CN110114005B - Shaft assembly including first and second articulation latches - Google Patents

Abstract

A shaft assembly (6000) is disclosed that includes a shaft, an end effector (1300) rotatably connected to the shaft about an articulation joint, and configured to enable the end effector (1300) to surround Articulation drivers (1440, 1450) for articulation joint rotation. The end effector (1300) also includes a first articulation lock (6496) configured to engage the end effector (1300) and a second articulation lock configured to engage the articulation drivers (1440, 1450) (6494), which cooperatively prevent the end effector (1300) from rotating relative to the shaft when actuated. The actuation and/or deactivation 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 locks

Background technique

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

Description of drawings

The various features of the embodiments described herein, along with their advantages, can be understood from the following description in conjunction with the accompanying drawings:

1 is a perspective view of a shaft assembly in accordance with at least one embodiment;

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

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

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

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

Figure 6 is an exploded view of the spine assembly of Figure 3;

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

Figure 8 is an exploded view of the middle portion of the shaft assembly of Figure 1;

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

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 the staple cartridge in a non-empty state;

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

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 the closing stroke but before the firing member has been advanced through the firing stroke;

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

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;

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;

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

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

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;

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;

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;

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;

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;

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;

Figure 24 is a partially exploded view of the shaft assembly of Figure 1 showing the displaceable clutch in the firing system of the shaft assembly;

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

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

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

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

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

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

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

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

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 state;

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;

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

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;

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

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

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

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

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

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

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

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

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

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

47 is a perspective view of a shaft assembly in accordance with at least one embodiment shown with some components removed;

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

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

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

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

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

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

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

55 is a perspective view of an attachment portion of a shaft assembly according to at least one embodiment;

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

Figure 57 is an exploded view of the attachment portion of Figure 55;

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

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

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

61 is a cross-sectional view of the powertrain of FIG. 60 taken along line 61-61 in FIG. 60 and shown in the firing mode of operation of FIG. 60;

62 is a cross-sectional view of the powertrain of FIG. 60 taken along line 62-62 in FIG. 60 and shown in the firing mode of operation of FIG. 60;

63 is a cross-sectional view of the powertrain of FIG. 60 taken along line 63-63 in FIG. 60 and shown in the firing mode of operation of FIG. 60;

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

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

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

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

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

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

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

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

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

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

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications described herein illustrate various embodiments of the invention in one form, and such exemplifications should not be construed to limit the scope of the invention in any way.

Detailed ways

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/386,185 entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIESTHEREOF";

- US Patent Application Serial No. 15/386,230 entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS";

- US Patent Application Serial No. 15/386,221 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS";

- US Patent Application Serial No. 15/386,209 entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF";

- US Patent Application Serial No. 15/386,198 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS ANDREPLACEABLE TOOL ASSEMBLIES"; and

- US Patent Application Serial No. 15/386,240 entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR".

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/385,939 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN";

- US Patent Application Serial No. 15/385,941 entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FORSHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES ANDARTICULATION AND FIRING SYSTEMS";

- US Patent Application Serial No. 15/385,943 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

- US Patent Application Serial No. 15/385,950 entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTIONFEATURES";

- US Patent Application Serial No. 15/385,945 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN";

- US Patent Application Serial No. 15/385,946 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

- US Patent Application Serial No. 15/385,951 entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASINGA JAW OPENING DISTANCE";

- US Patent Application Serial No. 15/385,953 entitled "METHODS OF STAPLING TISSUE";

- US Patent Application Serial No. 15/385,954 entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FORSURGICAL END EFFECTORS";

- US Patent Application Serial No. 15/385,955 entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPARRANGEMENTS";

- US Patent Application Serial No. 15/385,948 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

- US Patent Application Serial No. 15/385,956 entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES";

- US Patent Application Serial No. 15/385,958 entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTINGFIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT"; and

- US Patent Application Serial No. 15/385,947 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN".

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/385,896 entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";

- US Patent Application Serial No. 15/385,898 entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENTTYPES OF STAPLES";

- US Patent Application Serial No. 15/385,899 entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL";

- US Patent Application Serial No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN";

- US Patent Application Serial No. 15/385,902 entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER";

- US Patent Application Serial No. 15/385,904 entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/ORSPENT CARTRIDGE LOCKOUT";

- US Patent Application Serial No. 15/385,905 entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT";

- US Patent Application Serial No. 15/385,907 entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUTAND A FIRING ASSEMBLY LOCKOUT";

- US Patent Application Serial No. 15/385,908 entitled "FIRING ASSEMBLY COMPRISING A FUSE"; and

- US Patent Application Serial No. 15/385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE".

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/385,920 entitled "STAPLE FORMING POCKET ARRANGEMENTS";

- US Patent Application Serial No. 15/385,913 entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS";

- US Patent Application Serial No. 15/385,914 entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OFSTAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";

- US Patent Application Serial No. 15/385,893 entitled "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS";

- US Patent Application Serial No. 15/385,929 entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICALINSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

- US Patent Application Serial No. 15/385,911 entitled "SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING ANDFIRING SYSTEMS";

- US Patent Application Serial No. 15/385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES";

- US Patent Application Serial No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPINGBREADTHS";

- US Patent Application Serial No. 15/385,900 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARYSIDEWALLS AND POCKET SIDEWALLS";

- US Patent Application Serial No. 15/385,931 entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FORSURGICAL STAPLERS";

- US Patent Application Serial No. 15/385,915 entitled "FIRING MEMBER PIN ANGLE";

- US Patent Application Serial No. 15/385,897 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMINGSURFACE GROOVES";

- US Patent Application Serial No. 15/385,922 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES";

- US Patent Application Serial No. 15/385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";

- US Patent Application Serial No. 15/385,912 entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT AFIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

- US Patent Application Serial No. 15/385,910 entitled "ANVIL HAVING A KNIFE SLOT WIDTH";

- US Patent Application Serial No. 15/385,903 entitled "CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS"; and

- US Patent Application Serial No. 15/385,906 entitled "FIRING MEMBER PIN CONFIGURATIONS".

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES";

- US Patent Application Serial No. 15/386,192 entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPSETTING FEATURES";

- US Patent Application Serial No. 15/386,206 entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES";

- US Patent Application Serial No. 15/386,226 entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIESOF SURGICAL STAPLING INSTRUMENTS";

- US Patent Application Serial No. 15/386,222 entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITHPOSITIVE OPENING FEATURES"; and

- US Patent Application Serial No. 15/386,236 entitled "CONNECTION PORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICALSTAPLING INSTRUMENTS";

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/385,887 entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICALINSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT";

- US Patent Application Serial No. 15/385,889 entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM";

- US Patent Application Serial No. 15/385,890 entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE ANDRETRACTABLE SYSTEMS;

- US Patent Application Serial No. 15/385,891 entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THEOUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS";

- US Patent Application Serial No. 15/385,892 entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO ANARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM"; and

- US Patent Application Serial No. 15/385,894 entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT".

