipated expiration: 2037-12-12
Also published as: BR112019012524A2; CN110114005A; MX2019007304A; JP7210453B2; JP2020501758A

Abstract

A shaft assembly (6000) includes a shaft, an end effector (1300) rotatably connected to the shaft about an articulation joint, and an articulation drive (1440,1450) configured to rotate the end effector (1300) about the articulation joint. The end effector (1300) further includes a first articulation lock (6496) configured to engage the end effector (1300) and a second articulation lock (6494) configured to engage the articulation driver (1440,1450), which cooperatively prevent rotation of the end effector (1300) relative to the shaft upon actuation. The actuation and/or de-actuation of the first articulation lock (6496) and the second articulation lock (6494) may be simultaneous, or in some cases staggered.

Description

Shaft assembly including first and second articulation latches

Background

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

Drawings

Various features of the embodiments described herein, along with their advantages, may be understood from the following description in conjunction with the following drawings:

FIG. 1 is a perspective view of a shaft assembly according to at least one embodiment;

FIG. 2 is a perspective view of the shaft assembly of FIG. 1 shown with some components removed;

FIG. 3 is a perspective view of a spine assembly of the shaft assembly of FIG. 1;

FIG. 4 is a partial cross-sectional view of the shaft assembly of FIG. 1;

FIG. 5 is an exploded view of the shaft assembly of FIG. 1 shown with some components removed;

FIG. 6 is an exploded view of the spine assembly of FIG. 3;

FIG. 7 is an exploded view of the distal end of the shaft assembly of FIG. 1;

FIG. 8 is an exploded view of a middle portion of the shaft assembly of FIG. 1;

FIG. 9 is an exploded view of the proximal end of the shaft assembly of FIG. 1 shown with some components removed;

FIG. 10 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1, shown in an open, unfired configuration and including a staple cartridge in an unapertured state;

FIG. 11 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 shown prior to a firing member of the shaft assembly being advanced distally;

FIG. 12 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 shown after the firing member has been advanced distally through a closure stroke but before the firing member has been advanced through a firing stroke;

FIG. 13 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 shown after a firing stroke of the firing member has begun;

FIG. 14 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 showing the firing member in a retracted position after a firing stroke;

FIG. 15 is a partial cross-sectional view of the distal end of the shaft assembly of FIG. 1 showing the staple cartridge in an empty state and the firing member in a locked state;

FIG. 16 is a partial cross-sectional view of the shaft assembly of FIG. 1 shown in an articulation mode of operation;

FIG. 17 is a partial cross-sectional view of the shaft assembly of FIG. 1 shown in a firing mode of operation;

FIG. 18 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 shown in the articulation mode of operation of FIG. 16;

FIG. 19 is a partial cross-sectional view of the proximal end of the shaft assembly of FIG. 1 shown 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. 24 is a partially exploded view of the shaft assembly of FIG. 1 showing a shiftable clutch in the firing system of the shaft assembly;

FIG. 25 is a cross-sectional view of an intermediate firing link of the firing system of FIG. 24;

FIG. 26 is a partial cross-sectional view of the shaft assembly of FIG. 1 showing the shiftable clutch of FIG. 24 in a fired configuration;

FIG. 27 is a partial cross-sectional view of the shaft assembly of FIG. 1 showing the shiftable clutch of FIG. 24 about to transition from the firing configuration of FIG. 26 to an articulation configuration;

FIG. 28 is a partial cross-sectional view of the shaft assembly of FIG. 1 showing the shiftable clutch of FIG. 24 being transitioned from the firing configuration of FIG. 26 to an articulation configuration;

FIG. 29 is a partial cross-sectional view of the shaft assembly of FIG. 1 showing the shiftable clutch of FIG. 24 in an articulated configuration;

FIG. 30 is a partial cross-sectional view of the shaft assembly of FIG. 1 shown in a non-articulating configuration;

FIG. 31 is a partial cross-sectional view of the shaft assembly of FIG. 1 shown in an articulated configuration;

FIG. 32 is a partial cross-sectional view of the shaft assembly of FIG. 1 showing the articulation system of the shaft assembly in an unlocked condition;

FIG. 33 is a partial cross-sectional view of the shaft assembly of FIG. 1 showing the articulation system of the shaft assembly in a locked condition;

FIG. 34 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1 showing the retraction system of 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 shown with the retraction system of FIG. 34 in a deployed state;

FIG. 36 is a cross-sectional view of the proximal end of the shaft assembly of FIG. 1, showing the retraction system of FIG. 34 in an actuated state;

FIG. 37 is a perspective view of a shaft assembly according to at least one embodiment;

FIG. 38 is a partial perspective view of the shaft assembly of FIG. 37 shown with some components removed;

FIG. 39 is a partial perspective view of the shaft assembly of FIG. 37 shown with additional components removed;

FIG. 40 is a partial cross-sectional view of the shaft assembly of FIG. 37;

FIG. 41 is a partial cross-sectional view of the shaft assembly of FIG. 37;

FIG. 42 is an exploded view of the shaft assembly of FIG. 37 shown with some components removed;

FIG. 43 is an exploded view of the distal end of the shaft assembly of FIG. 37;

FIG. 44 is an exploded view of the proximal end of the shaft assembly of FIG. 37 shown with some components removed;

FIG. 45 is a partial cross-sectional view of the shaft assembly of FIG. 37 shown in a closed or clamped configuration;

FIG. 46 is a partial cross-sectional view of the shaft assembly of FIG. 37 shown in an open configuration;

FIG. 47 is a perspective view of a shaft assembly according to at least one embodiment shown with some components removed;

FIG. 48 is a perspective view of a displacement assembly of the shaft assembly of FIG. 47;

FIG. 49 is an exploded view of the shaft assembly of FIG. 47 shown with some components removed;

FIG. 50 is a partial cross-sectional view of the shaft assembly of FIG. 47 shown in an articulation mode of operation;

FIG. 51 is a partial cross-sectional view of the shaft assembly of FIG. 47 shown in a firing mode of operation;

FIG. 52 is a perspective view of a shaft assembly including a displacement assembly according to at least one alternative embodiment;

FIG. 53 is a partial cross-sectional view of the shaft assembly of FIG. 52 shown in an articulation mode of operation;

FIG. 54 is a partial cross-sectional view of the shaft assembly of FIG. 52 shown in a firing mode of operation;

FIG. 55 is a perspective view of an attachment portion of a shaft assembly in accordance with at least one embodiment;

FIG. 56 is a perspective view of the attachment portion of FIG. 55 shown in an open configuration;

FIG. 57 is an exploded view of the attachment portion of FIG. 55;

FIG. 58 is a perspective view of the attachment portion of FIG. 55 shown in the open configuration of FIG. 56 and shown with some components removed;

FIG. 59 is a perspective view of the attachment portion of FIG. 55 shown in the open configuration of FIG. 56 and shown with the additional components removed;

FIG. 60 is a plan view of the drive train of the attachment portion of FIG. 55 shown 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 and shown 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 and shown 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 and shown in the firing mode of operation of FIG. 60;

FIG. 64 is a cross-sectional view of the drivetrain of FIG. 60 taken along line 62-62 in FIG. 60 and shown in a second operating mode;

FIG. 65 is a cross-sectional view of the drive train of FIG. 60 taken along line 63-63 in FIG. 60 and shown in a retracted mode of operation;

FIG. 66 is a partial cross-sectional view of the attachment portion of FIG. 55 shown in the retracted mode of operation of FIG. 65;

FIG. 67 is a partial cross-sectional view of the shaft assembly including the end effector, the first articulation lock and the second articulation lock shown with the first articulation lock in the locked state and the second articulation lock in the unlocked state;

FIG. 68 is a partial cross-sectional view of the shaft assembly of FIG. 67 shown with the first and second articulation locks in a locked state;

FIG. 69 is a partial cross-sectional view of the shaft assembly of FIG. 67 shown with the first and second articulation locks in a locked state;

FIG. 70 is a partial cross-sectional view of the shaft assembly of FIG. 67 shown with the first articulation lock in a locked state and the second articulation lock in an unlocked state;

FIG. 71 is a partial cross-sectional view of the shaft assembly of FIG. 67 shown with the first and second articulation locks in an unlocked state;

FIG. 72 is a perspective view of a surgical instrument including a handle and an interchangeable shaft assembly; and

FIG. 73 is a perspective view of a robotic surgical system operably supporting a plurality of surgical tools.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

Detailed Description

The applicant of the present application owns the following U.S. patent applications filed on even date herewith and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/386,185 entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF";

U.S. patent application Ser. No. 15/386,230 entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS";

-U.S. patent application serial No. 15/386,221 entitled "LOCKOUT arragements FOR minor END efffectors";

-U.S. patent application serial No. 15/386,209 entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF";

-U.S. patent application Ser. No. 15/386,198 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"; and

U.S. patent application Ser. No. 15/386,240 entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR".

-U.S. patent application serial No. 15/385,939 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,941 entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,943 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,950 entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES";

-U.S. patent application serial No. 15/385,945 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,946 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,951 entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE";

U.S. patent application serial No. 15/385,953 entitled "METHODS OF marking TISSUE";

-U.S. patent application Ser. No. 15/385,954 entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS";

-U.S. patent application serial No. 15/385,955 entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS";

U.S. patent application Ser. No. 15/385,948 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,956 entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES";

U.S. patent application Ser. No. 15/385,958 entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT"; and

U.S. patent application serial No. 15/385,947 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN".

-U.S. patent application Ser. No. 15/385,896 entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";

-U.S. patent application Ser. No. 15/385,898 entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES";

-U.S. patent application serial No. 15/385,899 entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL";

-U.S. patent application serial No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL comprisingwindows DEFINED THEREIN";

U.S. patent application Ser. No. 15/385,902 entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER";

-U.S. patent application Ser. No. 15/385,904 entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT";

-U.S. patent application serial No. 15/385,905 entitled "fixing ASSEMBLY assembling a locout";

-U.S. patent application Ser. No. 15/385,907 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY";

-U.S. patent application serial No. 15/385,908 entitled "fixing ASSEMBLY assembling a FUSE"; and

U.S. patent application Ser. No. 15/385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE".

-U.S. patent application serial No. 15/385,920 entitled "stable formation POCKET arget argements";

-U.S. patent application serial No. 15/385,913 entitled "ANVIL ARRANGEMENTS FOR minor stages";

U.S. patent application Ser. No. 15/385,914 entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";

-U.S. patent application serial No. 15/385,893 entitled "bialterall ASYMMETRIC STAPLE formatting POCKET pair";

U.S. patent application Ser. No. 15/385,929 entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

-U.S. patent application serial No. 15/385,911 entitled "SURGICAL STAPLERS WITH INDEPENDENTLY ACTITABLE CLOSING AND FIRING SYSTEMS";

-U.S. patent application serial No. 15/385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES";

-U.S. patent application serial No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING bredths";

U.S. patent application Ser. No. 15/385,900 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS";

-U.S. patent application Ser. No. 15/385,931 entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS";

-U.S. patent application serial No. 15/385,915 entitled "fixing MEMBER PIN ANGLE";

U.S. patent application Ser. No. 15/385,897 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES";

U.S. patent application Ser. No. 15/385,922 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES";

-U.S. patent application serial No. 15/385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";

U.S. patent application Ser. No. 15/385,912 entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

-U.S. patent application serial No. 15/385,910 entitled "ANVIL HAVING A KNIFE SLOT WIDTH";

-U.S. patent application Ser. No. 15/385,903 entitled "CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 15/385,906 entitled "FIRING MEMBER PIN CONFIGURATIONS".

-U.S. patent application serial No. 15/386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES";

-U.S. patent application serial No. 15/386,192 entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING featurs";

-U.S. patent application serial No. 15/386,206 entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER replacement patents";

-U.S. patent application Ser. No. 15/386,226 entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/386,222 entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES"; and

-U.S. patent application Ser. No. 15/386,236 entitled "CONNECTION PORTION FOR DISPOSABLE LOADING UNIT FOR SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/385,887 entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT";

U.S. patent application Ser. No. 15/385,889 entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM";

U.S. patent application Ser. No. 15/385,890 entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTITABLE AND RETRACTABLE SYSTEMS;

-U.S. patent application Ser. No. 15/385,891 entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONGURED TO ADAPT OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS";

U.S. patent application Ser. No. 15/385,892 entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO A ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM"; and

U.S. patent application Ser. No. 15/385,894 entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT".

-U.S. patent application serial No. 15/385,916 entitled "SURGICAL STAPLING SYSTEMS";

-U.S. patent application serial No. 15/385,918 entitled "SURGICAL STAPLING SYSTEMS";

-U.S. patent application serial No. 15/385,919 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,921 entitled "SURGICAL STAPLE CARTRIDGE WITH Movable CAMMING MEMBER CONGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES";

-U.S. patent application serial No. 15/385,923 entitled "SURGICAL STAPLING SYSTEMS";

-U.S. patent application Ser. No. 15/385,925 entitled "JAW ACTITED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNFILESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR";

-U.S. patent application Ser. No. 15/385,926 entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 15/385,928 entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOBILE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT";

U.S. patent application Ser. No. 15/385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";

-U.S. patent application serial No. 15/385,932 entitled "article subaltern minor END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT";

U.S. patent application Ser. No. 15/385,933 entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK";

U.S. patent application Ser. No. 15/385,934 entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTION OF A JAW CLOSURE SYSTEM";

-U.S. patent application serial No. 15/385,935 entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION"; and

U.S. patent application Ser. No. 15/385,936 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

The applicants of the present application have the following U.S. patent applications filed on 24/6/2016 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/191,775 entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES";

-U.S. patent application serial No. 15/191,807 entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES";

-U.S. patent application serial No. 15/191,834 entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING SAME";

-U.S. patent application serial No. 15/191,788 entitled "STAPLE CARTRIDGE comprisingoverdriven stamps"; and

U.S. patent application Ser. No. 15/191,818 entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS".

-U.S. design patent application serial No. 29/569,218 entitled "SURGICAL FASTENER";

-U.S. design patent application serial No. 29/569,227 entitled "SURGICAL FASTENER";

-U.S. design patent application serial No. 29/569,259 entitled "SURGICAL FASTENER CARTRIDGE"; and

U.S. design patent application serial No. 29/569,264 entitled "SURGICAL FASTENER CARTRIDGE".

The applicants of the present application have the following patent applications filed on 1/4/2016 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 15/089,325 entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM";

-U.S. patent application Ser. No. 15/089,321 entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY";

-U.S. patent application serial No. 15/089,326 entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

-U.S. patent application serial No. 15/089,263 entitled "minor entering HANDLE association WITH robust GRIP support";

-U.S. patent application serial No. 15/089,262 entitled "rolling POWERED minor inserting WITH manual active ballout SYSTEM";

U.S. patent application Ser. No. 15/089,277 entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER";

-U.S. patent application Ser. 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 serial No. 15/089,258 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION";

U.S. patent application Ser. No. 15/089,278 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE selection OF recording OF TISSUE";

-U.S. patent application Ser. No. 15/089,284 entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT";

-U.S. patent application Ser. No. 15/089,295 entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT";

-U.S. patent application Ser. No. 15/089,300 entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";

U.S. patent application Ser. No. 15/089,196 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT";

-U.S. patent application Ser. No. 15/089,203 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT";

-U.S. patent application serial No. 15/089,210 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT";

-U.S. patent application serial No. 15/089,324 entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM";

-U.S. patent application Ser. No. 15/089,335 entitled "SURGICAL STAPLING INSTRUMENTS COMPLEMENTING MULTIPLE LOCKOUTS";

-U.S. patent application serial No. 15/089,339 entitled "SURGICAL STAPLING INSTRUMENT";

-U.S. patent application serial No. 15/089,253 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO applied ROWS OF STAPLES HAVING DIFFERENT HEIGHTS";

U.S. patent application Ser. No. 15/089,304 entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET";

-U.S. patent application serial No. 15/089,331 entitled "artificial MODIFICATION machinery FOR minor platform";

-U.S. patent application serial No. 15/089,336 entitled "STAPLE CARTRIDGES WITH atraumatc featurs";

-U.S. patent application Ser. No. 15/089,312 entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT";

-U.S. patent application serial No. 15/089,309 entitled "CIRCULAR STAPLING SYSTEM comprisingrotary FIRING SYSTEM"; and

U.S. patent application Ser. No. 15/089,349 entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL".

The applicant of the present application also has the following identified U.S. patent applications filed on 31/12/2015 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/984,488 entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 14/984,525 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/984,552 entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CICUITS".

The applicant of the present application also owns the following identified U.S. patent applications filed on 9/2/2016 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/019,220 entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR";

U.S. patent application Ser. No. 15/019,228 entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";

-U.S. patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

U.S. patent application Ser. No. 15/019,206 entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY";

U.S. patent application Ser. No. 15/019,215 entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,227 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,235 entitled "SURGICAL INSTRUMENTS WITH TESTIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS";

U.S. patent application Ser. No. 15/019,230 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; and

U.S. patent application Ser. No. 15/019,245 entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

The applicant of the present application also owns the following identified U.S. patent applications filed on 12.2.2016, each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/043,254 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,259 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,275 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 15/043,289 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicants of the present application have the following patent applications filed on 18/6/2015 and each incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS";

U.S. patent application Ser. No. 14/742,941 entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES";

-U.S. patent application serial No. 14/742,914 entitled "MOVABLE filing bed SUPPORT FOR easy maintenance letters";

U.S. patent application Ser. No. 14/742,900 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT";

U.S. patent application Ser. No. 14/742,885 entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/742,876 entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS".