The applicant of the present application has the following US patent applications filed on the same date as the present application and each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/385,916 entitled "SURGICAL STAPLING SYSTEMS";

- US Patent Application Serial No. 15/385,918 entitled "SURGICAL STAPLING SYSTEMS";

- US Patent Application Serial No. 15/385,919 entitled "SURGICAL STAPLING SYSTEMS";

- US Patent Application Serial No. 15/385,921 entitled "SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBERCONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES";

- US Patent Application Serial No. 15/385,923 entitled "SURGICAL STAPLING SYSTEMS";

- US Patent Application Serial No. 15/385,925 entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OFA FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE ISINSTALLED IN THE END EFFECTOR";

- US Patent Application Serial No. 15/385,926 entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS";

- US Patent Application Serial No. 15/385,928 entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN AMOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT";

- US Patent Application Serial No. 15/385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENINGFEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";

- US Patent Application Serial No. 15/385,932 entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFTARRANGEMENT";

- US Patent Application Serial No. 15/385,933 entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLELINKAGE DISTAL OF AN ARTICULATION LOCK";

- US Patent Application Serial No. 15/385,934 entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR INAN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM";

- US Patent Application Serial No. 15/385,935 entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FORLOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION"; and

- US Patent Application Serial No. 15/385,936 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKEAMPLIFICATION FEATURES".

The applicant of the present application has the following US patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/191,775 entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES";

- US Patent Application Serial No. 15/191,807 entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPEDSTAPLES";

- US Patent Application Serial No. 15/191,834 entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME";

- US Patent Application Serial No. 15/191,788 entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES"; and

- US Patent Application Serial No. 15/191,818 entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS".

The applicant of the present application has the following US patent applications filed on June 24, 2016, each of which is incorporated herein by reference in its entirety:

- US Design Patent Application Serial No. 29/569,218 entitled "SURGICAL FASTENER";

- US Design Patent Application Serial No. 29/569,227 entitled "SURGICAL FASTENER";

- US Design Patent Application Serial No. 29/569,259 entitled "SURGICAL FASTENER CARTRIDGE"; and

- US Design Patent Application Serial No. 29/569,264 entitled "SURGICAL FASTENER CARTRIDGE".

The applicant of the present application has the following patent applications filed on April 1, 2016, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/089,325 entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM";

- US Patent Application Serial No. 15/089,321 entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY";

- US Patent Application Serial No. 15/089,326 entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

- US Patent Application Serial No. 15/089,263 entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIPPORTION";

- US Patent Application Serial No. 15/089,262 entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLEBAILOUT SYSTEM";

- US Patent Application Serial No. 15/089,277 entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVILCONCENTRIC DRIVE MEMBER";

- US Patent Application Serial No. 15/089,296 entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL ENDEFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";

- US Patent Application Serial No. 15/089,258 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION";

- US Patent Application Serial No. 15/089,278 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVECUTTING OF TISSUE";

- US Patent Application Serial No. 15/089,284 entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT";

- US Patent Application Serial No. 15/089,295 entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSIONLOCKOUT";

- US Patent Application Serial No. 15/089,300 entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";

- US Patent Application Serial No. 15/089,196 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT";

- US Patent Application Serial No. 15/089,203 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT";

- US Patent Application Serial No. 15/089,210 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGELOCKOUT";

- US Patent Application Serial No. 15/089,324 entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM";

- US Patent Application Serial No. 15/089,335 entitled "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS";

- US Patent Application Serial No. 15/089,339 entitled "SURGICAL STAPLING INSTRUMENT";

- US Patent Application Serial No. 15/089,253 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OFSTAPLES HAVING DIFFERENT HEIGHTS";

- US Patent Application Serial No. 15/089,304 entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET";

- US Patent Application Serial No. 15/089,331 entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS";

- US Patent Application Serial No. 15/089,336 entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES";

- US Patent Application Serial No. 15/089,312 entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUESUPPORT";

- US Patent Application Serial No. 15/089,309 entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and

- US Patent Application Serial No. 15/089,349 entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL".

The applicant of the present application also owns the following identified US patent applications filed on December 31, 2015, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/984,488 entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INPOWERED SURGICAL INSTRUMENTS";

- US Patent Application Serial No. 14/984,525 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS"; and

- US Patent Application Serial No. 14/984,552 entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROLCIRCUITS".

The applicant of the present application also owns the following identified US patent applications filed on February 9, 2016, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/019,220 entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLYTRANSLATABLE END EFFECTOR";

- US Patent Application Serial No. 15/019,228 entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";

- US Patent Application Serial No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

- US Patent Application Serial No. 15/019,206 entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLYARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY";

- US Patent Application Serial No. 15/019,215 entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";

- US Patent Application Serial No. 15/019,227 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATIONLINK ARRANGEMENTS";

- US Patent Application Serial No. 15/019,235 entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLEDRIVEN ARTICULATION SYSTEMS";

- US Patent Application Serial No. 15/019,230 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAMARRANGEMENTS"; and

- US Patent Application Serial No. 15/019,245 entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

The applicant of the present application also owns the following identified US patent applications filed on February 12, 2016, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 15/043,254 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS";

- US Patent Application Serial No. 15/043,259 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS";

- US Patent Application Serial No. 15/043,275 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS"; and

- US Patent Application Serial No. 15/043,289 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS".

The applicant of the present application has the following patent applications filed on June 18, 2015, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENINGARRANGEMENTS";

- US Patent Application Serial No. 14/742,941 entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSINGFEATURES";

- US Patent Application Serial No. 14/742,914 entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLESURGICAL INSTRUMENTS";

- US Patent Application Serial No. 14/742,900 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAMSTRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT";

- US Patent Application Serial No. 14/742,885 entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLESURGICAL INSTRUMENTS"; and

- US Patent Application Serial No. 14/742,876 entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLESURGICAL INSTRUMENTS".

The applicant of the present application has the following patent applications filed on March 6, 2015, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/640,746 entitled "POWERED SURGICAL INSTRUMENT", now US Patent Application Publication 2016/0256184;

- US Patent Application Serial No. 14/640,795 entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWEREDSURGICAL INSTRUMENTS"; now US Patent Application Publication 2016/02561185;

- US Patent Application Serial No. 14/640,832 entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURERATES FOR MULTIPLE TISSUE TYPES"; now US Patent Application Publication 2016/0256154;

- US Patent Application Serial No. 14/640,935 entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TOMEASURE TISSUE COMPRESSION"; now US Patent Application Publication 2016/0256071;

- US Patent Application Serial No. 14/640,831 entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTORFOR POWERED SURGICAL INSTRUMENTS"; now US Patent Application Publication 2016/0256153;

- US Patent Application Serial No. 14/640,859 entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINESTABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES"; now US Patent Application Publication 2016/0256187;

- US Patent Application Serial No. 14/640,817 entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS", now US Patent Application Publication 2016/0256186;

- US Patent Application Serial No. 14/640,844 entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULARSHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE"; now US Patent Application Publication 2016/0256155;

- US Patent Application Serial No. 14/640,837 entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING"; now US Patent Application Publication 2016/0256163;

- US Patent Application Serial No. 14/640,765 entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGEINTO A SURGICAL STAPLER", now US Patent Application Publication 2016/0256160;

- US Patent Application Serial No. 14/640,799 entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON AROTATABLE SHAFT"; now US Patent Application Publication 2016/0256162; and

- US Patent Application Serial No. 14/640,780 entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING", now US Patent Application Publication 2016/0256161;

The applicant of the present application has the following patent applications filed on February 27, 2015, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/633,576 entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION", now US Patent Application Publication 2016/0249919;

- US Patent Application Serial No. 14/633,546 entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCEPARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now US Patent Application Publication 2016/0249915;

- US Patent Application Serial No. 14/633,560 entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONEOR MORE BATTERIES", now US Patent Application Publication 2016/0249910;

- US Patent Application Serial No. 14/633,566 entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FORCHARGING A BATTERY", now US Patent Application Publication 2016/0249918;

- US Patent Application Serial No. 14/633,555 entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOBE SERVICED", now US Patent Application Publication 2016/0249916;

US Patent Application Serial 14/633,542 entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT", now US Patent Application Publication 2016/0249908;

- US Patent Application Serial 14/633,548 entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT", now US Patent Application Publication 2016/0249909;

- US Patent Application Serial No. 14/633,526 entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE", now US Patent Application Publication 2016/0249945;

- US Patent Application Serial No. 14/633,541 entitled "MODULAR STAPLING ASSEMBLY", now US Patent Application Publication 2016/0249927; and

- US Patent Application Serial No. 14/633,562 entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFEPARAMETER",

It is now US Patent Application Publication 2016/0249917;

The applicant of the present application has the following patent applications filed on December 18, 2014, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE ENDEFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER", now US Patent Application Publication 2016/0174977;

- US Patent Application Serial No. 14/574,483 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS", now US Patent Application Publication 2016/0174969;

- US Patent Application Serial No. 14/575,139 entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication 2016/0174978;

- US Patent Application Serial No. 14/575,148 entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITHARTICULATABLE SURGICAL END EFFECTORS", now US Patent Application Publication 2016/0174976;

- US Patent Application Serial No. 14/575,130 entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLEABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now US Patent Application Publication 2016/0174972;

- US Patent Application Serial No. 14/575,143 entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS", now US Patent Application Publication 2016/0174983;

- US Patent Application Serial No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDMOVABLE FIRING BEAM SUPPORT ARRANGEMENTS", now US Patent Application Publication 2016/0174975;

- US Patent Application Serial No. 14/575,154 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDIMPROVED FIRING BEAM SUPPORT ARRANGEMENTS", now US Patent Application Publication 2016/0174973;

- US Patent Application Serial No. 14/574,493 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEARTICULATION SYSTEM"; now US Patent Application Publication 2016/0174970; and

- US Patent Application Serial No. 14/574,500 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLEARTICULATION SYSTEM", now US Patent Application Publication 2016/0174971;

The applicant of the present application has the following patent applications filed on March 1, 2013, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 13/782,295 entitled "Articulatable Surgical Instruments With Conductive Pathways For Signal Communication", now US Patent Application Publication 2014/0246471;

- US Patent Application Serial No. 13/782,323 entitled "Rotary Powered Articulation Joints For Surgical Instruments", now US Patent Application Publication 2014/0246472;

- US Patent Application Serial No. 13/782,338 entitled "Thumbwheel Switch Arrangements For Surgical Instruments", now US Patent Application Publication 2014/0249557;

- US Patent Application Serial No. 13/782,499 entitled "Electromechanical Surgical Device with Signal Relay Arrangement", now US Patent Application Publication 9,358,003;

- US Patent Application Serial No. 13/782,460 entitled "Multiple Processor Motor Control for Modular Surgical Instruments", now US Patent Application Publication 2014/0246478;

- US Patent Application Serial No. 13/782,358 entitled "Joystick Switch Assemblies For Surgical Instruments", now US Patent Application Publication 9,326,767;

- US Patent Application Serial No. 13/782,481 entitled "Sensor Straightened End Effector During Removal ThroughTrocar", now US Patent Application Publication 9,468,438;

- US Patent Application Serial No. 13/782,518 entitled "Control Methods for Surgical Instruments with RemovableImplement Portions", now US Patent Application Publication 2014/0246475;

- US Patent Application Serial No. 13/782,375 entitled "Rotary Powered Surgical Instruments With Multiple Degrees of Freedom", now US Patent Application Publication 9,398,911; and

- US Patent Application Serial No. 13/782,536 entitled "Surgical Instrument Soft Stop", now US Patent Application Publication 9,307,986.

The applicant of the present application also owns the following patent applications filed on March 14, 2013, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 13/803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now US Patent Application Publication 2014/0263542;

- US Patent Application Serial No. 13/803,193 entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT", now US Patent Application Publication 9,332,987;

- US Patent Application Serial No. 13/803,053 entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT", now US Patent Application Publication 2014/0263564;

- US Patent Application Serial No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now US Patent Application Publication 2014/0263541;

- US Patent Application Serial No. 13/803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS", now US Patent Application Publication 2014/0263538;

- US Patent Application Serial No. 13/803,148 entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now US Patent Application Publication 2014/0263554;

- US Patent Application Serial No. 13/803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS", now US Patent Application Publication 2014/0263565;

- US Patent Application Serial No. 13/803,117 entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS", now US Patent Application Publication 9,351,726;

- US Patent Application Serial No. 13/803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS", now US Patent Application Publication 9,351,727; and

- US Patent Application Serial No. 13/803,159 entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now US Patent Application Publication 2014/0277017.

The applicant of the present application also owns the following patent application filed on March 7, 2014 and incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication 2014/0263539.

The applicant of the present application also owns the following patent applications filed on March 26, 2014, each of which is incorporated herein by reference in its entirety:

- US Patent Application Serial No. 14/226,106 entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication 2015/0272582;

- US Patent Application Serial No. 14/226,099 entitled "STERILIZATION VERIFICATION CIRCUIT", now US Patent Application Publication 2015/0272581;

- US Patent Application Serial No. 14/226,094 entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT", now US Patent Application Publication 2015/0272580;

- US Patent Application Serial No. 14/226,117 entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITAND WAKE UP CONTROL", now US Patent Application Publication 2015/0272574;

- US Patent Application Serial No. 14/226,075 entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES", now US Patent Application Publication 2015/0272579;

- US Patent Application Serial No. 14/226,093 entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS", now US Patent Application Publication 2015/0272569;

- US Patent Application Serial No. 14/226,116 entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now US Patent Application Publication 2015/0272571;

- US Patent Application Serial No. 14/226,071 entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETYPROCESSOR", now US Patent Application Publication 2015/0272578;

- US Patent Application Serial No. 14/226,097 entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now US Patent Application Publication 2015/0272570;

- US Patent Application Serial No. 14/226,126 entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now US Patent Application Publication 2015/0272572;

- US Patent Application Serial No. 14/226,133 entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now US Patent Application Publication 2015/0272557;

- US Patent Application Serial No. 14/226,081 entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now US Patent Application Publication 2015/0277471;

- US Patent Application Serial No. 14/226,076 entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEVOLTAGE PROTECTION", now US Patent Application Publication 2015/0280424;

- US Patent Application Serial No. 14/226,111 entitled "SURGICAL STAPLING INSTRUMENT SYSTEM", now US Patent Application Publication 2015/0272583; and

- US Patent Application Serial No. 14/226,125 entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now US Patent Application Publication 2015/0280384.