The applicants of the present application have the following patent applications filed 3/6/2015 and each incorporated herein by reference in its entirety:

U.S. patent application serial No. 14/640,746 entitled "POWERED minor instroment," now U.S. patent application publication 2016/0256184;

U.S. patent application Ser. No. 14/640,795 entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWER SURGICAL INSTRUMENTS"; now U.S. patent application publication 2016/02561185;

-U.S. patent application Ser. No. 14/640,832 entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADAJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPE"; now U.S. patent application publication 2016/0256154;

U.S. patent application Ser. No. 14/640,935 entitled "OVERAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION"; now U.S. patent application publication 2016/0256071;

U.S. patent application Ser. No. 14/640,831 entitled "MONITORING SPEED CONTROL AND PRECISION INCREASING OF MOTOR FOR POWER SURGICAL INSTRUMENTS"; now U.S. patent application publication 2016/0256153;

-U.S. patent application Ser. No. 14/640,859 entitled "TIME DEPENDENT EVALTION OF SENSOR DATA TO DETERMINE STATIONITY, CREPE, AND VISCELATIC ELEMENTS OF MEASURES"; now U.S. patent application publication 2016/0256187;

-U.S. patent application serial No. 14/640,817 entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0256186;

U.S. patent application Ser. No. 14/640,844 entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE"; now U.S. patent application publication 2016/0256155;

-U.S. patent application serial No. 14/640,837 entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING"; now U.S. patent application publication 2016/0256163;

U.S. patent application Ser. No. 14/640,765 entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER," now U.S. patent application publication 2016/0256160;

-U.S. patent application serial No. 14/640,799 entitled "SIGNAL AND POWER COMMUNICATION SYSTEM a ROTATABLE short"; now U.S. patent application publication 2016/0256162; and

U.S. patent application Ser. No. 14/640,780 entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING", now U.S. patent application publication 2016/0256161;

the applicants of the present application have the following patent applications filed on day 27 of month 2 of 2015 and each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/633,576 entitled "SURGICAL INSTRUMENT SYSTEM COMPLISING AN INSPECTION STATION", now U.S. patent application publication 2016/0249919;

U.S. patent application Ser. No. 14/633,546 entitled "SURGICAL APPATUS CONFIRORRED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now U.S. patent application publication 2016/0249915;

U.S. patent application Ser. No. 14/633,560 entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES", now U.S. patent application publication 2016/0249910;

-U.S. patent application serial No. 14/633,566 entitled "CHARGING SYSTEM THAT energy EMERGENCY resolution FOR CHARGING A BATTERY", now U.S. patent application publication No. 2016/0249918;

U.S. patent application Ser. No. 14/633,555 entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENTS NEEDS TO BE SERVICED," now U.S. patent application publication 2016/0249916;

U.S. patent application Ser. No. 14/633,542 entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249908;

U.S. patent application Ser. No. 14/633,548 entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249909;

-U.S. patent application serial No. 14/633,526 entitled "adaptive minor insert HANDLE", now U.S. patent application publication 2016/0249945;

U.S. patent application serial No. 14/633,541 entitled "MODULAR station association" and now U.S. patent application publication 2016/0249927; and

U.S. patent application Ser. No. 14/633,562 entitled "SURGICAL APPATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER",

now U.S. patent application publication 2016/0249917;

the applicants of the present application own the following patent applications filed on 12/18/2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS SYSTEM END EFFECTOR AND MEANS FOR ADJUSE THE FIRING STROKE OF A FIRING MEMBER", now U.S. patent application publication 2016/0174977;

U.S. patent application Ser. No. 14/574,483 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING LOCKABLE SYSTEMS", now U.S. patent application publication 2016/0174969;

-U.S. patent application serial No. 14/575,139 entitled "DRIVE ARRANGEMENTS FOR article minor applications, now U.S. patent application publication 2016/0174978;

-U.S. patent application serial No. 14/575,148 entitled "LOCKING argemenets FOR detecting short SHAFT electromagnetic assembly WITH incorporated END effects", now U.S. patent application publication 2016/0174976;

U.S. patent application Ser. No. 14/575,130 entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. patent application publication 2016/0174972;

U.S. patent application Ser. No. 14/575,143 entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS", now U.S. patent application publication 2016/0174983;

U.S. patent application Ser. No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FILING BEAM SUPPORT ARRANGEMENTS", now U.S. patent application publication 2016/0174975;

U.S. patent application Ser. No. 14/575,154 entitled "SURGICAL INSTRUMENTS WITH ARTICULATED END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS", now U.S. patent application publication 2016/0174973;

-U.S. patent application Ser. No. 14/574,493 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING A FLEXIBLE ARTICULATION SYSTEM"; now U.S. patent application publication 2016/0174970; and

U.S. patent application Ser. No. 14/574,500 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING A LOCKABLE ARTICULATION SYSTEM," now U.S. patent application publication 2016/0174971;

the applicant of the present application owns the following patent applications filed on 3/1 of 2013 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/782,295 entitled "Integrated Surgical Instruments With reduced Pathways For Signal Communication," now U.S. patent application publication 2014/0246471;

U.S. patent application Ser. No. 13/782,323 entitled "Rotary Power engineering Joints For scientific Instruments," now U.S. patent application publication 2014/0246472;

U.S. patent application Ser. No. 13/782,338 entitled "thumb Switch arrays For Surgical Instruments," now U.S. patent application publication 2014/0249557;

U.S. patent application Ser. No. 13/782,499 entitled "Electrical scientific Device with Signal Relay Arrangement", now U.S. patent application publication 9,358,003;

U.S. patent application Ser. No. 13/782,460 entitled "Multiple Processor Motor Control for Modular Surgical Instruments," now U.S. patent application publication 2014/0246478;

U.S. patent application Ser. No. 13/782,358 entitled "journal Switch Assemblies For Surgical Instruments," now U.S. patent application publication 9,326,767;

U.S. patent application Ser. No. 13/782,481 entitled "Sensor straight End Effect During Removal Through Trocar", now U.S. patent application publication 9,468,438;

U.S. patent application Ser. No. 13/782,518 entitled "Control Methods for scientific Instruments with Removable implementation procedures", now U.S. patent application publication 2014/0246475;

U.S. patent application Ser. No. 13/782,375 entitled "Rotary Power scientific Instruments With Multiple details of Freedom," now U.S. patent application publication 9,398,911; and

U.S. patent application Ser. No. 13/782,536 entitled "Surgical Instrument Soft Stop", now U.S. patent application publication 9,307,986.

The applicant of the present application also owns the following patent applications filed on 3/14 of 2013 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. patent application publication 2014/0263542;

U.S. patent application Ser. No. 13/803,193 entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now U.S. patent application publication 9,332,987;

U.S. patent application Ser. No. 13/803,053 entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263564;

U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPLISING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541;

U.S. patent application Ser. No. 13/803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263538;

U.S. patent application Ser. No. 13/803,148 entitled "Multi-functional Motor FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263554;

U.S. patent application Ser. No. 13/803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263565;

U.S. patent application Ser. No. 13/803,117 entitled "ARTICULATION CONTROL FOR ARTICULATE SURGICAL INSTRUMENTS," now U.S. patent application publication 9,351,726;

U.S. patent application Ser. No. 13/803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 9,351,727; and

U.S. patent application Ser. No. 13/803,159 entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0277017.

The applicant of the present application also owns the following patent applications filed 3/7/2014 and incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263539.

The applicant of the present application also owns the following patent applications filed on 26/3/2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/226,106 entitled "POWER MANAGEMENT CONTROL SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272582;

-U.S. patent application serial No. 14/226,099 entitled "serilization version CIRCUIT", now U.S. patent application publication 2015/0272581;

-U.S. patent application Ser. No. 14/226,094 entitled "VERIFICATION OF NUMBER OF Battery improvements/Process COUNT", now U.S. patent application publication 2015/0272580;

U.S. patent application Ser. No. 14/226,117 entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now U.S. patent application publication 2015/0272574;

U.S. patent application Ser. No. 14/226,075 entitled "MODULAR POWER SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now U.S. patent application publication 2015/0272579;

U.S. patent application Ser. No. 14/226,093 entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272569;

U.S. patent application Ser. No. 14/226,116 entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now U.S. patent application publication 2015/0272571;

U.S. patent application Ser. No. 14/226,071 entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR," now U.S. patent application publication 2015/0272578;

-U.S. patent application serial No. 14/226,097 entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS," now U.S. patent application publication 2015/0272570;

-U.S. patent application Ser. No. 14/226,126 entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272572;

U.S. patent application Ser. No. 14/226,133 entitled "MODULAR SURGICAL INSTRUMENTS SYSTEM," now U.S. patent application publication 2015/0272557;

-U.S. patent application serial No. 14/226,081 entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED circui", now U.S. patent application publication 2015/0277471;

U.S. patent application Ser. No. 14/226,076 entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION", now U.S. patent application publication 2015/0280424;

U.S. patent application Ser. No. 14/226,111 entitled "SURGICAL STAPLING INSTRUMENTT SYSTEM," now U.S. patent application publication 2015/0272583; and

U.S. patent application Ser. No. 14/226,125 entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT," now U.S. patent application publication 2015/0280384.

The applicant of the present application also owns the following patent applications filed 2014, 9, 5 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/479,103 entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. patent application publication 2016/0066912;

U.S. patent application Ser. No. 14/479,119 entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION," now U.S. patent application publication 2016/0066914;

U.S. patent application Ser. No. 14/478,908 entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION," now U.S. patent application publication 2016/0066910;

-U.S. patent application Ser. No. 14/478,895 entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR' S OUTPUT OR INTERPRETATION", now U.S. patent application publication 2016/0066909;

-U.S. patent application Ser. No. 14/479,110 entitled "polar OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", now U.S. patent application publication 2016/0066915;

-U.S. patent application serial No. 14/479,098 entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION", now U.S. patent application publication 2016/0066911;

-U.S. patent application serial No. 14/479,115 entitled "MULTIPLE MOTOR CONTROL FOR power MEDICAL DEVICE," now U.S. patent application publication 2016/0066916; and

U.S. patent application Ser. No. 14/479,108 entitled "LOCAL DISPLAY OF TIMSSUE PARAMETER STABILIZATION", now U.S. patent application publication 2016/0066913.

The applicant of the present application also owns the following patent applications filed on 9/4/2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/248,590 entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now U.S. patent application publication 2014/0305987;

U.S. patent application Ser. No. 14/248,581 entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now U.S. patent application publication 2014/0305989;

U.S. patent application Ser. No. 14/248,595 entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE SAME OPERATION OF THE SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0305988;

U.S. patent application serial No. 14/248,588 entitled "POWERED LINEAR minor stable", now U.S. patent application publication 2014/0309666;

U.S. patent application Ser. No. 14/248,591 entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305991;

U.S. patent application Ser. No. 14/248,584 entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now U.S. patent application publication 2014/0305994;

U.S. patent application serial No. 14/248,587 entitled "POWERED minor platform," now U.S. patent application publication 2014/0309665;

U.S. patent application Ser. No. 14/248,586 entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305990; and

U.S. patent application Ser. No. 14/248,607 entitled "MODULAR MOTOR DRIN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS," now U.S. patent application publication 2014/0305992.

The applicant of the present application also owns the following patent applications filed on 16.4.2013 and each incorporated herein by reference in its entirety:

U.S. provisional patent application serial No. 61/812,365 entitled "minor entering WITH MULTIPLE functional electronic BY a SINGLE MOTOR";

-U.S. provisional patent application serial No. 61/812,376 entitled "LINEAR CUTTER WITH POWER";

-U.S. provisional patent application serial No. 61/812,382 entitled "LINEAR CUTTER WITH MOTOR AND piston GRIP";

U.S. provisional patent application Ser. No. 61/812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTION MOTORS AND MOTOR CONTROL"; and

U.S. provisional patent application serial No. 61/812,372 entitled "minor entering WITH MULTIPLE functional PERFORMED BY A SINGLE MOTOR".

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

The term "comprises" (and any form of "comprising", such as "comprises" and "comprising)", "has" (and "has)", such as "has" and "has)", "contains" (and any form of "containing", such as "comprises" and "containing)", and "containing" (and any form of "containing", such as "containing" and "containing", are open-ended verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "contains," or "contains" one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, apparatus, or device that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

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

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in a variety of surgical procedures and applications, including, for example, in conjunction with open surgical procedures. With continued reference to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any number of ways, such as through a natural orifice, through an incision or puncture formed in tissue, and so forth. The working portion or end effector portion of the instrument may be inserted directly into a patient or may be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

A surgical stapling system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. A staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable or at least easily replaceable from the first jaw. 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 a closure axis; however, other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to allow rotation or articulation of the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored in the cartridge body can then be deployed into tissue. The cartridge body includes staple cavities defined therein, wherein the staples are removably stored in 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 the staple cavities and staples are possible.

The staples are supported by a staple driving device in the cartridge body. The drive device is movable between a first or unfired position and a second or fired position to eject the staples from the staple cartridge. The drive is retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes an elastic member configured to grip the cartridge body and retain the retainer to the cartridge body. The drive device is movable between its unfired position and its fired position by the sled. The slider is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramp surfaces configured to slide under the drive device toward the anvil and lift the drive device, and the staples are supported on the drive device.

In addition to the above, the sled can be moved distally by the firing member. The firing member is configured to contact the sled and urge the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive a firing member. The anvil also includes a slot configured to receive the firing member. The firing member also includes a first cam that engages the first jaw and a second cam that engages the second jaw. The first cam and the second cam can control a distance or tissue gap between a deck of the staple cartridge and the anvil as the firing member is advanced distally. The firing member also includes a knife configured to incise tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially adjacent to the ramp surface so that the staples are ejected prior to the knife.

Shaft assembly 1000 is shown in fig. 1. The shaft assembly 1000 includes an attachment portion 1100, a shaft 1200 extending distally from the attachment portion 1100, and an end effector 1300 attached to the shaft 1200. Referring to fig. 1 and 2, the attachment portion 1100 includes a frame 1110, a housing 1120, and a latch 1130. The 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 arrangements, for example. Latch 1130 includes a lock configured to releasably retain shaft assembly 1000 to the surgical system. For the reasons described above, the shaft assembly 1000 may be selectively used with a hand-held surgical instrument, alternatively, with a remotely controlled robotic surgical system.

Referring to fig. 3-6, shaft 1200 includes a frame or spine attached to frame 1100 of attachment portion 1110. The spine includes a proximal spine portion 1210 that is rotatably engageable with the frame 1110 about a longitudinal shaft axis 1001 extending through the spine. Referring primarily to fig. 6, proximal spine segment 1210 includes an aperture 1211 defined therein that is configured to receive proximal end 1221 of driver cap 1220. Driver cap 1220 further includes a distal end 1222 configured to be positioned within proximal end 1232 of intermediate spine portion 1230. The spine also includes an upper distal portion 1250 and a lower distal portion 1260 that engages the distal end 1231 of the spine portion 1230. More specifically,

distal portions

1250 and 1260 include

proximal ends

1251 and 1261, respectively, that are laterally inserted or slid into dovetail slots defined in the distal end 1231 of intermediate spine portion 1230. The spine also includes a cover 1240 that is configured to close the opening defined in the spine portion 1230 and/or lock the

distal portions

1250 and 1260 in place.

Referring primarily to fig. 7, the end effector 1300 includes a channel jaw 1310 and an anvil jaw 1330 rotatably mounted to the channel jaw 1310. Channel jaw 1310 is configured to receive a staple cartridge 1320 or any other suitable staple cartridge therein. Channel jaw 1310 and staple cartridge 1320 include cooperating alignment features configured to allow staple cartridge 1320 to be disposed in only one appropriate position and orientation within channel jaw 1310. Once the unecuffed staple cartridge 1320 is properly seated in the channel jaw 1310, a staple firing member may be advanced through the staple cartridge 1320 to eject the staples from the staple cartridge 1320 and cut the tissue of the patient positioned intermediate the staple cartridge 1320 and the anvil jaw 1330 as described in more detail below. In addition to the above, the anvil jaw 1330 includes forming pockets defined therein that are configured to deform the staples as they are ejected from the staple cartridge 1320.

Referring primarily to fig. 7, the channel jaw 1310 of the end effector 1300 is rotatably coupled to the spine of the shaft 1200 about an articulation joint 1660. The access jaw 1310 includes an articulation frame 1270 attached thereto that includes a pin 1271 extending laterally therefrom that is positioned within a bore 1311 defined in the cartridge access 1310. The pin 1271 and the aperture 1311 are sized and configured to securely mount the articulation frame 1270 to the cartridge channel 1310. The articulation frame 1270 includes an articulation hole defined therein and the distal end of the spine includes an articulation post 1262 positioned within the articulation hole. The articulation column 1262 is sized and configured such that it is closely received within the articulation hole and such that relative motion between the articulation frame 1270 and the spine of the shaft 1200 is limited to rotational motion about an axis orthogonal to the shaft axis 1001.

In addition to the above, referring again to fig. 1, the shaft assembly 1000 also includes an outer frame 1600. Referring now to fig. 2, the outer frame 1600 is rotatable relative to the frame 1110 of the attachment portion 1100 about a slip joint. The slip joint includes a proximal flange 1610 that is parallel, or at least substantially parallel, to a corresponding flange 1111 defined on the frame 1110. In addition to providing a rotatable mechanical interface, the slip joint also provides a rotatable electrical interface. More specifically, the slip joint includes electrical traces 1190 defined on the flange 1111, and an additional electrical connector 1690 attached to the flange 1610 that includes electrical contacts that engage the traces 1190. In various examples, the electrical traces 1190 comprise conductive annular rings that are electrically isolated from each other and that are each part of a discrete circuit. As the outer frame 1600 rotates relative to the frame 1110, the contacts of the electrical connector 1690 remain in electrical contact with the traces 1190. Referring to fig. 5, the latch 1130 of the attachment portion 1100 also includes an electrical connector 1192 in electrical communication with the trace 1190, the trace 1190 may be placed in electrical communication with the surgical system when the latch 1130 couples the shaft assembly 1000 to the surgical system. For the reasons described above, sensors in the shaft assembly 1000 can communicate with a controller and/or microprocessor in the handle of the surgical instrument, and alternatively with the surgical robot, through a slip joint.