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

- US Patent Application Serial No. 14/479,103 entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE", now US Patent Application Publication 2016/0066912;

- US Patent Application Serial No. 14/479,119 entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUECOMPRESSION", now US Patent Application Publication 2016/0066914;

- US Patent Application Serial No. 14/478,908 entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION", now US Patent Application Publication 2016/0066910;

- US Patent Application Serial No. 14/478,895 entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'SOUTPUT OR INTERPRETATION", now US Patent Application Publication 2016/0066909;

- US Patent Application Serial No. 14/479,110 entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", now US Patent Application Publication 2016/0066915;

- US Patent Application Serial No. 14/479,098 entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION", now US Patent Application Publication 2016/0066911;

- US Patent Application Serial No. 14/479,115 entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now US Patent Application Publication 2016/0066916; and

- US Patent Application Serial No. 14/479,108 entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now US Patent Application Publication 2016/0066913.

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

- US Patent Application Serial No. 14/248,590 entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVESHAFTS", now US Patent Application Publication 2014/0305987;

- US Patent Application Serial No. 14/248,581 entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRINGDRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now US Patent Application Publication 2014/0305989;

- US Patent Application Serial No. 14/248,595 entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLINGTHE OPERATION OF THE SURGICAL INSTRUMENT", now US Patent Application Publication 2014/0305988;

- US Patent Application Serial No. 14/248,588 entitled "POWERED LINEAR SURGICAL STAPLER", now US Patent Application Publication 2014/0309666;

- US Patent Application Serial 14/248,591 entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication 2014/0305991;

- US Patent Application Serial No. 14/248,584 entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENTFEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now US Patent Application Publication 2014/0305994;

- US Patent Application Serial No. 14/248,587 entitled "POWERED SURGICAL STAPLER", now US Patent Application Publication 2014/0309665;

- US Patent Application Serial No. 14/248,586 entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALINSTRUMENT", now US Patent Application Publication 2014/0305990; and

- US Patent Application Serial No. 14/248,607 entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUSINDICATION ARRANGEMENTS", now US Patent Application Publication 2014/0305992.

The applicant of the present application also owns the following patent applications filed on April 16, 2013, each of which is incorporated herein by reference in its entirety:

- US Provisional Patent Application Serial No. 61/812,365 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR";

- US Provisional Patent Application Serial No. 61/812,376 entitled "LINEAR CUTTER WITH POWER";

- US Provisional Patent Application Serial No. 61/812,382 entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP";

- U.S. Provisional Patent Application Serial No. 61/812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS ANDMOTOR CONTROL"; and

- US Provisional Patent Application Serial No. 61/812,372 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR".

Numerous specific details are set forth herein in order to provide a thorough understanding of the general structure, function, manufacture, and use of the embodiments described in the specification and shown 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 by way of non-limiting example, so that the specific structural and functional details disclosed herein may be representative and illustrative, and may be appreciated. Variations and changes may be made to these embodiments without departing from the scope of the claims.

The term "comprise" (and any form of "comprise" such as "comprises" and "comprising"), "have" (and "have" any form, such as "has" and "having"), "include" (and any form of "include", such as "includes" and "including" "), and "contain" (and any form of "contain" such as "contains" and "containing") are open-ended copulas. Thus, a surgical system, device, or device that "comprises," "has," "comprises," or "contains" one or more elements has those one or more elements, but is not limited to having 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 feature part.

The terms "proximal" and "distal" are used herein with respect to a clinician manipulating the handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It should also be understood that, for brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein in connection with 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. The reader will readily appreciate, however, that the various methods and devices disclosed herein can 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 manner, such as through a natural orifice, through an incision or puncture formed in tissue, and the like. The working or end effector portion of the instrument can be inserted directly into the patient or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced.

The surgical stapling system can 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. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge cannot be removed from the first jaw, 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 the closing axis; however, other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system also includes 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 articulation joints.

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal and distal ends. 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 tissue. The anvil moves toward the staple cartridge to compress and clamp the tissue against the platform. The staples, which are 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 nail cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples are also possible.

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

In addition to the above, the slider can also be moved distally by the firing member. The firing member is configured to contact the slider and urge the slider 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 engaging the first jaw and a second cam engaging the second jaw. The first and second cams may control the distance or tissue clearance between the platform of the staple cartridge and the anvil as the firing member is advanced distally. The firing member also includes a knife configured to cut through tissue captured between the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximate the ramp surface so that the nails are fired ahead of the knife.

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

Referring to FIGS. 3-6 , the shaft 1200 includes a frame or ridge attached to the frame 1100 of the attachment portion 1110 . The spine includes a proximal spine portion 1210 that can be rotationally engaged with the frame 1110 about a longitudinal axis axis 1001 extending through the spine. Referring primarily to FIG. 6 , the proximal spine portion 1210 includes an aperture 1211 defined therein that is configured to receive the proximal end 1221 of the driver cover 1220 . The driver cover 1220 also includes a distal end 1222 configured to be positioned within the proximal end 1232 of the 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, which are inserted or slid laterally into dovetail-shaped slots defined in 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 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 seated in only one proper location and orientation within channel jaw 1310 . Once the unemptied staple cartridge 1320 is properly seated in the channel jaws 1310 , the staple firing member can be advanced through the staple cartridge 1320 to fire staples from the staple cartridge 1320 and the cut positioned between the staple cartridge 1320 and the anvil jaw 1330 Intermediate patient tissue, 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 jaws 1310 of the end effector 1300 are rotatably coupled to the ridges of the shaft 1200 about the articulation joint 1660 . Channel jaw 1310 includes an articulation frame 1270 attached thereto, the articulation frame including pins 1271 extending laterally therefrom positioned within holes 1311 defined in cartridge channel 1310 . Pins 1271 and holes 1311 are sized and configured to securely mount articulation frame 1270 to 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 post 1262 is sized and configured such that it is received tightly within the articulation bore and such that relative movement between the articulation frame 1270 and the spine of the shaft 1200 is limited to about an axis orthogonal to the shaft axis 1001. Rotational movement.

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 the slip joint. The sliding joint includes proximal flanges 1610 that are parallel, or at least substantially parallel, to corresponding flanges 1111 defined on the frame 1110 . In addition to providing a rotatable mechanical interface, slip joints also provide 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, electrical traces 1190 include conductive annular rings that are electrically isolated from each other and are each part of a discrete circuit. The contacts of the electrical connector 1690 remain in electrical contact with the traces 1190 as the outer frame 1600 is rotated relative to the frame 1110 . 5, the latch 1130 of the attachment portion 1100 also includes an electrical connector 1192 in electrical communication with a trace 1190 that can be placed in contact with the surgical system when the latch 1130 couples the shaft assembly 1000 to the surgical system electrical connection. For the reasons described above, the sensors in the shaft assembly 1000 may 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 to which the housing 1120 of the attachment portion 1100 is mounted, in addition to the above. Housing 1120 includes finger grips 1128 defined therein that are configured to assist a clinician in rotating housing 1120 and tube 1620 about longitudinal axis 1001 . Outer frame 1600 also includes a distal tube portion 1630 that is rotatably mounted to tube 1620. More specifically, referring primarily to FIG. 7 , the outer frame 1600 also includes a link 1640 that connects the distal tube portion 1630 to the tube 1620 and provides one or more degrees of freedom between the distal tube portion 1630 and the tube 1620 . Such one or more degrees of freedom between distal tube portion 1630 and tube 1620 allow for articulation of end effector 1300 relative to shaft 1200 about articulation joint 1660 . For the reasons described above, the outer frame 1600 is rotatable about the longitudinal axis and is 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 , shaft assembly 1000 also includes an articulation system 1400 configured to enable articulation of end effector 1300 relative to shaft 1200 . In addition, the shaft assembly 1000 also includes a firing system 1500 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 greater detail below, the articulation system 1400 is selectively engageable with the firing system 1500 such that the articulation system 1400 can be actuated 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 also discussed in more detail below, the shaft assembly 1000 also includes an articulation locking system that first locks the end effector 1300 in place and then causes the shaft assembly 1000 to be between the articulation mode of operation and the firing mode of operation switch.

Referring primarily to FIG. 9 , the firing system 1500 includes a firing link 1510 that can 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 can be operably engaged 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 fixedly mounted to the firing link 1510 such that the rack 1520 can translate with the firing link 1510 . The firing link 1510 extends through a longitudinal hole 1521 defined in the rack 1520 . Additionally, the rack 1520 is fixedly mounted to the firing link 1510 such that the rack 1520 and the firing link 1510 can rotate together about the longitudinal axis. Articulation system 1400 also includes articulation driver 1420 mounted to rack 1520 such that rack 1520 can translate or slide longitudinally relative to articulation driver 1420 . That is, articulation driver 1420 is mounted to rack 1520 such that articulation driver 1420 , rack 1520 and firing link 1510 rotate together about longitudinal axis 1001 .

In addition to the above, referring primarily to FIGS. 9 , 21 and 23 , the rack 1520 includes longitudinal slots 1522 defined on opposite sides thereof, and the articulation driver 1420 includes protrusions 1422 positioned in the longitudinal slots 1522 . Slots 1522 and protrusions 1422 are configured to allow proximal and distal movement of rack 1520 relative to 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 when the rack 1520 moves longitudinally To drive the articulation system 1400 and/or the firing system 1500 of the shaft assembly 1000 , the rack 1520 can move longitudinally relative to the articulation driver 1420 . That is, as described in more detail below, the slots 1522 and protrusions 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 also includes a shifter 1430 mounted to the firing link 1510 and an articulation driver 1440 . The shifter 1430 is fixedly mounted to the firing link 1510 such that the shifter 1430 translates longitudinally with the firing link 1510 . Additionally, the shifter 1430 is fixedly mounted to the firing link 1510 such that the shifter 1430 can rotate with the firing link 1510 . Shifter 1430 includes longitudinal rack of teeth 1431 , and similarly, articulation driver 1440 includes longitudinal rack teeth 1441 . When the shaft assembly 1000 is in its articulation mode of operation, referring to FIGS. 16 , 18 , 20 and 21 , the teeth 1441 of the articulation driver 1440 are in meshing engagement with the teeth 1431 of the shifter 1430 . In this configuration, longitudinal motion of the firing link 1510 may be transmitted to the articulation driver 1440 .

Referring primarily to Figure 30, the articulation driver 1440 also includes a distal end 1443 having an elongated hole defined therein. The articulation frame 1270 of the end effector 1300 mounted to the channel jaw 1310 includes an articulation pin 1444 extending therefrom positioned in a hole defined in the distal end 1443 . When the shaft assembly 1000 is in its articulation mode of operation and the firing link 1510 is advanced distally, the firing link 1510 pushes the articulation driver 1440 and the articulation pin 1444 distally to cause the end effector 1300 in the first Joint motion in the direction, as shown in Figure 31. When the firing link 1510 is pulled proximally, the firing link pulls the articulation driver 1440 and the articulation pin 1444 proximally to cause the end effector 1300 to proceed in a second direction opposite the first direction joint movement. In use, the clinician can operate the surgical system to push and/or pull on the articulation driver 1440 to rotate the end effector 1300 into a desired orientation.

Referring again to FIG. 30 , the articulation system 1400 also includes a second articulation driver 1450 and a transmission gear 1470 . Transmission gear 1470 is mounted to the ridges of shaft 1200 and is rotatable about a fixed axis. Additionally, drive gear 1470 is in meshing engagement with longitudinal rack teeth 1442 defined on articulation driver 1440 . Similarly, second articulation driver 1450 includes longitudinal rack teeth 1452 in meshing engagement with drive gear 1470 . The second articulation driver 1450 also includes a distal end 1453 having an elongated hole defined therein. The articulation frame 1270 of the end effector 1300 also 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 transmission gear 1470, which in turn drives the articulation driver 1450 and the articulation pin 1454 proximally. Thus, articulation drivers 1440 and 1450 cooperate to rotate end effector 1300 in the same direction. When the articulation driver 1440 is pulled proximally by the firing link 1510, the articulation driver 1440 rotates the transmission gear 1470 in the opposite direction, which in turn pushes the articulation driver 1450 and the 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 FIGS. 5 and 7-9 , the shaft assembly 1000 also includes an articulation lock lever 1480 and an articulation lock actuator 1410 . Articulation lock lever 1480 includes a proximal end 1481 that is mounted to articulation lock actuator 1410 . As the articulation lock actuator 1410 moves from the proximal position (FIG. 32) to the distal position (FIG. 33), the articulation lock actuator 1410 pushes the locking lever 1480 distally. As 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 lock lever 1480 proximally. Referring primarily to Figure 9, the articulation lock actuator 1410 includes a proximal drive hook 1411 that can be operably engaged with an actuator of a surgical system that can be proximally and The articulation lock actuator 1410 is moved distally.