The outer frame 1600 also includes a tube 1620 extending distally from the proximal flange 1610, and in addition to the above, the housing 1120 of the attachment portion 1100 is mounted to the tube 1620. Housing 1120 includes a finger grip 1128 defined therein that is configured to assist a clinician in rotating housing 1120 and tube 1620 about longitudinal shaft axis 1001. The outer frame 1600 also includes a distal tube portion 1630 that is rotatably mounted to the tube 1620. More specifically, referring primarily to fig. 7, the outer frame 1600 also includes a link 1640 that connects the distal tube segment 1630 to the tube 1620 and provides one or more degrees of freedom between the distal tube segment 1630 and the tube 1620. This one or more degrees of freedom between the distal tube portion 1630 and the tube 1620 allows the end effector 1300 to articulate relative to the shaft 1200 about the articulation joint 1660. For the reasons described above, the outer frame 1600 is rotatable about the longitudinal shaft axis and rotatable about the articulation joint 1660. That is, the outer frame 1600 cannot translate longitudinally relative to the frame 1110 of the attachment portion 1100.

Referring primarily to fig. 5, the shaft assembly 1000 further includes an articulation system 1400 configured to articulate the end effector 1300 relative to the shaft 1200. In addition, the shaft assembly 1000 further includes a firing system 1500 that is configured to first close the anvil jaw 1300 of the end effector 1330 and then fire the staples stored in the staple cartridge 1320, as described above. As discussed in more detail below, the articulation system 1400 is selectively engageable with the firing system 1500 such that the articulation system 1400 can be driven by the firing system 1500 to articulate the end effector 1300. Once the end effector 1300 has been sufficiently articulated, the articulation system 1400 may be operably disengaged from the firing system 1500. At this point, the firing system 1500 may operate independently of the articulation system 1400. As discussed in further detail below, the shaft assembly 1000 also includes an articulation locking system that first locks the end effector 1300 in place and then switches the shaft assembly 1000 between articulation and firing modes of operation.

Referring primarily to fig. 9, the firing system 1500 includes a firing link 1510 that is configured to translate proximally and distally during an articulation mode of operation and/or a firing mode of operation of the shaft assembly 1000. For example, the firing link 1510 includes a proximal end 1511 that is configured to operably engage with a drive system of a surgical system, such as a handle of a surgical instrument and/or an arm of a surgical robot. The firing system 1500 also includes a rack 1520, the rack 1520 being fixedly mounted to the firing link 1510 such that the rack 1520 is configured to translate with the firing link 1510. The firing link 1510 extends through a longitudinal bore 1521 defined in the rack 1520. Further, the rack 1520 is fixedly mounted to the firing link 1510 such that the rack 1520 and the firing link 1510 are configured to rotate together about the longitudinal shaft axis. The articulation system 1400 further includes an articulation drive 1420, the articulation drive 1420 being mounted to the rack 1520 such that the rack 1520 is able to translate or longitudinally slide relative to the articulation drive 1420. That is, the articulation driver 1420 is mounted to the rack 1520 such that the articulation driver 1420, rack 1520, and firing link 1510 rotate together about the longitudinal shaft axis 1001.

In addition to the above, referring primarily to fig. 9,21, and 23, the rack 1520 includes longitudinal slots 1522 defined on opposite sides thereof, and the articulation driver 1420 includes tabs 1422 positioned in the longitudinal slots 1522. The slot 1522 and the tab 1422 are configured to allow the rack 1520 to move proximally and distally relative to the articulation driver 1420. More specifically, the articulation driver 1420 is mounted within the attachment portion 1100 of the shaft assembly 1000 such that the articulation driver 1420 is prevented from longitudinally translating, or at least substantially translating, relative to the frame 1110 of the attachment portion 1100, and the rack 1520 is longitudinally movable relative to the articulation driver 1420 as the rack 1520 is longitudinally moved to drive the articulation system 1400 and/or firing system 1500 of the shaft assembly 1000. That is, as described in more detail below, the slot 1522 and the tab 1422 are configured to transmit rotational motion from the articulation driver 1420 to the rack 1520.

Referring primarily to FIG. 8, the articulation system 1400 further includes a shifter 1430 mounted to the firing link 1510, and an articulation driver 1440. Shifter 1430 is fixedly mounted to firing link 1510 such that shifter 1430 translates longitudinally with firing link 1510. Further, shifter 1430 is fixedly mounted to firing link 1510 such that shifter 1430 can rotate with firing link 1510. The displacer 1430 includes longitudinal rack teeth (rack of teeth)1431 and, similarly, the articulation driver 1440 includes longitudinal rack teeth 1441. When the shaft assembly 1000 is in its articulation mode of operation, see FIGS. 16, 18, 20, and 21, the teeth 1441 of the articulation driver 1440 are in meshing engagement with the teeth 1431 of the displacer 1430. In this configuration, longitudinal motion of the firing link 1510 can be transferred to the articulation driver 1440.

Referring primarily to fig. 30, the articulation driver 1440 further includes a distal end 1443, the distal end 1443 having an elongated aperture defined therein. Articulation frame 1270 of end effector 1300 mounted to channel jaw 1310 includes articulation pins 1444 extending therefrom, articulation pins 1444 positioned in holes defined in distal end 1443. When the shaft assembly 1000 is in its articulation operating mode and the firing link 1510 is advanced distally, the firing link 1510 pushes the articulation driver 1440 and articulation pins 1444 distally to articulate the end effector 1300 in a first direction, as shown in fig. 31. When the firing link 1510 is pulled proximally, the firing link pulls the articulation driver 1440 and articulation pin 1444 proximally to articulate the end effector 1300 in a second direction opposite the first direction. In use, the clinician can operate the surgical system to push and/or pull the articulation driver 1440 to rotate the end effector 1300 to a desired orientation.

Referring again to fig. 30, the articulation system 1400 also includes a second articulation drive 1450 and a drive gear 1470. The drive gear 1470 is mounted to the spine of the shaft 1200 and is rotatable about a fixed axis. In addition, the drive gear 1470 is in meshing engagement with longitudinal rack teeth 1442 defined on the articulation driver 1440. Similarly, the second articulation driver 1450 includes longitudinal rack teeth 1452 in meshing engagement with a drive gear 1470. The second articulation driver 1450 further includes a distal end 1453 having an elongated aperture defined therein. The articulation frame 1270 of the end effector 1300 further includes an articulation pin 1454 extending therefrom that is positioned in a hole defined in the distal end 1453. When the articulation driver 1440 is advanced distally by the firing link 1510, as shown in fig. 31, the articulation driver 1440 rotates the drive gear 1470, which in turn drives the articulation driver 1450 and articulation pin 1454 proximally. Thus, the

articulation drivers

1440 and 1450 cooperate to rotate the end effector 1300 in the same direction. When the articulation driver 1440 is pulled proximally by the firing link 1510, the articulation driver 1440 rotates the drive gear 1470 in the opposite direction, which correspondingly pushes the articulation driver 1450 and articulation pin 1454 distally.

Once the end effector 1300 is in the desired orientation, the end effector 1300 can be locked in place. Referring primarily to fig. 5 and 7-9, shaft assembly 1000 further includes an articulation lock bar 1480 and an articulation lock actuator 1410. The articulation lock bar 1480 includes a proximal end 1481 that mounts to the articulation lock actuator 1410. When articulation lock actuator 1410 moves from the proximal position (fig. 32) to the distal position (fig. 33), articulation lock actuator 1410 pushes locking bar 1480 distally. When the articulation lock actuator 1410 moves from the distal position (fig. 33) to the proximal position (fig. 32), the articulation lock actuator 1410 pulls the locking bar 1480 proximally. Referring primarily to fig. 9, the articulation lock actuator 1410 includes a proximal drive hook 1411 that is configured to operably engage with an actuator of the surgical system that can move the articulation lock actuator 1410 proximally and distally as described above.

Referring to fig. 32 and 33, the shaft assembly 1000 also includes an articulation lock 1494 mounted to the spine of the shaft 1200. The articulation lock 1494 includes a first lock arm and a second lock arm 1495 extending therefrom. Referring to fig. 32, when articulation lock actuator 1410 is in its proximal position, distal end 1482 of articulation lock bar 1480 is not engaged with lock arm 1495. In the example, the end effector 1300 is in an unlocked configuration and is rotatable relative to the spine of the shaft 1200. When the articulation lock bar 1480 is advanced distally by the articulation lock actuator 1410, see fig. 33, the distal end 1482 of the articulation lock bar 1480 engages the lock arm 1495 and displaces the lock arm 1495 into engagement with the

articulation drivers

1440 and 1450. Referring primarily to FIG. 7, the articulation driver 1440 includes longitudinal rack teeth 1445 that are engaged by the lock arms 1495 when the lock arms 1495 are displaced outwardly by the articulation lock bar 1480. Similarly, the articulation driver 1450 includes longitudinal rack teeth 1455 which are engaged by another locking arm 1495 when the locking arm 1495 is displaced outwardly by the articulation locking bar 1480. In the example, the end effector 1300 is in a locked configuration and is not rotatable relative to the spine of the shaft 1200.

Movement of the articulation lock actuator 1410 from its proximal position (fig. 32) to its distal position (fig. 33) not only locks the end effector 1300 in place-it also displaces the shaft assembly 1000 from its articulation mode of operation (fig. 16, 18, 20, and 21) to its firing mode of operation (fig. 17, 19,22, and 23). Referring primarily to fig. 9, the articulation lock actuator 1410 includes one or more drive tabs 1415, the one or more drive tabs 1415 extending inwardly into the longitudinal bore 1414 defined in the articulation lock actuator 1410. The longitudinal aperture 1414 surrounds, or at least substantially surrounds, the articulation driver 1420, and the drive tab 1415 is positioned within a cam groove 1425 defined in an outer surface of the articulation driver 1420. In addition to the above, as the articulation lock actuator 1410 is advanced distally, the drive tab 1415 rotates the articulation driver 1420, rack 1520, and firing link 1510 from their orientations shown in FIG. 16 to their orientations shown in FIG. 17. In the example, the teeth 1431 of the shifter 1430 are rotated out of operable engagement with the teeth 1441 of the articulation driver 1440, and thus, the articulation system 1400 is operably decoupled from the firing system 1500. Thus, distal movement of the articulation lock actuator 1410 locks the end effector 1300 in place and transitions the shaft assembly 1000 into its firing mode of operation. In various examples, the articulation lock actuator 1410 may be pulled proximally to displace the shaft assembly 1000 back to its articulation mode of operation.

Once the articulation system 1400 has been operably decoupled from the firing system 1500, as described above, the firing system 1500 may be advanced distally to perform a closure stroke to close the anvil jaw 1330, and in addition, a firing stroke that ejects staples from the staple cartridge 1320 and cuts tissue captured between the staple cartridge 1320 and the anvil jaw 1330. Referring to fig. 7-9, the firing system 1500 further includes an intermediate firing link 1530 and a firing bar 1550. As described in greater detail below, the firing link 1510 is configured to operably engage the intermediate firing link 1530 such that longitudinal movement of the firing link 1510 is configured to be transferred to the intermediate firing link 1530. The firing bar 1550 includes a proximal end 1552, the proximal end 1552 being positioned in a longitudinal bore 1532 defined in a distal end of the distal firing link 1510.

As the intermediate firing link 1530 is pushed distally by the firing link 1510, referring to fig. 11, the intermediate firing link 1530 pushes the firing bar 1550 distally to engage the anvil jaw 1330 and move the anvil jaw 1330 toward its closed or clamped position, as shown in fig. 12. This distal movement of the firing bar 1550 represents a closing stroke. If the clinician is not satisfied with the positioning of the tissue between the staple cartridge 1320 and the clamped anvil jaw 1330, the clinician can operate the surgical system to retract the firing bar 1550. In the example, a spring compressed between the staple cartridge 1320 and the clamped anvil jaw 1330 can be used to open the jaw 1330.

If the clinician is satisfied with the positioning of the tissue between the staple cartridge 1320 and the clamped anvil jaw 1330, the clinician can operate the surgical system to advance the firing bar 1550 through the staple cartridge 1320 to eject the staples therefrom and transect the tissue, in addition to the above. This distal movement of the firing bar 1550 represents the firing stroke, and the beginning of the firing stroke is shown in FIG. 13. In this example, the closing stroke and firing stroke are separate and distinct. The surgical system used to operate the firing system 1500 is paused, or paused, between the closure stroke and the firing stroke which gives the clinician the opportunity to retract the firing bar 1550 and reopen the anvil jaw 1330 if they so choose. In other examples, the closing stroke and firing stroke are not separate and distinct. Rather, 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 the firing bar 1550 to its unfired position and cause the spring to reopen the anvil jaw 1330.

As described above, the firing link 1510 is used to drive the articulation system 1400 and the firing system 1500. Further, it appears that firing link 1510 moves firing bar 1550 while firing link 1510 is being used to operate articulation system 1400; however, referring to fig. 24-29, the shaft assembly 1000 further includes a clutch 1540 configured to operably couple the firing link 1510 with the intermediate firing link 1530 when the clutch 1540 is in the firing configuration (fig. 26), and to operably decouple the firing link 1510 from the intermediate firing link 1530 when the clutch 1540 is in the articulation configuration (fig. 29). Clutch 1540 is configured such that it is in its articulated configuration (fig. 29) when shaft assembly 1000 is in its articulated mode of operation, and correspondingly, it is in its fired configuration (fig. 26) when shaft assembly 1000 is in its fired mode of operation.

Referring primarily to FIG. 24, the firing link 1510 includes a distal piston 1515 slidably positioned within a cylinder 1535 defined in the intermediate firing link 1530. The clutch 1540 includes a cantilevered beam 1543 fixedly mounted to the intermediate firing link 1530 and, in addition, a cam head 1544 slidably positioned in a lateral slot 1534 defined in the intermediate firing link 1530. The cam head 1544 includes a bore 1545 defined therein, the bore 1545 configured to receive the distal piston 1515 of the firing rod 1510 therein.

When the shaft assembly 1000 is in its articulation mode of operation and the clutch 1540 is in its articulation configuration, at least a portion of the distal piston 1515 is positioned in a proximal portion 1531 of a cylinder 1535 defined in the intermediate firing link 1530, see fig. 29. In this example, another portion of distal piston 1515 is positioned in a hole 1545 defined in a cam head 1544 of clutch 1540. While the sidewalls of the hole 1545 can contact the sides of the distal piston 1515, in the example, the piston 1515 can be movable relative to the clutch 1540 and the intermediate firing link 1530 without transmitting, or at least substantially transmitting, motion of the firing link 1510 to the intermediate firing link 1530. Thus, when the firing link 1510 is used to drive the articulation system 1400, the firing link 1510 does not distally displace the firing bar 1550. In certain instances, a gap may exist between the proximal end 1552 of the firing bar 1550 and the longitudinal end wall of the bore 1532 to accommodate the amount of movement that the intermediate firing link 1530 may experience when the shaft assembly 1000 is in its articulated mode of operation.

In addition to the above, referring again to fig. 29, cantilevered beams 1543 of clutch 1540 deflect or elastically flex laterally when clutch 1540 is in its articulated configuration. This is because the hole 1545 defined in the cam head 1544 is unnaturally aligned with the distal piston 1515, and when the distal piston 1515 is positioned in the hole 1545, the cam head 1544 is laterally displaced and the beam 1543 is laterally deflected to accommodate this positive alignment. When the shaft assembly 1000 is placed in its firing mode of operation and the firing link 1510 is advanced distally, the distal piston 1515 moves distally relative to the cam head 1544 until the distal piston 1515 passes completely through the aperture 1545. At this point, referring to fig. 26, clutch 1540 resiliently returns to an unflexed state and places clutch 1540 in its fired configuration. Notably, in the example, cam head 1544 is laterally displaced and locks behind a proximal shoulder of distal piston 1515 to retain distal piston 1515 in cylinder 1535. Thus, throughout operation of the firing assembly 1500, the clutch 1540 locks the firing link 1510 to the intermediate firing link 1530 such that the longitudinal motion of the firing link 1510 is transferred to the intermediate firing link 1530 during the firing stroke.

In addition to the above, clutch 1540 continues to hold firing link 1510 and intermediate firing link 1530 together after the firing stroke has been completed, or at least partially completed. Accordingly, the firing link 1510 can be moved proximally to retract the intermediate firing link 1530 and the firing bar 1550 proximally. In various examples, a emptied staple cartridge 1320 can be removed from the end effector 1300, and an unempted staple cartridge 1320 can be disposed in the channel jaw 1310, for example. If the clinician is still satisfied with the orientation of the end effector 1300, the clinician may again operate the firing assembly 1500. However, if the clinician desires to change the orientation of the end effector 1300, the clinician can operate the surgical system to retract the firing link 1510 further proximally and decouple the firing link 1510 from the intermediate firing link 1530 to re-enter the articulation mode of operation of the shaft assembly 1000. This transition will be described in more detail below.

Referring to fig. 27 and 28, the spine of shaft assembly 1000 includes a cam 1234, cam 1234 being configured to deflect cam head 1544 of clutch 1540 laterally as cam head 1544 contacts cam 1234 as intermediate firing link 1530 retracts proximally. Once cam head 1544 is deflected laterally, hole 1545 defined in cam head 1544 realigns with distal piston 1515, so distal piston 1515 is released from clutch 1540 and can move proximally relative to cam 1540 into its articulated configuration (fig. 29). At this point, the firing link 1510 can be used to operate the articulation system 1400 to reorient the end effector 1300. Once the clinician is satisfied with the orientation of the end effector 1300, the clinician may use the surgical system to advance the distal piston 1515 distally to re-displace the clutch 1540 into its firing configuration. Further, it should be appreciated that clutch 1540 may be shifted from its firing configuration and its articulation configuration whenever the clinician desires to switch between firing and articulation modes of operation of shaft assembly 1000.

As described above, referring now to fig. 10-12, the firing bar 1550 is configured to move distally to move the anvil jaw 1330 from the open position (fig. 11) to the closed position (fig. 12) or at least toward the closed position (fig. 12) during a closure stroke of the firing assembly 1500. The firing bar 1550 includes an anvil cam 1564 configured to engage the anvil jaw 1330, and an additional cartridge cam 1563 configured to engage the channel jaw 1310. The anvil jaw 1330 includes a longitudinal slot 1334 defined therein that includes a bottom cam surface. Similarly, the access jaw 1310 includes a longitudinal slot 1313 defined therein that includes an upper cam surface. As the firing bar 1550 is advanced distally, the anvil cam 1564 can engage a bottom cam surface of the longitudinal slot 1334 and the cartridge cam 1563 can engage an upper cam surface of the longitudinal slot 1313 to cooperatively control the position of the anvil jaw 1330 relative to the staple cartridge 1320.

As described above, the anvil jaw 1330 is rotatably coupled to the channel jaw 1310. In at least one example, the anvil jaw 1330 is mounted to the channel jaw 1310 by one or more pins and is pivotable about a fixed axis. In other examples, the anvil jaw 1330 is not mounted to the channel jaw 1310 about a fixed axis. In at least one such example, the anvil jaw 1330 can translate relative to the channel jaw 1310 as the anvil jaw 1330 rotates relative to the channel jaw 1310. In either case, the cartridge jaw 1310 can be referred to as a fixed jaw even though the cartridge jaw 1310 is able to rotate or articulate about the articulation joint 1660. In this context, the term "fixed" means that the surgical system 1000 does not rotate the channel jaws 1310 between the open and closed positions. Alternative embodiments are contemplated in which the cartridge jaw 1310 is rotatable relative to the anvil jaw 1330. In the example, the anvil jaw 1330 can be a stationary jaw.

Referring to fig. 7, the anvil jaw 1330 is comprised of several pieces that have been assembled together. More specifically, the anvil jaw 1330 includes one or more lateral side plates 1333 that have been attached thereto. In at least one example, the anvil jaw 1330 and side plate 1333 are constructed of steel and have been welded together, for example. Such an arrangement may, among other things, simplify the manufacturing process for creating the longitudinal slot 1334 defined in the anvil jaw 1330. In at least one example, a portion of the longitudinal slot 1334 can be formed into the side plate 1333 prior to the side plate 1333 being attached to the anvil jaw 1330. In various examples, the bottom cam surface of the longitudinal slot 1334 includes a curved profile that can be formed in the side plate 1333, for example, using a grinding process. Further, in certain examples, the side plate 1333 can be subjected to a different heat treatment process than the remainder of the anvil jaw 1330. As described above, the anvil jaw 1330 may be formed using any suitable manufacturing method.

In addition to the above, the staple cartridge 1320 comprises a cartridge body 1322 and a sled 1360 movably positioned within the cartridge body 1322. The sled 1360 is movable between a proximal unfired position (fig. 10, 11, and 12) and a distal fired position by a firing bar 1550. More specifically, the firing bar 1550 includes a coupling member 1560 mounted to a distal end thereof, the coupling member 1560 configured to abut the sled 1360 and move the sled 1360 distally during a firing stroke. Notably, however, the coupling member 1560 does not abut the sled 1360 during the closing stroke of the firing member 1550. Accordingly, the firing member 1550 can be moved proximally and distally to open and close the anvil jaw 1330 without distally displacing the sled 1360. Thus, the staple cartridge 1320 remains unabated regardless of the number of times the anvil jaw 1330 is opened and closed prior to performing a firing stroke.

In addition to the above, staple cartridge 1320 is replaceable. Thus, when a staple cartridge is not positioned in channel jaw 1310, various examples can occur. Further, various examples may occur when an empty staple cartridge is positioned in channel jaw 1310. 10-15, the shaft assembly 1000 includes a lockout configured to prevent the firing stroke from beginning when either condition exists. The lockout includes a lock 1570, the lock 1570 rotatably mounted to the firing bar 1550 and movable between an unlocked position (fig. 10-14) and a locked position (fig. 15). Lock 1570 includes lateral flanges 1572 pivotally mounted to opposite lateral sides of coupling member 1560, lateral flanges 1572 providing an axis of rotation about which lock 1570 rotates. When the firing bar 1550 is moved longitudinally to open and close the anvil jaw 1330, referring to fig. 10-12, the channel jaw 1310 retains the lock 1570 in the unlocked position.

When the firing stroke of firing bar 1550 begins, referring to fig. 13, sled 1360 is configured to support lock 1570 in its unlocked position when sled 1360 is in its proximal unfired position. More specifically, the slider 1360 includes a proximal flange 1365, the proximal flange 1365 configured to support a distal shoulder 1575 of the lock 1570 as the lock 1570 approaches the locking groove 1315 defined in the channel jaw 1310. In other words, sled 1360 can prevent lock 1570 from entering locking groove 1315, but only when sled 1360 is in its proximal, unfired position. Once distal shoulder 1575 is supported by proximal flange 1365 of sled 1360 at the beginning of the firing stroke, proximal flange 1365 may continue to support distal shoulder 1575 throughout the firing stroke. That is, once lock 1570 has moved distally relative to lock recess 1315, lock 1570 cannot enter lock recess 1315 and flange 1365 is not required to support shoulder 1575 for the remainder of the firing stroke.

Referring again to fig. 10-13, the latch also includes a locking spring 1370, the locking spring 1370 configured to bias the lock 1570 into the locking groove 1315. Locking spring 1370 includes a proximal end 1371 fixedly mounted to articulation frame 1270, and an additional distal end 1375 located opposite proximal end 1371. When firing bar 1550 is used to open and close anvil jaw 1330 during a closing stroke, referring to fig. 10-12, flange 1572 can slide relative to lock spring 1370. When firing bar 1550 is advanced distally to perform a firing stroke and sled 1360 is in its proximal, unfired position, as shown in fig. 13, flange 1572 may flex upward at distal end 1375 of lock spring 1370 to allow flange 1572 to slide thereunder. When firing bar 1550 is advanced distally and flange 1572 moves past distal end 1375 of lock spring 1370, lock spring 1370 can resiliently return to its undeflected state.

After the firing stroke has been completed, or at least substantially completed, the firing bar 1550 may be retracted back to its proximal unfired position, as shown in FIG. 14. Notably, the sled 1360 is not retracted proximally with the firing bar 1550. Instead, the sled 1360 remains in the distal firing position. Thus, if the firing bar 1550 is to be advanced distally to perform a second firing stroke, the sled 1360 of the emptied cartridge 1320 cannot hold the lock 1570 in its unlocked position. Conversely, referring to FIG. 15, the lock spring 1370 biases the lateral flange 1572 of the lock 1570 into the lock recess 1315, which will prevent the firing bar 1550 from executing a second firing stroke, i.e., a firing stroke with an empty staple cartridge in the channel jaw 1310. As shown in fig. 15, distal end 1375 of lock spring 1370 engages flange 1572 of lock 1570 at a location distal of the rotational joint that connects lock 1570 to coupling member 1560. Thus, locking spring 1370 is configured to apply a downward biasing torque to lock 1570 that rotates lock 1570 downward into its locked position and into locking recess 1315. To reset the lock 1570 to its unlocked position, the firing bar 1550 may be pulled proximally to pull the lock 1570 out of the locking groove 1315 until the lock 1570 is again supported by the channel jaws 1310.

Although the firing stroke cannot be performed while positioning an emptied staple cartridge in the channel jaw 1310, the firing system 1500 may be used to open and close the anvil jaw 1330 even though an emptied staple cartridge is positioned in the channel jaw 1310. Further, the firing system 1500 may be used to operate the articulation system 1400 even if an empty staple cartridge is positioned in the channel jaw 1310. Similarly, when a staple cartridge is missing from the channel jaw 1310, the firing system 1500 may be used to open and close the anvil jaw 1330 and/or operate the articulation system 1400. However, in order to reuse shaft assembly 1000 to fire another staple cartridge, for example, an emptied staple cartridge 1320 must be removed from channel jaw 1310 and replaced with an unempted staple cartridge, such as another staple cartridge 1320. Such an uninvolved staple cartridge would have to include a sled 1360 in its proximal unfired position, which sled 1360 would allow the firing bar 1550 to be advanced through another firing stroke.

Referring again to fig. 10-15, the coupling member 1560 of the firing bar 1550 includes a cutting edge 1565, the cutting edge 1565 configured to transect tissue captured between the staple cartridge 1320 and the anvil jaw 1330. Notably, coupling member 1560 is not displaced downward into locking recess 1315 defined in channel jaw 1310 by locking spring 1370. Instead, only lock 1570 is displaced downward by locking spring 1370. Thus, during the firing stroke of the firing bar 1550, the cutting edge 1565 does not shift relative to, and remains aligned with, the tissue captured between the staple cartridge 1320 and the anvil jaw 1330.

As described above, the firing system 1500 is configured to execute a closure stroke to close the end effector 1300 and a firing stroke to staple and cut tissue captured within the end effector 1300. As also described above, the firing system 1500 is operably coupled to and driven by the drive system of the surgical system. In various examples, once the closure stroke and/or firing stroke is performed, the drive system of the surgical system may be disabled and the firing system 1500 may not be able to be advanced and/or retracted. Such an example can be quite problematic because the end effector 1300 will be locked closed by the firing bar 1550. More specifically, as described above, the firing bar 1550 includes the cams 1563 and 1564 (fig. 10-15), the

cams

1563 and 1564 being configured to hold the anvil jaw 1330 and the channel jaw 1310 in place relative to each other during the closure stroke and the firing stroke, and if the firing bar 1550 is not retractable, the

cams

1563 and 1564 will no longer be effective in locking the

jaws

1310 and 1330 together. Described below is a retraction system configured to draw the firing bar 1550 proximally so that the anvil jaw 1330 can be reopened.

Turning now to fig. 34-36, the shaft assembly 1000 includes a retraction or bailout system 1700 that is configured to be selectively deployed to engage the firing system 1500 and proximally retract the firing bar 1500. Referring primarily to fig. 34, the retraction system 1700 includes a handle or actuator 1702, which handle or actuator 1702 is rotatably mounted to a housing 1120 of the attachment portion 1100 about a pivot pin 1704. The pivot pin 1704 defines a fixed axis of rotation about which the handle 1702 is rotatable. The retraction system 1700 further includes a pawl 1706 rotatably mounted to the handle 1702 about a pivot pin 1708, the pivot pin 1708 defining a fixed axis of rotation about which the pawl 1706 can rotate relative to the handle 1702. The pawl 1706 includes teeth defined thereon that are configured to engage longitudinal rack teeth 1526 defined on the rack 1520. When the handle 1702 is in the stored or undeployed position, as shown in fig. 34, the teeth of the pawl 1706 are not engaged with the rack teeth 1526.

Referring again to fig. 34, the housing 1120 includes an access window 1129 defined therein, the access window 1129 being sized and configured to allow a clinician to grasp the handle 1702 and rotate the handle 1702 to the deployed position, which is shown in fig. 35. In addition to the above, the tube 1620 of the outer frame 1600 includes windows 1629, and similarly, the spine of the shaft 1200 includes windows 1229 defined therein that are aligned, or at least substantially aligned, with the windows 1129 defined in the housing 1120. The

windows

1629 and 1229 are configured to allow the pawl 1706 to enter rack teeth 1526 defined on the rack 1520. When the handle 1702 is raised to its deployed position, as shown in fig. 35, the teeth of the pawl 1706 engage the rack teeth 1526. At this point, the handle 1702 can be rotated to drive the rack 1520, firing link 1510, intermediate firing link 1530, and firing bar 1550 proximally.

In addition to the above, the handle 1702 and pawl 1706 comprise a ratchet assembly that can be actuated several times to drive the firing system 1500 proximally, if desired, to a position where the firing bar 1550 has sufficiently disengaged from the anvil jaw 1330 to allow the anvil jaw 1330 to open. When the handle 1702 is in its deployed position in fig. 35, the handle 1702 may be rotated approximately 45 degrees distally, such as to the position shown in fig. 36, in order to draw the firing system 1500 proximally. Such 45 degree rotation of the handle 1702 may or may not be sufficient to disengage the firing bar 1550 from the anvil jaw 1330. If insufficient, the handle 1702 can be rotated proximally and returned to the position shown in FIG. 35 such that the handle 1702 can be actuated again to further retract the firing bar 1550. This process may be repeated as many times as desired until the anvil jaw 1330 can be opened to release the end effector 1300 from the tissue and remove the shaft assembly 1000 from the surgical site.

In addition to the above, situations may arise where it is desirable to remove the shaft assembly 1000 from the surgical system before the firing bar 1550 is retracted, or at least fully retracted. In such an example, similar to the above, the shaft assembly 1000 will not be powered by the surgical system-however, even if the shaft assembly 1000 is not attached to the surgical system, the retraction system 1700 can be used to quickly release the end effector 1300 from tissue. Such an arrangement is an improvement over other arrangements in which the retraction system is part of a surgical system rather than an attachable shaft assembly. In such other arrangements, the shaft assembly may have to remain attached to the surgical system in order for the retraction system to be used to reopen the end effector.

The retraction system 1700 can be used to retract the firing assembly 1500 after a portion of the closure stroke has been performed, after an entire closure stroke has been performed, after a portion of the firing stroke has been performed, and/or after an entire closure stroke has been performed. When the firing stroke has been fully performed and the retraction system 1700 is used to retract the firing assembly 1500, the clinician may have to activate the retraction system 1700 several times in order to retract the firing bar 1550 through the entire firing stroke and additionally the entire closure stroke to open the end effector 1300. This situation is entirely suitable, but many actuations of the retraction system 1700 can be employed to fully retract the firing bar 1550. Discussed below are shaft assemblies that include alternative emergency systems.

The shaft assembly 2000 is shown in fig. 37-46 and is similar in many respects to the shaft assembly 1000-several of which are not discussed herein for the sake of brevity. Referring primarily to fig. 37, the shaft assembly 2000 includes an attachment portion 2100, the attachment portion 2100 being configured to releasably attach the shaft assembly 2000 to a surgical system, such as, for example, a handle of a surgical instrument and an alternative arm of a surgical robot. The shaft assembly 2000 further comprises an end effector 2300, an articulation system 1400 configured to articulate the end effector 2300 about an articulation joint 1660, and a firing system 1500 configured to fire staples from a staple cartridge positioned in the end effector 2300. Referring primarily to fig. 38 and 39, the shaft assembly 2000 further includes an outer frame 1600, the outer frame 1600 being mounted to the frame 2110 of the attachment portion 2100 and being rotatable relative to the frame 2110 about a longitudinal shaft axis 2001. Such an arrangement can allow the end effector 2300 to be reoriented relative to the patient tissue. For example, the anvil jaw 1330 of the end effector 2300 may be rotated from one side of the patient's tissue to the other before clamping the anvil jaw 1330 to the tissue. As described above, the outer frame 1600 is mounted to the frame 2110 of the attachment portion 2100 such that the outer frame 1660 is not translatable, or at least substantially translatable, relative to the frame 2110.

Similar to the shaft assembly 1000, the shaft assembly 2000 includes a retraction system 1700, the retraction system 1700 configured to retract the firing system 1500. In addition to the above, the retraction system 1700 can be operable to proximally retract the firing bar 1550 and allow the end effector 2300 to reopen from a closed or clamped configuration (fig. 45) to an open configuration (fig. 46). Referring primarily to fig. 42-44, shaft assembly 2000 further includes a translatable spine 2200 and an emergency system 2800 configured to drive end effector 2300 from its closed or clamped configuration (fig. 45) to its open configuration (fig. 46) to reopen end effector 2300. As described in greater detail below, the bailout system 2800 is configured to move the spine 2200 distally from a proximal, unactuated position (fig. 45) to a distal, actuated position (fig. 46) to move the channel jaw 2310 of the end effector 2300 distally relative to the firing bar 1550.

Translatable ridge 2200 is similar in many respects to ridge 1200. 42-44, the spine 2200 includes a proximal spine portion 2210 that is rotatable relative to the frame 2110 about the longitudinal shaft axis 2001. Proximal spine portion 2210 includes an aperture defined therein configured to receive the proximal end of driver cap 2220. Driver cap 2220 also includes a distal end configured to be positioned within a proximal end of intermediate spine portion 2230 of spine 2200. The spine 2200 also includes an upper distal portion 2250 and a lower distal portion 2260 that engages the distal end of the spine portion 2230. The

distal portions

2250 and 2260 include proximal ends that are laterally inserted or slid into dovetail-shaped slots defined in the distal end of the medial spine portion 2230. The ridge 2200 also includes a cover 2240 configured to close the opening defined in the ridge portion 2230 and/or lock the

distal portions

2250 and 2260 in place. The lower distal portion 2260 includes articulation projections 1262 extending therefrom that are closely positioned within articulation holes defined in an articulation frame 2270 mounted within the channel jaws 2210.