Referring to FIGS. 32 and 33 , the shaft assembly 1000 also includes an articulation lock 1494 mounted to the spine of the shaft 1200 . Articulation lock 1494 includes first and second locking arms 1495 extending therefrom. 32, when the articulation lock actuator 1410 is in its proximal position, the distal end 1482 of the articulation lock lever 1480 is not engaged with the 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 lever 1480 is advanced distally by the articulation lock actuator 1410, see FIG. 33, the distal end 1482 of the articulation lock lever 1480 engages the lock arm 1495 and displaces the lock arm 1495 into articulation with Drivers 1440 and 1450 are engaged. Referring primarily to FIG. 7 , the articulation driver 1440 includes longitudinal rack teeth 1445 that are engaged by the locking arms 1495 when the locking arms 1495 are displaced outwardly by the articulation locking levers 1480 . Similarly, the articulation driver 1450 includes a longitudinal rack tooth 1455 that is engaged by another lock arm 1495 when the lock arm 1495 is displaced outward by the articulation lock lever 1480 . In the example, the end effector 1300 is in a locked configuration and cannot rotate 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 removes the shaft assembly 1000 from its articulation mode of operation (Fig. 16, Fig. 18, Fig. 20 and Fig. 21) shifted to its firing mode of operation (Fig. 17, Fig. 19, Fig. 22 and Fig. 23). Referring primarily to FIG. 9 , the articulation lock actuator 1410 includes one or more drive protrusions 1415 that extend inwardly into longitudinal holes 1414 defined in the articulation lock actuator 1410 . The longitudinal bore 1414 surrounds, or at least substantially surrounds, the articulation driver 1420 , and the drive protrusion 1415 is positioned within a cam groove 1425 defined in the outer surface of the articulation driver 1420 . In addition to the above, when the articulation lock actuator 1410 is advanced distally, the drive protrusion 1415 rotates the articulation driver 1420, the rack 1520, and the firing link 1510 from their orientation shown in FIG. 16 to their The orientation shown in Figure 17. In the example, the teeth 1431 of the shifter 1430 are rotated out of operative engagement with the teeth 1441 of the articulation driver 1440 , and thus, the articulation system 1400 is operatively 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 can 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 can be advanced distally to perform a closing stroke to close the anvil jaws 1330 and, in addition, perform a firing stroke that fires the The stroke ejects the staples from the staple cartridge 1320 and cuts tissue captured between the staple cartridge 1320 and the anvil jaws 1330. Referring to FIGS. 7-9 , the firing system 1500 also includes an intermediate firing link 1530 and a firing rod 1550 . As described in more detail below, firing link 1510 is operably engageable with intermediate firing link 1530 such that longitudinal motion of firing link 1510 can be transferred to intermediate firing link 1530 . The firing rod 1550 includes a proximal end 1552 positioned in a longitudinal hole 1532 defined in the distal end of the distal firing rod 1510 .

When the intermediate firing link 1530 is pushed distally by the firing link 1510, see Figure 11, the intermediate firing link 1530 pushes the firing rod 1550 distally to engage and close the anvil jaw 1330 toward it Or the clamping position moves, as shown in Figure 12. This distal movement of the firing rod 1550 represents the closing stroke. If the clinician is not satisfied with the positioning of the tissue between the staple cartridge 1320 and the clamped anvil jaws 1330, the clinician can operate the surgical system to retract the firing rod 1550. In the example, a spring compressed between the staple cartridge 1320 and the clamped anvil jaws 1330 may be used to open the jaws 1330 .

If the clinician is satisfied with the positioning of the tissue between the staple cartridge 1320 and the clamped anvil jaws 1330, in addition to the above, the clinician can operate the surgical system to advance the firing rod 1550 through the staple cartridge 1320 for ejection therefrom Pin and transect the tissue. This distal movement of the firing rod 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 suspended between the closing stroke and the firing stroke, which gives the clinician the opportunity to retract the firing rod 1550 and reopen the anvil jaws 1330 if they so choose. In other instances, the closing stroke and firing stroke are not separate and distinct. Instead, the surgical system immediately transitions from the closing stroke to the firing stroke. In either case, referring to FIG. 14, the surgical system is operable to retract the firing rod 1550 to its unfired position and cause the spring to reopen the anvil jaws 1330.

As described above, the firing link 1510 is used to drive the articulation system 1400 and the firing system 1500 . In addition, it appears that the firing rod 1510 moves the firing rod 1550 while the firing rod 1510 is used to operate the articulation system 1400; however, referring to Figures 24-29, the shaft assembly 1000 also includes a clutch 1540 that is configured to operate when The clutch 1540 operably couples the firing link 1510 with the intermediate firing link 1530 when the clutch 1540 is in the firing configuration (FIG. 26) and connects the firing link 1510 with the intermediate firing when the clutch 1540 is in the articulating configuration (FIG. 29). The lever 1530 is operably disengaged. Clutch 1540 is configured such that it is in its articulated configuration ( FIG. 29 ) when the shaft assembly 1000 is in its articulation mode of operation and, correspondingly, in its fired configuration when the shaft assembly 1000 is in its fired mode of operation (Figure 26).

Referring primarily to FIG. 24 , the firing rod 1510 includes a distal piston 1515 slidably positioned in a cylinder 1535 defined in the intermediate firing rod 1530 . The clutch 1540 includes a cantilever beam 1543 fixedly mounted to the intermediate firing link 1530 and additionally includes 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 that is configured to receive the distal piston 1515 of the firing rod 1510 therein.

When the shaft assembly 1000 is in its articulating mode of operation and the clutch 1540 is in its articulating configuration, referring to FIG. 1531. In the example, another portion of the distal piston 1515 is positioned in a hole 1545 defined in the cam head 1544 of the clutch 1540 . Although the sidewall of bore 1545 may contact the side of distal piston 1515, in the example described, piston 1515 is capable of moving relative to clutch 1540 and intermediate firing link 1530 without transmitting, or at least substantially, motion of 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 displace the firing rod 1550 distally. In certain instances, a gap may exist between the proximal end 1552 of the firing rod 1550 and the longitudinal end wall of the bore 1532 to accommodate what the intermediate firing rod 1530 may experience when the shaft assembly 1000 is in its articulation mode of operation a certain amount of exercise.

In addition to the above, referring again to Figure 29, when the clutch 1540 is in its articulating configuration, the cantilever beam 1543 of the clutch 1540 is deflected laterally or elastically flexed. 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 displaced laterally and the beam 1543 is laterally displaced Deflection to accommodate this forced alignment. When the shaft assembly 1000 is placed in its firing mode of operation and the firing rod 1510 is advanced distally, the distal piston 1515 is moved distally relative to the cam head 1544 until the distal piston 1515 is fully passed through the bore 1545. At this point, referring to Figure 26, the clutch 1540 elastically returns to the undeflected state and the clutch 1540 is placed in its fired configuration. Notably, in the illustrated example, the cam head 1544 is laterally displaced and locked behind the proximal shoulder of the distal piston 1515 to retain the distal piston 1515 in the cylinder 1535. Thus, throughout operation of firing assembly 1500, clutch 1540 locks firing link 1510 to intermediate firing link 1530 such that longitudinal motion of firing link 1510 is transferred to 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. Thus, the firing link 1510 can be moved proximally to retract the intermediate firing link 1530 and the firing rod 1550 proximally. In various examples, the empty staple cartridge 1320 can be removed from the end effector 1300 and the non-empty staple cartridge 1320 can be seated in the channel jaw 1310, for example. If the clinician is still satisfied with the orientation of the end effector 1300, the clinician can operate the firing assembly 1500 again. However, if the clinician wishes to change the orientation of the end effector 1300, the clinician can operate the surgical system to further retract the firing link 1510 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 FIGS. 27 and 28 , the spine of the shaft assembly 1000 includes a cam 1234 configured to retract proximally with the intermediate firing link 1530 to laterally deflect the clutch 1540 when the cam head 1544 contacts the cam 1234 . Cam head 1544. Once the cam head 1544 is deflected sideways, the hole 1545 defined in the cam head 1544 realigns with the distal piston 1515 so that the distal piston 1515 is released from the clutch 1540 and can move proximally relative to the cam 1540 into it Articulation configuration (Figure 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 can use the surgical system to advance the distal piston 1515 distally to displace the clutch 1540 again into its fired configuration. Furthermore, it should be understood that the clutch 1540 can be displaced from its fired configuration and its articulated configuration whenever the clinician desires to switch between the fired and articulated modes of operation of the shaft assembly 1000 .