Unlike the spine 1200, which is mounted to the frame 1110 to prevent translation of the spine 1200 relative to the frame 1110, the spine 2200 is slidably positioned in the frame 2110 and is movable proximally and distally relative to the frame 2110 by the emergency system 2800. Referring primarily to fig. 38 and 39, the emergency system 2800 includes an emergency lever 2802, the emergency lever 2802 being rotatably mounted to the frame 2110 about a fixed axis pivot 2804. In practice, referring to fig. 41, the emergency system 2800 includes two emergency levers 2802 rotatably mounted to the frame 2110 on opposite sides thereof and connected to each other by a crossbar 2807, as shown in fig. 42, such that the emergency levers 2802 rotate together. The emergency system 2800 also includes a drive link 2806 rotatably mounted to each of the emergency levers 2802. Referring to fig. 41, each contingency lever 2802 includes a drive pin 2803, the drive pin 2803 extending into a drive aperture defined in the drive coupling 2806 and operatively coupling the drive coupling 2806 to the contingency lever 2802.

In addition to the above, referring to fig. 40 and 41, each drive link 2806 includes a drive pin 2808 extending therefrom, the drive pin 2808 being positioned in an annular slot 2218 defined in the proximal spine portion 2210. When the panic lever 2802 is rotated distally to its actuated position, as shown in fig. 46, the panic lever 2802 pulls the drive link 2806 and the spine 2200 distally to translate the channel jaw 2310 distally relative to the firing bar 1550. Further, due to the fact that the anvil jaw 1330 is rotatably mounted to the channel jaw 2310, distal movement of the channel jaw 2310 also translates the anvil jaw 1330 distally. This distal movement of the

jaws

2310 and 1330 includes an emergency opening stroke that can disengage the anvil jaw 1330 from the anvil cam 1564 of the firing bar 1550 and allow the anvil jaw 1330 to move to an open position. In addition to the above, the end effector 2300 includes a compressed biasing member, such as, for example, a spring, that can bias the anvil jaw 1330 into its open position once the anvil jaw 1330 has been sufficiently disengaged from the anvil cam 1564.

As the reader should appreciate, the emergency system 2800 is self-contained and distinct from the retraction system 1700. Thus, the emergency system 2800 and the retraction system 1700 may operate independently of one another. In at least one example, the bailout system 2800 can be used to open the end effector 2300 during a closure stroke, if desired, and the retraction system 1700 can be used to open the end effector 2300 during a firing stroke, if desired. In various examples, the retraction system 1700 can be used to open the end effector 2300 at any point during the closure stroke and/or during the firing stroke. In certain examples, the bailout system 2800 can be used to open the end effector 2300 during a closure stroke and/or a firing stroke. In at least one such example, the contingent opening stroke produced by the contingent system 2800 is sufficient to open the end effector 2300 at any point during the closure stroke and/or at any point during the firing stroke. However, in some examples, the contingent opening stroke generated by the contingent system 2800 may not be sufficient to open the end effector 2300 during the firing stroke. In the example, the clinician may use the retraction system 1700 to open the end effector 2300 in addition to or in lieu of the emergency system 2800.

In addition to the above, the emergency system 2800 can be actuated to quickly open the end effector 2300. In contrast, the retraction system 1700 may have to be activated several times to open the end effector 2300, while the bailout system 2800 may open the end effector 2300 with one stroke. In instances where the emergency system 2800 is unable to open the end effector 2300 itself, the emergency system 2800 may be actuated to reduce the number of times the retraction system 1700 must be activated to open the end effector 2300. Further, in the example, the channel jaw 2310 is pushed distally away from the firing bar 1550 and the firing bar 1550 is pulled proximally away from the anvil jaw 1330. In instances where the emergency system 2800 may itself open the end effector 2300, the firing bar 1550 of the firing system 1500 need not be retracted to open the end effector 2300.

In various examples, in addition to the above, the emergency lever 2802 of the emergency system 2800 can be rotated from its proximal unactuated position (fig. 45) to its distal actuated position (fig. 46) to open the end effector 2300 and release the end effector 2300 from the patient tissue. The end effector 2300 may then be moved away from the patient tissue. The panic lever 2802 can then be rotated from its distal actuated position (fig. 46) to its proximal unactuated position (fig. 45) to draw the spine 2200 and channel jaws 2310 proximally and close the end effector 2300. This feature may be particularly useful when removing the end effector 2300 from the surgical site, as in various examples, it may be easier to remove the end effector 2300 from the surgical site when the end effector 2300 is in its closed configuration. In any event, the bailout system 2800 can be actuated and deactuated to open and close the end effector 2300 as many times as desired.

As described above, referring again to fig. 32 and 33, the shaft assembly 1000 includes an articulation lock 1480 that is configured to engage an articulation lock 1494 of the shaft assembly 1000 and displace an arm 1495 of the articulation lock 1494 into engagement with the

articulation drivers

1440 and 1450 of the articulation system 1400 in order to lock the end effector 1300 in place and prevent the end effector 1300 from articulating through the articulation system 1400. Such arrangements include a single stage articulation locking system in that both arms 1495 engage the

articulation drivers

1440 and 1450 at the same time, or at least substantially the same time. In an alternative embodiment, the shaft assembly 6000 shown in fig. 67-71 includes a two-stage articulation locking system 6490 that is configured to lock an end effector, such as, for example, the end effector 1300, in place.

Shaft assembly 6000 is similar in many respects to shaft assemblies 1000 and 2000-several of which are not discussed herein for the sake of brevity. 67-71, the shaft assembly 6000 includes a shaft 1200, an end effector 1300, an articulation system 1400, a firing system 1500, and an outer frame 1600. The shaft assembly 6000 further includes an articulation lock actuator configured to move the locking rod 6480 relative to the end effector 1300 and to engage the locking rod 6480 with the articulation locking system 6490. As described in more detail below, the locking system 6490 is configured to first directly engage the first lock and end effector 1300 and then engage the

articulation drivers

1440 and 1450 of the second lock and articulation system 1400. In the example, the first and second locks of the articulation locking system 6490 can cooperatively hold the end effector 1300 in place.

Referring primarily to fig. 67, a two-stage articulation locking system 6490 includes a frame 6491, which frame 6491 is positioned within outer tube 1620 of outer frame 1600 and fixedly mounted to the spine of shaft 1200. The articulation locking system 6490 further comprises: a first lock 6496 slidably positioned within a cavity 6492 defined in the frame 6491; and a biasing spring 6499 configured to bias the first lock 6496 into engagement with the articulation frame 1270 mounted in the end effector 1300. The first lock 6496 includes a flange 6498 extending therefrom, and a biasing spring 6499 is compressed between the flange 6498 and a proximal end wall of a cavity 6492 defined in the frame 6491. Accordingly, the biasing spring 6499 is configured to move the first lock 6496 from a proximal unlocked position (fig. 66) where the first lock 6496 is not engaged with the articulation frame 1270 to a distal locked position (fig. 67-70) where the first lock 6496 is engaged with the articulation frame 1270.

In addition to the above, the articulation frame 1270 includes a circumferential array of teeth 1277 that are each configured to be engaged by a tooth recess 6497 defined in the distal end of the first lock 6496 as the first lock 6496 is advanced distally to its locked position. The array of teeth 1277 extends around the proximal periphery of the articulation frame 1270 such that the teeth 1277 are aligned, or at least substantially aligned, with the first lock 6496 regardless of the orientation of the end effector 1300. Thus, the teeth 1277 are always present in front of the distal end of the first lock 6496, such that when the first lock 6496 is biased into its locked position by the biasing spring 6499, the first lock 6496 can lock the end effector 1300 in place.

The articulation locking system 6490 also includes a second articulation lock 6494 that is configured to selectively engage the

articulation drivers

1440 and 1450 of the articulation system 1400. The articulation lock 6494 is fixedly mounted to a spine of the shaft assembly 6490 and includes a lock arm 6495 extending therefrom. The locking arms 6495 are movable between an undeflected configuration (fig. 67) in which they are not engaged with the

articulation drivers

1440 and 1450, and a deflected configuration (fig. 68) in which they are engaged with the

articulation drivers

1440 and 1450. In other words, the locking arm 6495 flexes laterally or outward from the unlocked configuration to the locked configuration to engage the

articulation drivers

1440 and 1450.

Each locking arm 6495 includes a tooth defined thereon that is configured to engage the

articulation drivers

1440 and 1450 as the locking arm 6495 deflects outward into engagement with the

articulation drivers

1440 and 1450. More specifically, the teeth of the first lock arm 6495 are configured to engage the teeth 1445 defined on the articulation driver 1440, and the teeth of the second lock arm 6495 are configured to engage the teeth 1455 defined on the articulation driver 1450. This interaction between the lock arm 6495 and the

articulation driver

1440 and 1450 prevents the

articulation drivers

1440 and 1450 from moving proximally and distally to articulate the end effector 1330 and, thus, lock the end effector 1330 in place. The locking arm 6495 is also configured to prevent the

articulation drivers

1440 and 1450 from being back driven by the end effector 1330 when torque is applied to the end effector 1330.

Fig. 67 and 68 illustrate a locking sequence of the two-stage articulation locking system 6490. As shown in fig. 67, the first articulation lock 6496 is biased into its locked state by a biasing spring 6499, as described above. Thus, the first articulation lock 6496 need not be actuated to place the articulation locking system 6490 in the first locked state. Notably, however, when the articulation locking system 6490 is in its first locked state, the second articulation lock 6494 is not engaged with the articulation drivers 1640 and 1650 because the locking arm 6495 of the articulation lock 6494 is not yet biased into engagement with the articulation drivers 1640 and 1650. Conversely, referring to fig. 68, the locking arm 6480 must be advanced distally to engage the locking arm 6495 and displace the locking arm 6495 into engagement with the articulation drivers 1640 and 1650. Thus, the second articulation lock 6494 must be actuated to place the articulation locking system 6490 in the second locked state.

Referring again to fig. 67, the locking lever 6480 includes a shaft portion 6481 that is configured to slide between the locking arm 6495 without laterally displacing the locking arm 6495 into engagement with the

articulation drivers

1440 and 1450. That is, referring now to fig. 68, locking lever 6480 includes an enlarged portion 6485 defined on shaft portion 6481 that is configured to engage locking arm 6495 and deflect locking arm 6495 to its locking configuration when locking lever 6480 is advanced distally. At this point, the articulation locking system 6490 is in its second locked state. Notably, when the articulation locking system 6490 is in its second locked state, the first articulation lock 6496 is engaged with the end effector 1300 and the second articulation lock 6494 is engaged with the

articulation drivers

1440 and 1450. Also, it is worth noting that during the two-stage locking sequence of the articulation locking system 6490, the first articulation lock 6496 engages the end effector 1300 before the second articulation lock 6494 engages the

articulation drivers

1440 and 1450.

69-71 illustrate an unlocking sequence of the two-stage articulation locking system 6490. Fig. 69 illustrates the articulation locking system 6490 in its second locked state, and to unlock the end effector 1300 so that it may be articulated as described above, the articulation locking system 6490 is sequentially placed in its first locked state, as shown in fig. 70, and then placed in its unlocked state, as shown in fig. 71. Referring to fig. 70, the locking lever 6480 is retracted proximally to disengage the enlarged portion 6485 from the locking arm 6495 so that the locking arm 6495 can resiliently flex inward and disengage the

articulation drivers

1440 and 1450. At this point, the articulation locking system 6490 has returned to its first locked state. Notably, the locking rod 6480 includes a distal end 6482 that is slidably positioned in an elongated aperture 6493 defined in the first articulation lock 6496, and when the locking rod 6480 is moved proximally to transition the articulation locking system from its second locked state to its first locked state, as described above, the distal end 6482 may slide within the elongated aperture 6493 without moving the first articulation lock 6496 out of its locked state.

Once the articulation locking system 6490 has returned to its first locked state, as described above, the locking rod 6480 may be further retracted proximally to pull the first articulation lock 6496 out of engagement with the articulation frame 1270. More specifically, when the locking rod 6480 is retracted proximally to apply a retraction force to the first articulation lock 6494, the distal end 6482 of the locking rod 6480 may abut the proximal end wall of the aperture 6483. Such a proximal retraction force must be able to overcome the distal biasing force applied by the spring 6499 to the first articulation lock 6496 in order to move the first articulation lock 6496 proximally. In any event, once the first articulation lock 6496 has been disengaged from the articulation frame 1270, the articulation locking system 6490 is in an unlocked state. At this point, the end effector 1300 may be articulated. To relock the end effector 1300 in place, the lock bar 6480 may be released to allow the biasing spring 6499 to again place the first articulation lock 6496 in its locked state. Alternatively, the lock rod 6480 may be driven distally to re-lock the end effector 1300 in place.

As described above, the two-stage articulation locking system 6490 is configured to sequentially lock the first articulation lock 6496 and then lock the second articulation lock 6494. Alternative embodiments are contemplated wherein the articulation locking system is configured to sequentially lock the second articulation lock 6494 and then lock the first articulation lock 6496. Moreover, alternative embodiments are contemplated that are configured to lock the first articulation lock 6494 and the second articulation lock 6494 simultaneously.

As also described above, the two-stage articulation locking system 6490 is configured to sequentially unlock the second articulation lock 6494 and then unlock the first articulation lock 6496. Alternative embodiments are contemplated wherein the articulation locking system is configured to sequentially unlock the first articulation lock 6496 and then unlock the second articulation lock 6494. Moreover, alternative embodiments are contemplated that are configured to unlock the first articulation lock 6494 and the second articulation lock 6494 at the same time.

The shaft assembly 3000 is shown in fig. 47-51. The shaft assembly 3000 is similar in many respects to the shaft assembly 1000-several of which are not discussed herein for the sake of brevity. Although not necessarily shown in fig. 47-51, the shaft assembly 3000 includes an attachment portion 3100 and a spine mounted to the attachment portion 3100 that is rotatable but not translatable relative to a frame 3110 of the attachment portion 3100. The shaft assembly 3000 further includes an end effector 1300, an articulation system 1400 configured to articulate the end effector 1300, and a firing system 1500. As described above, the end effector 1300 includes the anvil jaw 1330, the anvil jaw 1330 being rotatable relative to the channel jaw 1310 between an open position and a closed position. The shaft assembly 3000 further includes an outer shaft portion 3600 that is configured to engage the anvil jaw 1330 and move the anvil jaw 1330 toward its closed position, as described in more detail below.

Referring primarily to fig. 47 and 49, the outer shaft assembly 3600 includes a proximal portion 3610, an intermediate portion 3620 coupled to the proximal portion 3610, and a distal portion 3630 coupled to the intermediate portion 3620. The proximal portion 3610 is mounted to the frame 3110 of the attachment portion 3100 such that the proximal portion 3610 is rotatable but not translatable relative to the frame 3110. The proximal portion 3610 includes a longitudinal passageway 3615 extending therethrough and, similarly, the intermediate portion 3620 includes a longitudinal passageway 3625 extending therethrough. The

longitudinal passageways

3615 and 3625 are aligned, or at least substantially aligned, with one another and surround the spine, the articulation system 1400, and the firing system 1500 of the shaft assembly 3600. In addition to the above, the distal portion 3630 includes a longitudinal passageway 3635 extending therethrough, the longitudinal passageway 3635 being aligned with the longitudinal passageway 3625 defined in the intermediate portion 3620. The proximal end of the distal portion 3630 is positioned in the longitudinal passageway 3625 and engages the intermediate portion 3620 in a press-fit manner such that there is little, if any, relative movement between the intermediate portion 3620 and the distal portion 3630.

Referring again to fig. 49, the proximal portion 3610 of the outer shaft assembly 3600 includes a distal flange 3611. Additionally, the intermediate portion 3620 of the outer shaft assembly 3600 includes a proximal flange 3621 positioned adjacent to the distal flange 3611. The distal flange 3611 and the proximal flange 3621 are parallel, or at least substantially parallel, to one another. Referring primarily to fig. 48 and 49, the outer shaft assembly 3600 further includes an extension assembly 3700, the extension assembly 3700 connecting the distal flange 3611 of the proximal portion 3610 to the proximal flange 3621 of the intermediate portion 3620. The extension assembly 3700 is configured to allow the outer shaft assembly 3600 to be displaced between a collapsed configuration (fig. 50) and an expanded configuration (fig. 51), as discussed in more detail below.

Referring to fig. 48 and 49, the extension assembly 3700 includes a first link that includes a proximal coupling 3710 and a distal coupling 3720 and an additional second link that includes a proximal coupling 3730 and a distal coupling 3740. The proximal link 3710 is rotatably mounted to the proximal portion 3610 of the outer shaft assembly 3600. The proximal portion 3610 includes a mounting post 3612 extending therefrom, the mounting post 3612 being positioned in a post aperture 3712 defined in the proximal link 3710. Similarly, the distal coupling 3720 is rotatably mounted to the intermediate portion 3620 of the outer shaft assembly 3600. The intermediate portion 3620 includes a mounting aperture 3622 defined therein, the mounting aperture 3622 configured to receive a post 3722 extending from the distal link 3720. Further, the proximal link 3710 is rotatably coupled to the distal link 3720. More specifically, the proximal link 3710 includes a connector post 3724 extending therefrom, the connector post 3724 being rotatably positioned in a connector aperture 3724 defined in the distal link 3720.

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

Referring now to fig. 50, the extension assembly 3700 of the outer shaft assembly 3600 is positioned distally relative to the rack 1520 of the firing system 1500 prior to the rack 1520 being advanced distally by the firing link 1510 to perform a closure stroke and/or a firing stroke. When the rack 1520 is advanced distally, see fig. 51, the rack 1520 engages the extension assembly 3700 and displaces the outer shaft assembly 3600 from its collapsed configuration (fig. 50) to its expanded configuration (fig. 51). More specifically, rack 1520

abuts coupling

3710 and 3720 of extension assembly 3700 and rotates them laterally or outwardly, thus, it pushes

coupling

3730 and 3740 distally or longitudinally. Referring primarily to fig. 49,

coupling

3710 and 3720 can include a camming surface 3715 defined therein, camming surface 3715 being engaged and driven by rack 1520. For the reasons described above, intermediate portion 3620 and distal portion 3630 of outer shaft assembly 3600 are urged distally relative to proximal portion 3610 when outer shaft assembly 3600 is switched from its collapsed configuration (fig. 50) to its expanded configuration (fig. 51).

In addition to the above, referring primarily to fig. 51, when distal portion 3630 is advanced distally and thus rotates anvil jaw 1330 to its closed position, distal portion 3630 of outer shaft assembly 3600 engages anvil jaw 1330. In other words, distal movement of the rack 1520 of the firing system 1500 produces a closure stroke that closes the end effector 1300. The firing system 1500 may then be used to drive the firing link 1510, rack 1520, intermediate firing link 1530, and firing bar 1550 through a firing stroke-which is discussed in more detail above. Thus, the firing system 1500 delivers separate and distinct closure and firing strokes to the end effector 1300 via the outer shaft assembly 1600 and the firing bar 1550, respectively. Notably, when the articulation lock actuator 1410 is advanced distally to lock the end effector 1300 in place, the firing system 1500 is configured to produce a closure stroke after the shaft assembly 3000 has been switched from its articulation mode of operation to its firing mode of operation-which is again discussed in greater detail above.

As described above, the rack 1520 of the firing system 1500 engages the extension assembly 3700 during the closing stroke to place the outer shaft assembly 3600 in its expanded configuration. The rack 1520 remains engaged with the extension assembly 3700 throughout the closure and firing strokes, and thus the outer shaft assembly 3600 is maintained in its expanded configuration throughout the closure and firing strokes. After the closure stroke and/or firing stroke has been completed, or at least sufficiently completed, the firing system 1500 may operate to retract the firing link 1510 and the rack 1520 proximally. When the rack 1520 is retracted proximally, the rack 1520 is disengaged from the extension assembly 3700 and, as a result, the outer shaft assembly 3600 will no longer be retained in its extended configuration by the rack 1520.

Referring again to fig. 49, the outer shaft assembly 3600 further includes a spring 3750, the spring 3750 configured to bias or pull the intermediate portion 3620 toward the proximal portion 3610 and return the outer shaft assembly 3600 to its retracted configuration. The distal flange 3611 of the proximal portion 3610 includes an aperture 3619 defined therein, the aperture 3619 being configured to mount a spring 3750 to the proximal portion 3610, and similarly, the proximal flange 3621 of the intermediate portion 3620 includes an aperture 3629 defined therein, the aperture 3629 being configured to mount a spring 3750 to the intermediate portion 3620. When the intermediate portion 3620 of the outer shaft assembly 3600 is displaced distally by the rack 1520, the rack 1520 must apply a distal extension force to the extension assembly 3700, which overcomes the proximal biasing force of the spring 3750.

An alternative shaft assembly 4000 is shown in fig. 52-54. The shaft assembly 4000 is similar in many respects to the shaft assembly 3000-most of which are not discussed herein for the sake of brevity. The shaft assembly 4000 includes an outer shaft assembly including a proximal portion 4610 and an intermediate portion 4620 connected by a tension spring 4750 extending around an extension assembly 3700. Similar to the above, the tension spring 4750 applies a proximal biasing force to the intermediate portion 4620 as the intermediate portion 4620 is distally displaced away from the proximal portion 4610 by the rack 1520. Also similar to the above, the tension spring 4750 retracts the intermediate section 4620 toward the proximal section 4610 after the rack 1520 has been disengaged from the extension assembly 3700.

As described above, referring again to fig. 34-36, the shaft assembly 1000 includes the retraction system 1700 that is configured to manually retract the firing system 1500. Turning now to fig. 55-66, the shaft assembly 5000 also includes a manually actuated retraction system, which will be discussed in more detail further below. The shaft assembly 5000 is similar to the shaft assembly 1000 in many respects-most of which are not discussed herein for the sake of brevity.

Referring to fig. 55, the shaft assembly 5000 includes an attachment portion 5100, the attachment portion 5100 including an outer housing 5120. Referring mainly to fig. 57, the outer housing 5120 includes a first housing portion and a second housing portion 5121 that are attached to each other to constitute a housing frame. For example, housing portions 5121 may be coupled together by one or more snap fit features, one or more press fit features, and/or one or more fasteners. The outer housing 5120 also includes one or more features configured to releasably connect the attachment portion 5100 to a frame of a surgical system, such as, for example, a handle of a surgical instrument and, alternatively, an arm of a surgical robot. For example, housing portion 5121 further comprises one or more bearing surfaces configured to slidably support a translatable component of drive assembly 5500, and additionally comprises one or more bearing apertures configured to rotatably support a rotatable component of drive assembly 5500.

Referring primarily to fig. 57-59, the drive assembly 5500 comprises a translatable firing link 5510 that is configured to be operably coupled with a drive system of a surgical system. The drive assembly 5500 further includes an input rack 5520 that is fixedly mounted to the firing link 5510 such that the input rack 5520 is translatable with the firing link 5510. Drive assembly 5500 is configured to transfer translation of input rack 5520 to a first rack 5560 of a first drive system and, alternatively, a second rack 5580 of a second drive system. To accomplish this, the drive assembly 5500 includes a shiftable shaft 5540 that is shiftable between a first position (fig. 64) in which the input rack 5520 is operatively coupled to the first rack 5560 during a first mode of operation and a second position (fig. 60-62) in which the input rack 5520 is operatively coupled to the second rack 5580 during a second mode of operation. The shaft 5540 includes a first end 5542 extending from the first housing portion 5121 and a second end 5542 extending from the second housing portion 5121. The first and second ends 5542 of the shaft 5540 each include a pushable surface that is displaceable to slide or switch the shaft 5540 between its first position (fig. 64) and its second position (fig. 60-62).

Referring again to fig. 57-59, the drive assembly 5500 further includes a gear 5530 slidably mounted to the shaft 5540, a first output gear 5550 operably engaged with the shaft 5540, and a second output gear 5570 operably engaged with the shaft 5540. Referring to fig. 62, the gear 5530 includes an array of teeth 5536 extending around its periphery, and an additional splined bore 5534 extending therethrough. The teeth 5536 operably intermesh with a longitudinal array of teeth 5526 defined on the input rack 5520. When the input rack 5520 is distally displaced, the input rack 5520 rotates the gear 5530 in a first direction, and when the input rack 5520 is proximally displaced, the input rack 5520 rotates the gear 5530 in a second or opposite direction. Splined bore 5534 of gear 5530 operably intermeshes with a splined portion 5544 defined on shaft 5540. Thus, when gear 5530 rotates in a first direction, gear 5530 rotates shaft 5540 in the first direction. Likewise, when gear 5530 rotates in a second direction, gear 5530 rotates shaft 5540 in the second direction.

In addition to the above, the gear 5530 is constrained within the housing 5120 such that the gear 5530 does not move laterally, or at least substantially move, relative to the first output gear 5550 and the second output gear 5570. However, as the shaft 5540 moves between its first position (fig. 64) (to place the shaft assembly 5000 in its first operating mode) and its second position (fig. 62) (to place the shaft assembly 5000 in its second operating mode), the shaft 5540 may move laterally relative to the gear 5530, the first output gear 5550 and the second output gear 5570. Notably, the splined portion 5544 of the shaft 5540 has a length sufficient to operably couple the gear 5530 to the shaft 5540 regardless of whether the shaft 5540 is in its first position (fig. 64) or its second position (fig. 62). For the reasons described above, the gear 5530 remains operably engaged with the input rack 5520 and the shaft 5540 regardless of the position of the shaft 5540 and regardless of the mode of operation in which the shaft assembly 5000 is placed.

When the shaft 5540 is in its first position, see fig. 64, the splined portion 5544 of the shaft 5540 is operably engaged with the first output gear 5550. More specifically, when the shaft 5540 is in its first position, the splined portion 5544 of the shaft 5540 is positioned in a splined bore 5554 defined in the first output gear 5550 such that rotation of the shaft 5540 is transmitted to the first output gear 5550. Accordingly, when the shaft 5540 rotates in the first direction, the shaft 5540 rotates the first output gear 5550 in the first direction, and accordingly, when the shaft 5540 rotates in the second direction, the shaft 5540 rotates the first output gear 5550 in the second direction. The first output gear 5550 includes an array of teeth 5556 extending about a periphery thereof that operably intermesh with a longitudinal array of teeth 5566 defined on the first rack 5560. Thus, when the input rack 5520 is displaced distally, the first rack 5560 is displaced distally, and accordingly, when the input rack 5520 is displaced proximally, the first rack 5560 is displaced proximally. Similar to the gear 5530, the first output gear 5550 is constrained within the housing 5520 such that the first output gear 5550 does not move laterally, or at least substantially, with respect to the first rack 5560. Thus, the first output gear 5550 remains operably engaged with the first rack 5560 regardless of the mode of operation of the shaft assembly 5000.

When the shaft 5540 is in its second position, see fig. 62, the splined portion 5544 of the shaft 5540 is operably engaged with the second output gear 5570. More specifically, when the shaft 5540 is in its second position, the splined portion 5544 of the shaft 5540 is positioned in a splined bore 5574 defined in the second output gear 5570 such that rotation of the shaft 5540 is transmitted to the second output gear 5570. Accordingly, when the shaft 5540 rotates in the first direction, the shaft 5540 rotates the second output gear 5570 in the first direction, and accordingly, when the shaft 5540 rotates in the second direction, the shaft 5540 rotates the second output gear 5570 in the second direction. The second output gear 5570 includes an array of teeth 5576 extending around its periphery that operably intermesh with a longitudinal array of teeth 5586 defined on the second rack 5580. Thus, when the input rack 5520 is displaced distally, the second rack 5580 is displaced distally, and accordingly, when the input rack 5520 is displaced proximally, the second rack 5580 is displaced proximally. Similar to the gear 5530 and the first output gear 5550, the second output gear 5570 is constrained within the housing 5520 such that the second output gear 5570 does not move laterally, or at least substantially move, relative to the second gear rack 5580. Thus, the second output gear 5570 remains operably engaged with the second rack 5580 regardless of the mode of operation of the shaft assembly 5000.

Further, in addition to the above, the splined portion 5544 of the shaft 5540 has a length that prevents the shaft 5540 from driving the first drive system and the second drive system simultaneously. More specifically, when the splined portion 5544 is operably engaged with the first output gear 5550, the splined portion 5544 is not operably engaged with the second output gear 5570. Accordingly, when the splined portion 5544 is operably engaged with the second output gear 5570, the splined portion 5544 is not operably engaged with the first output gear 5550. Thus, the firing link 1510 is configured to engage the first rack 5560 and the second rack 5580, but not both. Alternative embodiments are contemplated wherein the splined portion 5544 is selectively positionable in an intermediate position in which the splined portion 5544 is operably engaged with both the first output gear 5550 and the second output gear 5570. In the example, the firing link 1510 can simultaneously drive the first rack 5560 and the second rack 5580.

The drive system 5500 may be used to selectively drive a first drive system that includes a first rack 5560 or a second drive system that includes a second rack 5580. The first and second drive systems may be configured to perform any suitable function of the shaft assembly 5000. For example, a first drive system can be used to generate a closure stroke that closes the end effector of the shaft assembly 5000, and a second drive system can be used to generate a firing stroke that ejects staples from a staple cartridge positioned, for example, in the end effector. In the example, the shaft assembly 5000 is configured to perform separate and distinct closing and firing strokes. Alternatively, a first drive system can be used to articulate the end effector of the shaft assembly 5000, and a second drive system can be used to produce one or more strokes that close the end effector and eject the staples, for example, from the staple cartridge. In either case, the drive system 5500 is configured to selectively transfer linear input motion applied to the firing link 5510 to two separate drive systems.

Referring primarily to FIG. 60, the drive system 5500 also includes an output shaft assembly 5590. The output shaft assembly 5590 includes a splined portion 5594, a gear 5596 slidably mounted to the splined portion 5594, and a bevel gear 5598 fixedly mounted thereto. The gear 5596 is slidable between a drive position (fig. 60, 61, and 63) and a retracted position (fig. 65). When the gear 5596 is in its drive position, see fig. 60, 61 and 63, the gear 5596 is operatively intermeshed with a longitudinal array of teeth 5586 defined on the second rack 5580. In the example, as the second rack 5580 is driven proximally and distally by the firing link 1510, the second rack 5580 can rotate the shaft assembly 5590 through the gear 5596, as described above. When the gear 5596 is in its retracted position, see fig. 65, the gear 5596 is operably decoupled from the second rack 5580. Rather, in the example, the gear 5596 is operably coupled with the retraction system 5700, as described in more detail below.

Referring to fig. 56, the retraction system 5700 is stored or stowed in the housing 5120 of the attachment portion 5100. The housing 5120 includes a cover or hatch 5125 rotatably mounted to one of the housing portions 5121, the housing portion 5121 being openable for access to the retraction system 5700. Referring to fig. 57, the cover 5125 includes pin holes 5128 defined therein, the pin holes 5128 being aligned with the pin holes 5123 defined in the housing portion 5121. Each set of

pin holes

5123,5128 is configured to receive a pin 5127 therein, and pin 5127 can rotatably couple cover 5125 to housing portion 5121. Other means for connecting the cover 5125 to the housing portion 5121 may be used. The housing 5120 further includes an opening 5122 defined therein through which the retraction system 5700 is accessible when the cover 5125 is rotated from the closed position (fig. 55) to the open position (fig. 56). Notably, the cover 5125 includes an arm 5126 extending therefrom that is configured to engage the gear 5596 of the shaft assembly 5590 when the cover 5125 is rotated from its closed position (fig. 55) to its open position (fig. 56), as described in more detail below.

In addition to the above, the cover 5125 is configured to push the gear 5596 from its drive position (fig. 63) into its retracted position (fig. 65) when the cover 5125 is opened. Referring to fig. 63, when the gear 5596 is in its drive position, the gear 5596 is operably engaged with the rack 5580 and operably disengaged from the retraction system 5700. Referring to fig. 65, when the gear 5596 is in its retracted position, the gear 5596 is operably disengaged from the second rack 5580 and operably engaged with the retraction system 5700. Thus, when the cover 5125 is opened to access the retraction system 5700, the cover 5125 automatically displaces the shaft assembly 5000 from its second mode of operation to a retraction mode of operation (fig. 65 and 66). Thus, before the clinician can even grasp the crank 5702 of the retraction system 5700, the retraction system 5700 is operably coupled with the shaft assembly 5590, and the second rack 5580 is operably decoupled from the shaft assembly 5590. Further, as long as the cover 5125 is in its open position, the cover 5125 retains the gear 5596 in its retracted 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 which mode of operation the shaft assembly 5000 is in. In a second or retraction mode of operation, referring primarily to fig. 60, bevel gear 5598 of shaft assembly 5590 is operably engaged with output system 5600. The output system 5600 includes a bevel gear 5608 operatively intermeshed with bevel gear 5598. The output system 5600 also includes a rotatable output gear 5606. The bevel gear 5608 is fixedly mounted to the output shaft 5606 such that when the shaft assembly 5590 rotates, the output shaft 5606 rotates. The output system 5600 further includes a rotatable firing shaft 5602 and a gear reduction box 5604, the gear reduction box 5604 operably couples the rotatable firing shaft 5602 and a rotatable output shaft 5606. In addition to the above, when the shaft assembly 5000 is in its second operating mode and the gear 5596 is operably coupled with the second rack 5580, the firing shaft 5602 may be rotated in the first direction or an opposite direction by the second rack 5580, depending upon the direction in which the second rack 5580 is displaced. The retraction system 5700 is only capable of rotating the firing shaft 5602 in its reverse direction when the shaft assembly 5000 is in its retraction mode of operation, as described in more detail below.

Referring to fig. 58, 59, and 66, the crank 5702 of the retraction system 5700 can rotate relative to the shaft 5710, the shaft 5710 being rotatably supported by the housing 5120. It is noted that when the crank 5702 rotates, the crank 5702 does not directly drive the shaft 5710. Instead, the crank 5702 includes a pawl 5706 rotatably mounted thereto, the pawl 5706 driving a ratchet gear 5716 fixedly mounted to the shaft 5710. Referring primarily to fig. 59, a pawl 5706 is rotatably coupled to the crank 5702 about a pin 5704 mounted to the crank 5702. In use, the pawl 5706 is configured to drive the ratchet gear 5716 and rotate the firing shaft 5602 in its opposite direction when the crank 5702 is rotated in a first direction. On the other hand, the pawl 5706 is configured to slide relative to the ratchet gear 5716 when the crank 5702 rotates in a second or opposite direction. The retraction system 5700 also includes a gear 5712 fixedly mounted to the shaft 5710, the gear 5712 rotating with the shaft 5710 as the shaft 5710 is rotated by the pawl 5706. Referring primarily to fig. 66, the gear 5712 is operably intermeshed with a gear 5722 rotatably mounted to the shaft 5724 such that rotation of the gear 5712 is transferred to the gear 5722. When gear 5596 is in its retracted position, gear 5596 is operatively intermeshed with gear 5722, in addition to those described above. Thus, rotation of the crank 5702 in its first direction (which is shown in FIG. 66) is transferred to the shaft assembly 5690 to rotate the firing shaft 5602 in its opposite direction. In various instances, for example, rotation of the firing shaft 5602 in its opposite direction retracts the firing member proximally away from the end effector of the shaft assembly 5000.

Opening of the cover 5125 permanently decouples the gear 5596 from the second rack 5580 and, correspondingly, the firing shaft 5602 from the input shaft 5510. More specifically, after gear 5596 is moved to its retracted position (fig. 65), gear 5596 is not resettable or at least not easily resettable to its drive position (fig. 63). Thus, the shaft assembly 5000 cannot return to its second mode of operation after it has been placed in its retracted mode of operation. For example, in the event the cover 5125 is opened and then reclosed, the arm 5126 of the cover 5125 will disengage from the gear 5596, but the gear 5596 will not move back into engagement with the second rack 5580. However, in the depicted example, the retraction system 5700 can still be used to rotate the firing rod 5602 in its opposite direction. Further, in the example, the drive system 5500 may still be used to engage the first rack 5560 with the firing rod 5510 and operate the first drive system. Such an arrangement would prevent the clinician from reusing the shaft assembly 5000, which may be flawed-as the act of opening the cover 5125 may indicate that the shaft assembly 5000 may be problematic.