10-12, the firing rod 1550 can be moved distally to move the anvil jaws 1330 from the open position (FIG. 11) to the closed position (FIG. 12) or during the closing stroke of the firing assembly 1500 as described above Move at least towards the closed position (Fig. 12). The firing rod 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 . Anvil jaw 1330 includes a longitudinal slot 1334 defined therein that includes a bottom cam surface. Similarly, the channel jaw 1310 includes a longitudinal slot 1313 defined therein that includes an upper cam surface. When the firing rod 1550 is advanced distally, the anvil cam 1564 can engage the bottom cam surface of the longitudinal slot 1334 and the cartridge cam 1563 can engage the upper cam surface of the longitudinal slot 1313 to cooperatively control the anvil jaws 1330 relative to each other at the location of the staple cartridge 1320 .

As described above, the anvil jaw 1330 is rotatably coupled to the channel jaw 1310 . In at least one example, anvil jaw 1330 is mounted to channel jaw 1310 by one or more pins and is pivotable about a fixed axis. In other examples, anvil jaw 1330 is not mounted to 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 may be referred to as a stationary jaw, even though the cartridge jaw 1310 is capable of rotating or articulating 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 can be rotated relative to the anvil jaw 1330 . In the example, the anvil jaws 1330 may be stationary jaws.

Referring to Figure 7, the anvil jaw 1330 consists of several parts 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, for example, the anvil jaws 1330 and side plates 1333 are constructed of steel and have been welded together. Among other things, such an arrangement may simplify the manufacturing process for creating the longitudinal slots 1334 defined in the anvil jaws 1330 . In at least one example, a portion of longitudinal slot 1334 can be formed as side plate 1333 prior to attachment of side plate 1333 to anvil jaw 1330 . In various examples, the bottom cam surface of longitudinal slot 1334 includes a curved profile that may be formed in side plate 1333, eg, using a grinding process. Additionally, in some instances, the side plates 1333 may be subjected to a different heat treatment process than the rest of the anvil jaws 1330 . As mentioned above, the anvil jaws 1330 may be formed using any suitable manufacturing method.

In addition to the above, the staple cartridge 1320 includes a cartridge body 1322 and a slider 1360 movably positioned in the cartridge body 1322 . Slider 1360 can be moved by firing rod 1550 between a proximal unfired position ( FIGS. 10 , 11 and 12 ) and a distal fired position. More specifically, the firing rod 1550 includes a coupling member 1560 mounted to its distal end, the coupling member 1560 being configured to abut the slide 1360 and move the slide 1360 distally during the firing stroke. Notably, however, the coupling member 1560 does not abut the slider 1360 during the closing stroke of the firing member 1550 . Thus, the firing member 1550 can be moved proximally and distally to open and close the anvil jaws 1330 without displacing the slider 1360 distally. Thus, regardless of the number of times the anvil jaws 1330 are opened and closed before the firing stroke is performed, the staple cartridge 1320 remains in a non-empty state.

In addition to the above, the staple cartridge 1320 is replaceable. Accordingly, various instances may arise when the staple cartridge is not positioned in the channel jaws 1310 . Additionally, various instances may arise when an empty staple cartridge is positioned in the channel jaws 1310. Referring now to Figures 10-15, the shaft assembly 1000 includes a latch configured to prevent initiation of the firing stroke when either condition exists. The latch includes a lock 1570 rotatably mounted to the firing rod 1550 and movable between an unlocked position (FIGS. 10-14) and a locked position (FIG. 15). The lock 1570 includes lateral flanges 1572 pivotally mounted to opposite lateral sides of the coupling member 1560, the lateral flanges 1572 providing an axis of rotation about which the lock 1570 rotates. When the firing rod 1550 is moved longitudinally to open and close the anvil jaws 1330, see Figures 10-12, the channel jaws 1310 hold the lock 1570 in the unlocked position.

When the firing stroke of the firing lever 1550 begins, see Figure 13, the slider 1360 is configured to support the lock 1570 in its unlocked position when the slider 1360 is in its proximal unfired position. More specifically, the slider 1360 includes a proximal flange 1365 configured to support the 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, the slider 1360 can prevent the lock 1570 from entering the locking groove 1315, but only when the slider 1360 is in its proximal unfired position. Once the distal shoulder 1575 is supported by the proximal flange 1365 of the slider 1360 at the beginning of the firing stroke, the proximal flange 1365 can continue to support the distal shoulder 1575 throughout the firing stroke. That is, once lock 1570 has moved distally relative to locking groove 1315, lock 1570 cannot enter locking groove 1315 and flange 1365 is not required to support shoulder 1575 for the remainder of the firing stroke.

Referring again to FIGS. 10-13 , the latch also includes a 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 positioned opposite proximal end 1371 . When the firing rod 1550 is used to open and close the anvil jaws 1330 during the closing stroke, see FIGS. 10-12 , the flange 1572 can slide relative to the locking spring 1370 . When the firing rod 1550 is advanced distally to execute the firing stroke and the slider 1360 is in its proximal unfired position, as shown in FIG. 13, the flange 1572 can flex the distal end 1375 of the locking spring 1370 upwardly to allow Flange 1572 slides under it. When the firing rod 1550 is advanced distally and the flange 1572 moves past the distal end 1375 of the locking spring 1370, the locking spring 1370 can resiliently return to its unflexed state.