Various alternative embodiments are contemplated in which the shaft assembly 5000 may be reset to its second mode of operation after being placed in its retracted mode of operation. For example, the axle assembly 5000 may include a spring positioned intermediate the gear 5596 and the bevel gear 5598 that is compressed by the gear 5596 as the cover 5125 is opened and the gear 5596 slides along the splined portion 5594 of the axle assembly 5590 to its retracted position. In the example, when the cover 5125 is closed, the spring may bias the gear 5596 back to its drive position and operably reengage the gear 5596 with the second rack 5580. Such an arrangement would allow the shaft assembly 5000 to be repaired during use and then used to complete the surgical technique.

Fig. 72 illustrates an exemplary surgical instrument 100 that includes a handle 110 and an interchangeable shaft assembly 200 operably coupled thereto. The handle 110 includes a housing 140, the housing 140 configured to be grasped, manipulated, and/or actuated by a clinician. The shaft assembly 200 includes a shaft 210 and an end effector 300. The shaft 210 includes a shaft frame, and a hollow outer sleeve or closed tube 250 through which the shaft frame extends. The shaft assembly 200 further includes a nozzle assembly 290, the nozzle assembly 290 being configured to engage the outer sleeve 250 and enable a clinician to selectively rotate the shaft 210 about the longitudinal axis. The shaft assembly 200 also includes a latch 230 as part of a locking system that releasably locks the shaft assembly 200 to the handle 110. In various circumstances, the latch 230 can close a circuit in the handle 110, such as when the latch 230 is engaged with the handle 110. The entire disclosure of U.S. patent application No. 13/803,086 entitled "article able furniture incorporation AN article location LOCK", filed 3, 14.2013, is incorporated herein by reference. All of the embodiments disclosed herein can be used with the handle 110.

Fig. 73 illustrates an exemplary surgical robot 500 configured to actuate a plurality of surgical tools (e.g., generally designated 600). The surgical robot 500 may be used in conjunction with a master controller, not shown, that is configured to allow a surgeon to control and view the surgical procedure performed by the surgical robot 500. In various forms, the surgical robot 500 includes a base 510, and in the illustrated embodiment, three surgical tools 600 are supported, for example, from the base 510. In various forms, the surgical tools 600 are each supported by a series of articulatable links (commonly referred to as arms 520) and are operably coupled with one or more drive systems 530. These structures are shown with protective covers that obscure most of their movable parts. These covers may be optional, and may in some embodiments be limited in size or eliminated altogether to minimize the inertia encountered by the servomechanism used to manipulate arm 520. In various forms, surgical robot 500 has wheels that allow surgical robot 500 to be positioned near an operating table by a single attendant. Fig. 73 further illustrates a work area (work environment) 700 of the surgical robot 500. The working area 700 refers to the range of motion of the surgical tool 600 of the surgical robot 500. The shape and size of the working area 700 shown in fig. 73 is merely illustrative. Thus, the working area is not limited to the particular size and shape of the sample working area shown in fig. 73. The entire disclosure of U.S. patent 9,060,770 entitled "ROBOTIC-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER" published on 23.6.2015 is incorporated herein by reference. All of the embodiments disclosed herein can be used with the surgical robot 500.

Examples

Example 1-a method comprising the steps of: the method includes obtaining a shaft assembly including an end effector, attaching the shaft assembly to a handle of a surgical instrument, and removing the shaft assembly from the handle. The method further includes the steps of attaching the shaft assembly to an arm of a surgical robot, and removing the shaft assembly from the arm.

Example 2-the method of example 1, wherein the step of removing the shaft assembly from the surgical instrument handle occurs before the step of attaching the shaft assembly to the surgical robotic arm, and wherein the method further comprises the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical instrument handle.

Example 3-the method of example 1, wherein the step of removing the shaft assembly from the surgical robotic arm occurs prior to the step of attaching the shaft assembly to the surgical instrument handle, and wherein the method further comprises the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical robotic arm.

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

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

Example 6-the method of examples 1, 2,3, 4, or 5, wherein the shaft assembly comprises a shaft microprocessor and a shaft electrical connector, wherein the handle comprises a handle microprocessor and a handle electrical connector, and wherein the surgical robot comprises a robot microprocessor and a robot connector.

Example 7-the method of example 6, wherein the step of attaching the shaft assembly to the handle of the surgical instrument comprises electrically coupling the shaft electrical connector with the handle electrical connector.

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

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 with 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 the shaft microprocessor in signal communication with the robot microprocessor.

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

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

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

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

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

Example 16-a method comprising the steps of: the method includes obtaining a shaft assembly, attaching the shaft assembly to a handle of a surgical instrument, and in the alternative, attaching the shaft assembly to an arm of a surgical robot.

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

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

Example 19-a method comprising the steps of: a shaft assembly is obtained, and the shaft assembly is selectively attached to a handle of a surgical instrument or an arm of a surgical robot.

Example 20-a shaft assembly for use with a motorized surgical system, wherein the shaft assembly comprises a frame selectively mountable to the motorized surgical system, a shaft extending from the frame, and an end effector coupled to the shaft.

The shaft assembly further comprises a firing member operably engageable with the motorized surgical system, wherein the firing member is movable toward the end effector during a firing stroke. The shaft assembly further comprises a retraction crank rotatably mounted to the frame, wherein the retraction crank is selectively engageable with the firing member, and wherein the retraction crank is selectively operable to retract the firing member away from the end effector without the shaft assembly being mounted to the motorized surgical system.

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

Example 22-the shaft assembly of examples 20 or 21, wherein the end effector comprises a first jaw and a second jaw, wherein the first jaw is movable between an open position and a closed position, and wherein the shaft assembly further comprises a closure member configured to move the first jaw toward the closed position.

Example 23-the shaft assembly of examples 20, 21, or 22, wherein the shaft comprises a shaft frame slidable relative to the frame, wherein the second jaw is mounted to the shaft frame, and wherein the second jaw is movable by the shaft frame to move the first jaw toward the open position.

Example 24-the shaft assembly of examples 20, 21, 22, or 23, further comprising a retraction pawl pivotably mounted to the retraction crank, and wherein the retraction pawl is configured to engage the firing member when the retraction crank is rotated relative to the frame.

Example 25-the shaft assembly of examples 20, 21, 22, 23, or 24, wherein the motorized surgical system comprises a first motorized surgical system, wherein the frame is configured to be mounted to a second motorized surgical system, and wherein the firing member is configured to be operably coupled to the second motorized surgical system.

Example 26-the shaft assembly of example 25, wherein the first motorized surgical system comprises a handle of a surgical instrument, and wherein the second motorized surgical system comprises a surgical robot.

Example 27-the shaft assembly of examples 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 motorized surgical system comprising a first electric motor, a second motorized surgical system comprising a second electric motor, and a shaft assembly. The shaft assembly includes a frame selectively mountable to the first and second motorized surgical systems. The shaft assembly further includes a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first and second electric motors, wherein the firing member is movable toward the end effector during a firing stroke. The shaft assembly further comprises a retraction crank rotatably mounted to the frame, wherein the retraction crank is selectively engageable with the firing member, and wherein the retraction crank is selectively operable to retract the firing member away from the end effector with the shaft assembly mounted to the first motorized surgical system, mounted to the second motorized surgical system, and not mounted to the first motorized surgical system or the second motorized surgical system.

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

Example 31-the surgical system of examples 29 or 30, wherein the end effector comprises a first jaw and a second jaw, wherein the first jaw is movable between an open position and a closed position, and wherein the shaft assembly further comprises a closure member configured to move the first jaw toward the closed position.

Example 32-the surgical system of examples 29, 30, or 31, wherein the shaft comprises a shaft frame slidable relative to the frame, wherein the second jaw is mounted to the shaft frame, and wherein the second jaw is movable by the shaft frame to move the first jaw toward the open position.

Example 33-the surgical system of examples 29, 30, 31, or 32, further comprising a retraction pawl pivotably mounted to the retraction crank, and wherein the retraction pawl is configured to engage the firing member when the retraction crank is rotated relative to the frame.

Example 34-the surgical system of examples 29, 30, 31, 32, or 33, wherein the first motorized surgical system comprises a handle of a surgical instrument, and wherein the second motorized surgical system comprises a surgical robot.

Example 35-the shaft assembly of examples 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 shaft assembly for use with a first surgical instrument system and a second surgical instrument system, wherein the shaft assembly comprises a frame selectively mountable to the first surgical instrument system and the second surgical instrument system. The shaft assembly further includes a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first and second surgical instrument systems, wherein the firing member is movable toward the end effector during a firing stroke. The shaft assembly also includes a manually operable retraction device for selectively engaging the firing member and retracting 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-a shaft assembly for use with a surgical system, wherein the shaft assembly comprises a frame, wherein the frame comprises a proximal portion configured to mount to the surgical system, and a tube extending distally from the proximal portion. The shaft assembly further comprises a spine, wherein the spine extends through the tube, and wherein the spine is slidably mounted to the proximal portion. The shaft assembly further comprises an end effector, wherein the end effector comprises a first jaw extending distally from the spine, and a second jaw rotatably mounted to the first jaw, wherein the second jaw is rotatable between an open position and a closed position. The shaft assembly further comprises a firing member operably engageable with a drive system of the surgical system, wherein the firing member is distally movable relative to the spine during a firing stroke. The shaft assembly further includes a firing member retraction system configured to draw the firing member proximally, and an end effector opening system configured to slide the spine distally and allow the second jaw to rotate to the open position.

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 examples 40 or 41, wherein the end effector opening system comprises a manually actuatable lever.

Example 43-the shaft assembly of examples 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 disposable in the first jaw.

Example 45-the shaft assembly of example 43, wherein the staple cartridge is replaceably disposable in the second jaw.

Example 46-the shaft assembly of examples 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 the firing member are operable independently of one another.

Example 48-the shaft assembly of examples 40, 41, 42, 43, 44, 45, 46, or 47, wherein the firing member comprises a first cam configured to engage the first jaw during the firing stroke and a second cam member configured to engage the second jaw during the firing stroke.

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

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

Example 51-the shaft assembly of examples 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, or 50, further comprising a closure member configured to move the second jaw from the open position toward the closed position during a closure stroke.

Example 52-the shaft assembly of example 51, wherein the firing member is configured to engage the closure member and move the closure member through a closure stroke.

Example 53-the shaft assembly of examples 51 or 52, wherein the closure member is configurable into a collapsed configuration and an expanded configuration, and wherein the closure member is configured to perform the closure stroke when the closure member is transitioned between the collapsed configuration and the expanded configuration.

Example 54-the shaft assembly of examples 51, 52, or 53, wherein the closure member comprises a latch configured to releasably retain the closure member in the collapsed configuration.

Example 55-the shaft assembly of examples 51, 52, 53, or 54, wherein the firing member is configured to engage the closure member and release the latch prior to performing a firing stroke.

Example 56-the shaft assembly of examples 51, 52, 53, 54, or 55, wherein the closure member comprises a proximal portion and a distal portion, wherein the proximal portion of the closure member is mounted to the proximal portion of the frame, and wherein the distal portion is movable away from the proximal portion of the closure member during a closure stroke.

Example 57-the shaft assembly of examples 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.

Example 58-the shaft assembly of example 53, further comprising a spring configured to bias the closure member to the retracted configuration.

Example 59-a shaft assembly for use with a surgical system, wherein the shaft assembly comprises a frame mountable to the surgical system, and an end effector, wherein the end effector comprises a first jaw; and a second jaw rotatably mounted to the first jaw, wherein the second jaw is rotatable between an open position and a closed position. The shaft assembly further includes a closure member configurable into a contracted configuration and an expanded configuration, wherein the closure member is configured to move the second jaw toward the closed position when the closure member transitions from the contracted configuration to the expanded configuration during a closure stroke.

Example 60-the shaft assembly of example 59, further comprising a firing member operably engageable with a drive system of the surgical system, wherein the firing member is 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 collapsed configuration to the expanded configuration.

Example 62-the shaft assembly of examples 60 or 61, wherein the closure member comprises a latch configured to releasably retain the closure member in the collapsed configuration.

Example 63-the shaft assembly of examples 60, 61, or 62, wherein the firing member is configured to release the latch prior to performing the firing stroke.

Example 64-the shaft assembly of examples 59, 60, 61, 62, or 63, wherein the closure member comprises a proximal portion and a distal portion, wherein the proximal portion of the closure member is mounted to the frame, and wherein the distal portion is movable away from the proximal portion during a closure stroke.

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.

Example 66-the shaft assembly of examples 59, 60, 61, 62, 63, 64, or 65, further comprising a spring configured to bias the closure member to the retracted configuration.

Example 67-the shaft assembly of examples 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 examples 67 or 68, wherein the staple cartridge is disposable in the first jaw.

Example 70-the shaft assembly of examples 67 or 68, wherein the staple cartridge is disposable 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, a closure member configured to move the first jaw relative to the second jaw between an open position and a closed position, and a firing member movable through a firing stroke. The attachment portion includes a shaft frame configured to engage a frame of the surgical system, a rotatable input configured to receive rotational motion from the surgical system, and a closure system operably coupled with a closure member. The attachment portion further includes a firing system operably coupled with the firing member, and a clutch, wherein the clutch is configurable into a closed mode and a firing mode. The clutch operably couples the rotatable input with the closure system when the clutch is in the closed mode, and operably decouples the firing system from the rotatable input when the clutch is placed in the closed mode. The clutch operably couples the rotatable input with the firing system when the clutch is in a firing mode, and wherein the clutch operably decouples 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 that is positionable in a closed position to place the clutch in the closed mode and a firing position to place the clutch in a firing mode.

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

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 assembly of example 74, wherein the retraction system is configurable into a deactivated configuration and an activated configuration, and wherein the retraction system is configured to decouple the rotational input from the firing system when the retraction system is placed into the activated configuration.

Example 76-the shaft assembly of examples 74 or 75, wherein the closure system is operably engageable with the rotational input when the retraction system is in the activated configuration.

Example 77-the shaft assembly of examples 74, 75, or 76, wherein the firing system is permanently decoupled 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 coupled with the rotational input after the retraction system has been returned to the deactivated configuration.

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

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 is moved from the closed position to the open position.

Example 81-the shaft assembly of examples 79 or 80, wherein the cover does not operably disengage the closure system from the rotatable input when the cover is moved from the closed position to the open position.

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

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

Example 84-the shaft assembly of examples 80, 81, 82, or 83, wherein the firing system comprises a first gear and a second gear, wherein the first gear and the second gear operably intermesh when the cover is in the closed position, and wherein the first gear and the second gear are disengaged when the cover is in the open position.

Example 85-the shaft assembly of example 84, further comprising a spring configured to bias the first gear into operative intermeshing with 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-the shaft assembly of examples 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, or 87, wherein the firing member is rotatable and the closure member is translatable.

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 further includes an attachment portion, wherein the attachment portion includes 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. The attachment portion further includes a clutch configurable into a first mode of operation and a second mode of operation. The clutch operably couples the rotatable input shaft with the first drive system when the clutch is in the first mode of operation, and operably decouples the second drive system from the rotatable input shaft when the clutch is in the first mode of operation. The clutch operably couples the rotatable input shaft with the second drive system when the clutch is in the second operating mode, and wherein the clutch operably decouples the first drive system from the rotatable input shaft when the clutch is placed in the second operating mode.

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 further includes a rotatable input shaft configured to receive rotational motion from the surgical system, and a transmission configurable into a first mode of operation and a second mode of operation. The transmission operatively couples the rotatable input shaft with the first drive system when the transmission is in the first mode of operation, and operatively decouples the second drive system from the rotatable input shaft when the transmission is in the first mode of operation. The transmission operably couples the rotatable input shaft with the second drive system when the transmission is in the second mode of operation, and operably decouples the first drive system from the rotatable input shaft when the transmission is placed in the second mode of operation, and a manually operable retraction system is configured to operably deactivate the first mode of operation and retract the second drive system when actuated.

Example 91-a shaft assembly for use with a surgical system, wherein the shaft assembly comprises a frame attachable to the surgical system, and an end effector comprising a first jaw, a second jaw, wherein the first jaw is rotatable relative to the second jaw, and a staple cartridge comprising staples removably stored therein. The shaft assembly further includes an articulation joint, wherein the end effector is rotatably connected to the frame about the articulation joint. The shaft assembly further comprises a firing member translatable between an unfired position and a fired position during a firing stroke to eject staples from the staple cartridge, wherein the firing member is rotatable between a first orientation and a second orientation. The shaft assembly further comprises an articulation drive configured to rotate the end effector about the articulation joint, wherein the firing member is operably coupled with the articulation drive when the firing member is in the first orientation, wherein the translational motion of the firing member is transferred to the articulation drive when the firing member is in the first orientation, and wherein the firing member is operably decoupled from the articulation drive when the firing member is in the second orientation.

Example 92-the shaft assembly of example 91, 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 wherein the articulation lock is configured to prevent rotation of the end effector relative to the frame when the articulation lock is in the locked configuration.

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

Example 94-the shaft assembly of examples 92 or 93, wherein the articulation lock is configured to engage the end effector and hold the end effector in place when the articulation lock is in the locked configuration.

Example 95-the shaft assembly of examples 92, 93, or 94, further comprising an articulation lock actuator configured to move the articulation lock between the unlocked configuration and the locked configuration.

Example 96-the shaft assembly of example 95, wherein the articulation lock actuator is configured to rotate the firing member to the first orientation and operably couple the firing member with the articulation driver when the articulation lock actuator moves the articulation lock to the unlocked configuration.

Example 97-the shaft assembly of examples 95 or 96, wherein the articulation lock actuator is configured to rotate the firing member to the second orientation and operably decouple the firing member from the articulation driver when the articulation lock actuator moves the articulation lock to the locked configuration.

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

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

Example 100-the shaft assembly of examples 91, 92, 93, 94, 95, 96, 97, 98, or 99, further comprising a closure member configured to engage the first jaw and move the first jaw toward the second jaw during a closure stroke.

Example 101-the shaft assembly of examples 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100, wherein the 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, wherein the first portion is movable relative to the second portion when the firing member is in the articulated mode configuration, and wherein the first portion is engaged with the second portion to drive the second portion distally when the firing member is in the firing mode configuration.

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 examples 101 or 102, wherein the lock is mounted to the second portion of the firing member.

Example 104-the shaft assembly of examples 101, 102, or 103, wherein when the clutch transitions the firing member between the articulation mode configuration and the firing mode configuration, the first portion of the firing member is movable toward the firing position to allow the lock to releasably capture the first portion into operative engagement with the second portion.

Example 105-the shaft assembly of examples 101, 102, 103, or 104, wherein the frame further comprises a key, wherein the lock is configured to engage the key when the firing member is retracted toward the unfired position, and wherein the key is configured to unlock the lock and allow the firing member to transition from the fired mode configuration to the articulated mode configuration.

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

Example 107-the shaft assembly of examples 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-a shaft assembly for use with a surgical system, wherein the shaft assembly comprises a frame attachable to the surgical system, and an end effector comprising a first jaw and a second jaw, wherein the first jaw is rotatable relative to the second jaw. The shaft assembly further includes an articulation joint about which the end effector is rotatably connected to the frame, and an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly further includes a firing assembly translatable between an unfired position and a fired position during a firing stroke, wherein the firing assembly includes a first portion and a second portion. The first portion is rotatable relative to the second portion between an articulation mode orientation and a firing mode orientation, wherein the first portion is operably coupled with the articulation driver when the first portion is in the articulation mode orientation. Translational movement of the firing assembly is transferred to the articulation driver when the first portion is in the articulation mode orientation, and wherein the firing assembly is operably decoupled from the articulation driver when the first portion is in the firing mode orientation.

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

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

Example 111-a shaft assembly for use with a surgical system, the shaft assembly comprising a staple cartridge, an end effector, and a firing member. The staple cartridge includes a cartridge body containing a plurality of staple cavities, staples removably stored in the staple cavities, and a sled movable between an unfired position and a fired position during a firing stroke to eject the staples from the staple cavities. The end effector comprises a cartridge channel configured to receive the staple cartridge, wherein the cartridge channel comprises a locking groove. The end effector also includes an anvil configured to deform the staples, and a locking spring. The firing member includes a firing bar including a cutting edge configured to cut tissue of a patient during a firing stroke. The firing member further comprises a lock rotatably mounted to the firing bar, wherein the lock is rotatable between an unlocked position and a locked position, wherein the sled is configured to retain the lock in the unlocked position when the staple cartridge is seated in the cartridge channel and the sled is in the unfired position, and wherein the lock is rotatable from the unlocked position to the locked position by the lock spring when the staple cartridge is not in the cartridge channel or the sled is not in the unfired position.

Example 112-the shaft assembly of example 111, further comprising staple drivers, wherein the sled is configured to engage the staple drivers to eject staples from the staple cavities during a firing stroke.

Example 113-the shaft assembly of example 112, wherein the staple drivers are integrally formed with the staples.

Example 114-the shaft assembly of examples 111, 112, or 113, wherein the firing bar further comprises a coupling member, wherein the coupling member comprises the cutting edge, and wherein the coupling member comprises a cartridge cam configured to engage the cartridge channel during a firing stroke and an anvil cam configured to engage the anvil.

Example 115-the shaft assembly 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 a position of the anvil relative to the staple cartridge.

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

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

Example 118-the shaft assembly of examples 111, 112, 113, 114, 115, 116, or 117, wherein the cartridge channel is rotatable relative to the anvil between an open position and a closed position, and wherein the shaft assembly further comprises a closure member configured to move the cartridge channel toward the closed position.

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

Example 120-the shaft assembly of examples 111, 112, 113, 114, 115, 116, 117, 118, or 119, wherein the lock is biased into the lock recess by the lock spring when the firing stroke begins and the staple cartridge is not in the cartridge channel or the sled is not in the unfired position, and wherein the firing stroke is stopped by the lock and the lock recess before the staples are ejected from the staple cavities.

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

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

Example 123-the shaft assembly of example 122, wherein the firing member is retractable after at least a portion of the firing stroke has been completed, and wherein the sled is not retractable with the firing member.

Example 124-the shaft assembly of examples 122 or 123, wherein the firing member is retractable after at least a portion of the firing stroke has been completed, and wherein the lock is configured to remain in the unlocked position when the lock is retracted past the lock spring.

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

Example 126-the shaft assembly of examples 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.

Example 127-the shaft assembly of examples 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.

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 comprises a cartridge body and staples, wherein each staple is at least partially stored in the cartridge body. The staple cartridge further comprises a sled movable between an unfired position and a fired position during a firing stroke to eject staples from the cartridge body. The end effector comprises a cartridge channel configured to receive the staple cartridge, wherein the cartridge channel comprises a lockout. The end effector further includes an anvil configured to deform the staples, and a biasing member. The firing assembly comprises a firing member and a lock rotatably mounted to the firing member, wherein the lock is rotatable between an unlocked position and a locked position, wherein the sled is configured to retain the lock in the unlocked position when the staple cartridge is seated in the cartridge channel and the sled is in the unfired position, and wherein the lock is rotatable from the unlocked position to the locked position by the biasing member when the staple cartridge is not in the cartridge channel or the sled is not in the unfired position.

Example 129-an end effector for use with a surgical system, the end effector comprising a staple cartridge, wherein the staple cartridge comprises a cartridge body and staples, wherein each staple is at least partially stored in the cartridge body. The staple cartridge further comprises a sled movable between an unfired position and a fired position during a firing stroke to eject staples from the cartridge body. The end effector further comprises a cartridge channel configured to receive the staple cartridge, wherein the cartridge channel comprises a latch, an anvil configured to deform the staples, and a biasing member. The end effector further comprises a firing assembly, wherein the firing assembly comprises a firing member and a lock rotatably mounted to the firing member, wherein the lock is rotatable between an unlocked position and a locked position, wherein the sled is configured to retain the lock in the unlocked position when the staple cartridge is seated in the cartridge channel and the sled is in the unfired position, and wherein the lock is rotatable from the unlocked position to the locked position by the biasing member when the staple cartridge is not in the cartridge channel or the sled is not in the unfired position.

Example 130-a shaft assembly comprising a shaft frame, an end effector comprising an end effector frame, and an articulation joint, wherein the articulation joint rotatably connects the end effector frame to the shaft frame. The shaft assembly further includes an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly further includes a first articulation lock that is selectively actuatable to engage the end effector frame and prevent rotation of the end effector frame relative to the shaft frame, and a second articulation lock that is selectively actuatable to engage the articulation driver and prevent rotation of the end effector frame relative to the shaft frame.

Example 131-the shaft assembly of example 130, wherein the first articulation lock and the second articulation lock are both actuated to a locked state by a lock actuator during a locking motion.

Example 132-the shaft assembly of examples 130 or 131, wherein the first articulation lock is configured to engage the end effector frame during the locking motion before the second articulation lock engages the articulation driver.

Example 133-the shaft assembly of example 130 or 131, wherein the second articulation lock is configured to disengage from the articulation driver prior to disengagement of the first articulation lock from the end effector frame during unlocking motion of the lock actuator.

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

Example 135-the shaft assembly of examples 130 or 131, wherein the second articulation lock is configured to disengage the articulation driver after the first articulation lock disengages the end effector frame during the unlocking motion of the lock actuator.

Example 136-the shaft assembly of examples 130 or 131, wherein the first articulation lock is configured to engage the end effector frame during the lock stroke while the second articulation lock engages the articulation driver.

Example 137-the shaft assembly of examples 130 or 131, 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 during the unlocking motion of the lock actuator.

Example 138-the shaft assembly of example 130, wherein the first articulation lock and the second articulation lock are configured to be separately actuated.

Example 139-the shaft assembly of examples 130, 131, 132, 133, 134, 135, 136, 137, or 138, wherein the articulation driver comprises a first articulation driver configured to rotate the end effector in a first direction, wherein the shaft assembly further comprises a second articulation driver configured to rotate the end effector in a second direction about the articulation joint, and wherein the second direction is opposite the first direction.

Example 140-the shaft assembly of example 139, wherein the articulation lock is configured to engage the second articulation driver and prevent the end effector frame from rotating relative to the shaft frame when the second articulation lock is actuated.

Example 141-the shaft assembly of example 139, wherein the second articulation lock is configured to engage the first articulation driver and the second articulation driver while actuating the second articulation lock.

Example 142-the shaft assembly of example 139, wherein the second articulation lock is configured to engage the first articulation driver and the second articulation driver at a different time than actuation of the second articulation lock.

Example 143-the shaft assembly of examples 139, 140, 141, or 142, wherein 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 wherein the first articulation lock is configured to engage the first arm with the first articulation driver and the second arm with the second articulation driver during a locking motion of the first articulation lock.

Example 144-the shaft assembly of examples 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 a shaft frame, and an end effector comprising an end effector frame. The shaft assembly further includes an articulation joint, wherein the articulation joint rotatably connects 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 further includes a locking system configured to engage the end effector frame and prevent rotation of the end effector frame relative to the shaft frame, and to engage the articulation drive and prevent rotation of the end effector frame relative to the shaft frame.

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 further includes an articulation joint, wherein the articulation joint rotatably connects 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 further includes a first locking means for selectively preventing rotation of the rotary end effector about the articulation joint, and a second locking means for selectively preventing displacement of the articulation driver.

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 actuated by an electric motor; the surgical instrument systems described herein may be actuated in any suitable manner. In various examples, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger. In certain examples, the motors disclosed herein may comprise a portion or portions of a robotic control system. Further, any of the end effectors and/or tool assemblies disclosed herein may be used with a robotic surgical instrument system. For example, U.S. patent application serial No. 13/118,241 (now U.S. patent 9,072,535), entitled "SURGICAL INSTRUMENTS WITH robotic SURGICAL INSTRUMENTS," discloses several examples of robotic SURGICAL instrument systems in more detail.

The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. For example, various embodiments are contemplated in which fasteners other than staples, such as clamps or tacks, are deployed. Moreover, various embodiments are also contemplated that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. In addition, for example, an end effector according to certain embodiments may apply vibrational energy to seal tissue.

The entire disclosures of the following patents are hereby incorporated by reference:

U.S. patent 5,403,312 entitled "ELECTROSURURGICAL HEMOSTATIC DEVICE" published on 4.4.1995;

U.S. patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" published on 21.2.2006;

U.S. Pat. No. 7,422,139 entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK" published on 9.9.2008;

U.S. patent 7,464,849 entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS" published on 16.12.2008;

U.S. patent 7,670,334 entitled "SURGICAL INSTRUMENT HAVATING AN ARTICULATING END EFFECTOR" published on 3, 2/2010;

U.S. patent 7,753,245 entitled "SURGICAL STAPLING INSTRUMENTS" published on 13.7.2010;

U.S. patent 8,393,514 entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE" published on 12.3.2013;

U.S. patent application Ser. No. 11/343,803 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now us patent 7,845,537;

U.S. patent application Ser. No. 12/031,573 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT HAVAGING RF ELECTRODES" filed on 14.2.2008;

U.S. patent application Ser. No. 12/031,873 (now U.S. patent 7,980,443), entitled "END EFFECTORS FOR ASURGICAL CUTTING AND STAPLING INSTRUMENT", filed on 15.2.2008;

U.S. patent application Ser. No. 12/235,782 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT," now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117 entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now U.S. patent 8,608,045;

U.S. patent application Ser. No. 12/647,100 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" filed 24.12.2009; now us patent 8,220,688;

U.S. patent application serial No. 12/893,461 entitled "STAPLE CARTRIDGE" filed on 9,29 of 2012, now U.S. patent No. 8,733,613;

U.S. patent application serial No. 13/036,647 entitled "SURGICAL STAPLING INSTRUMENT" filed on 28.2.2011, now U.S. patent No. 8,561,870;

U.S. patent application Ser. No. 13/118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Pat. No. 9,072,535;

U.S. patent application Ser. No. 13/524,049 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" filed 6, 15/2012; now us patent 9,101,358;

U.S. patent application serial No. 13/800,025 entitled "STAPLE CARTRIDGE TISSUE thickingsenser SYSTEM" filed on 13/3/2013, now U.S. patent 9,345,481;

U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thickingsenser SYSTEM" filed on 13/3/2013, now U.S. patent application publication 2014/0263552;

U.S. patent application publication 2007/0175955 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT WITH CLOSURE TRIGGER LOCKING MECHANISM" filed on 31.1.2006; and

U.S. patent application publication 2010/0264194 entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR" filed on 22.4.2010, now U.S. Pat. No. 8,308,040.

While various devices have been described herein in connection with certain embodiments, many modifications and variations to these embodiments may be implemented. The particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment may be combined, in whole or in part, with the features, structures, or characteristics of one or more other embodiments, without limitation. In addition, where materials for certain components are disclosed, other materials may also be used. Further, according to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component, to perform a given function or functions. The foregoing detailed description and the following claims are intended to cover all such modifications and variations.

The device disclosed herein may be designed to be disposed of after a single use, or it may be designed to be used multiple times. In either case, however, the device may be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. Specifically, the repair facility and/or surgical team may remove the device and, after cleaning and/or replacing certain components of the device, may reassemble the device for subsequent use. Those skilled in the art will appreciate that the finishing assembly may be disassembled, cleaned/replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting prosthetic devices are within the scope of the present application.

The devices disclosed herein may be processed prior to surgery. First, new or used instruments may be obtained and cleaned as needed. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays, and/or high energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in a sterile container. Sealing the container may keep the instrument sterile until the container is opened in a 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, plasma peroxide, and/or steam.

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.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. Thus, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

Claims

1. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

an articulation joint, wherein the articulation joint rotatably connects the end effector frame to the shaft frame;

a first articulation driver configured to rotate the end effector about the articulation joint in a first direction;

a second articulation driver configured to rotate the end effector about the articulation joint in a second direction;

a first articulation lock selectively actuatable to engage the end effector frame and prevent rotation of the end effector frame relative to the shaft frame; and

a second articulation lock selectively actuatable to prevent rotation of the end effector frame relative to the shaft frame, wherein the second articulation lock comprises:

a first arm configured to engage the first articulation driver, an

A second arm configured to engage the second articulation driver.

2. The shaft assembly of claim 1, wherein said first and second articulation locks are each actuated to a locked state by a lock actuator during a locking motion.

3. The shaft assembly of claim 2, wherein said first articulation lock is configured to engage said end effector frame during said locking motion prior to said first arm engaging said first articulation driver.

4. The shaft assembly of claim 3, wherein said first arm is configured to disengage said first articulation driver prior to disengagement of said first articulation lock from said end effector frame during unlocking motion of said lock actuator.

5. The shaft assembly of claim 2, wherein said first articulation lock is configured to engage said end effector frame after said first arm engages said first articulation driver during said locking motion.

6. The shaft assembly of claim 5, wherein said first arm is configured to disengage said first articulation driver after said first articulation lock disengages said end effector frame during an unlocking motion of said lock actuator.

7. The shaft assembly of claim 2, wherein said first articulation lock is configured to engage said end effector frame during said locking motion while said first arm engages said first articulation driver.

8. The shaft assembly of claim 7, wherein said first arm is configured to disengage said first articulation driver at the same time said first articulation lock disengages said end effector frame during an unlocking motion of said lock actuator.

9. The shaft assembly of claim 1, wherein said first and second articulation locks are separately actuatable.

10. The shaft assembly of claim 1, wherein said second direction is opposite said first direction.

11. The shaft assembly of claim 10, wherein said second articulation lock is configured to engage said first articulation driver and said second articulation driver and prevent said end effector frame from rotating relative to said shaft frame when said second articulation lock is actuated.

12. The shaft assembly of claim 11, wherein the first articulation lock is configured to engage the first arm with the first articulation driver and the second arm with the second articulation driver during a locking motion of the first articulation lock.

13. The shaft assembly of claim 1, wherein said end effector further comprises a staple cartridge.

14. The shaft assembly of claim 13, wherein said staple cartridge is replaceable.

15. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

a first articulation driver configured to rotate the end effector about the articulation joint;

a second articulation driver configured to rotate the end effector about the articulation joint; and

a locking system configured to:

engaging the end effector frame and preventing rotation of the end effector frame relative to the shaft frame; and

engaging the first articulation driver and the second articulation driver and preventing rotation of the end effector frame relative to the shaft frame, wherein the locking system comprises:

a first arm selectively engageable with the first articulation driver, and a second arm selectively engageable with the second articulation driver.

16. The shaft assembly of claim 15, wherein said end effector further comprises a staple cartridge.

17. A shaft assembly, comprising:

a shaft frame;

an end effector comprising an end effector frame;

a first articulation driver displaceable to rotate the end effector about the articulation joint in a first direction;

a second articulation driver displaceable to rotate the end effector about the articulation joint in a second direction;

a first locking device for selectively preventing rotation of the end effector about the articulation joint; and

a second locking device for selectively preventing displacement of the first and second articulation drivers, wherein the second locking device comprises:

a first arm configured to engage the first articulation driver, and a second arm configured to engage the second articulation driver.

18. The shaft assembly of claim 17, wherein said end effector further comprises a staple cartridge.