After the firing stroke has been completed, or at least substantially completed, the firing rod 1550 can be retracted to its proximal unfired position, as shown in FIG. 14 . Notably, the slider 1360 is not retracted proximally with the firing rod 1550. Instead, slider 1360 remains in the distal firing position. Therefore, if the firing rod 1550 were to be advanced distally to perform the second firing stroke, the slide 1360 of the empty cartridge 1320 would not be able to hold the lock 1570 in its unlocked position. 15, the locking spring 1370 biases the lateral flange 1572 of the lock 1570 into the locking groove 1315, which will prevent the firing rod 1550 from performing a second firing stroke, ie, having an empty in the channel jaw 1310 The firing stroke of the cartridge. As shown in FIG. 15 , the distal end 1375 of the locking spring 1370 engages the flange 1572 of the lock 1570 at a location distal to the swivel joint that connects the lock 1570 to the coupling member 1560 . Accordingly, 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 groove 1315 . To reset the lock 1570 to its unlocked position, the firing rod 1550 can 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 when an empty staple cartridge is positioned in the channel jaws 1310 , the firing system 1500 can be used to open and close the anvil jaws 1330 even if the empty staple cartridge is positioned in the channel jaws 1310 . Furthermore, the firing system 1500 can be used to operate the articulation system 1400 even when an empty staple cartridge is positioned in the channel jaws 1310. Similarly, the firing system 1500 can be used to open and close the anvil jaws 1330 and/or operate the articulation system 1400 when the staple cartridge is missing from the channel jaws 1310 . However, in order to reuse the shaft assembly 1000 to fire another staple cartridge, the empty staple cartridge 1320 must be removed from the channel jaw 1310 and replaced with a non-empty staple cartridge, such as another staple cartridge 1320, for example. Such a non-empty cartridge would necessarily include a slider 1360 in its proximal unfired position that would allow the firing rod 1550 to be advanced through another firing stroke.

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

As described above, the firing system 1500 is configured to perform a closing stroke to close the end effector 1300 and to perform 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 instances, once the closing stroke and/or firing stroke is performed, the drive system of the surgical system may fail and the firing system 1500 may not be able to advance and/or retract. Such instances can be quite problematic because the end effector 1300 will be locked closed by the firing rod 1550 . More specifically, as described above, the firing rod 1550 includes cams 1563 and 1564 (FIGS. 10-15) that are configured to position the anvil jaw 1330 and the channel jaw 1310 against each other during the closing and firing strokes are held in place with each other, and if firing rod 1550 is not retractable, cams 1563 and 1564 will no longer effectively lock jaws 1310 and 1330 together. A retraction system is described below that is configured to pull the firing rod 1550 proximally so that the anvil jaws 1330 can be reopened.

Turning now to FIGS. 34-36 , the shaft assembly 1000 includes a retraction or emergency system 1700 configured to selectively deploy to engage the firing system 1500 and retract the firing rod 1500 proximally. Referring primarily to FIG. 34 , the retraction system 1700 includes a handle or actuator 1702 rotatably mounted to the 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 can rotate. The retraction system 1700 also includes a pawl 1706 rotatably mounted to the handle 1702 about a pivot pin 1708 that defines 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 that is sized and configured to allow the clinician to grasp the handle 1702 and rotate the handle 1702 to the deployed position—which is shown in FIG. 35 Shows. In addition to the above, tube 1620 of outer frame 1600 includes windows 1629, and similarly, the ridges of shaft 1200 include windows 1229 defined therein that are aligned or at least substantially aligned with windows 1129 defined in housing 1120. Windows 1629 and 1229 are configured to allow pawl 1706 to enter rack teeth 1526 defined on 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, the firing link 1510, the intermediate firing link 1530, and the firing rod 1550 proximally.

In addition to the above, handle 1702 and pawl 1706 include a ratchet assembly that, if desired, can be actuated several times to drive firing system 1500 proximally until firing rod 1550 is sufficiently disengaged from anvil jaw 1330 to The position that allows the anvil jaws 1330 to be opened. When the handle 1702 is in its deployed position in FIG. 35, the handle 1702 can be rotated about 45 degrees distally, eg, to the position shown in FIG. 36, to pull the firing system 1500 proximally. This 45 degree rotation of the handle 1702 may or may not be sufficient to disengage the firing rod 1550 from the anvil jaws 1330 . If insufficient, the handle 1702 can be rotated proximally and returned to the position shown in FIG. 35 so that the handle 1702 can be actuated again to retract the firing rod 1550 further. This process can be repeated as many times as necessary until the anvil jaws 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 the shaft assembly 1000 needs to be removed from the surgical system before the firing rod 1550 is retracted, or at least fully retracted. In the example described, the shaft assembly 1000 will not be powered by the surgical system, similar to that described above - however, even if the shaft assembly 1000 is not attached to the surgical system, the retraction system 1700 can be used to quickly remove tissue from the tissue The end effector 1300 is released. Such an arrangement is an improvement over other arrangements in which the retraction system is part of the 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 may be used to retract the firing assembly after a portion of the closing stroke has been performed, after the entire closing stroke has been performed, after a portion of the firing stroke has been performed, and/or after the entire closing stroke has been performed 1500. 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 rod 1550 through the full firing stroke and additionally the full closure stroke to open the end effector 1300. This is entirely appropriate, but many actuations of the retraction system 1700 may be employed to fully retract the firing rod 1550. Discussed below are shaft assemblies that include an alternative emergency system.

Shaft assembly 2000 is shown in Figures 37-46 and is similar in many respects to shaft assembly 1000 - several aspects of which are not discussed herein for the sake of brevity. 37, the shaft assembly 2000 includes an attachment portion 2100 configured to releasably attach the shaft assembly 2000 to a surgical system, such as, for example, the handle of a surgical instrument and, alternatively, the arm of a surgical robot . Shaft assembly 2000 also includes end effector 2300, articulation system 1400 configured to enable articulation of end effector 2300 about articulation joint 1660, and The staple cartridge firing system 1500 fires staples. Referring primarily to FIGS. 38 and 39 , the shaft assembly 2000 also includes an outer frame 1600 mounted to the frame 2110 of the attachment portion 2100 and rotatable relative to the frame 2110 about a longitudinal shaft axis 2001 . Such an arrangement may allow for reorientation of the end effector 2300 relative to patient tissue. For example, the anvil jaws 1330 of the end effector 2300 may be rotated from one side of the patient's tissue to the other prior to clamping the anvil jaws 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 incapable of translation, or at least substantially translatable, relative to the frame 2110 .

Similar to shaft assembly 1000 , shaft assembly 2000 includes retraction system 1700 configured to retract firing system 1500 . In addition to the above, the retraction system 1700 is operable to retract the firing rod 1550 proximally and allow the end effector 2300 to reopen from a closed or clamped configuration (FIG. 45) to an open configuration (FIG. 46). 42-44, the shaft assembly 2000 also includes a translatable spine 2200 and an emergency system 2800 configured to drive the end effector 2300 from its closed or clamped configuration (FIG. 45) to its open configuration (FIG. 46) to reopen the end effector 2300. As described in more detail below, the emergency system 2800 is configured to move the spine 2200 distally from a proximal unactuated position ( FIG. 45 ) to a distally actuated position ( FIG. 46 ) to move toward the firing rod 1550 relative to the firing rod 1550 . The channel jaws 2310 of the end effector 2300 are moved distally.

Translatable ridge 2200 is similar to ridge 1200 in many respects. Referring primarily to FIGS. 42-44 , spine 2200 includes a proximal spine portion 2210 that is rotatable relative to frame 2110 about longitudinal axis 2001 . The proximal spine portion 2210 includes an aperture defined therein that is configured to receive the proximal end of the driver cover 2220. The driver cover 2220 also includes a distal end configured to be positioned within the proximal end of the intermediate spine portion 2230 of the 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. Distal portions 2250 and 2260 include proximal ends that are inserted or slid laterally into dovetail-shaped slots defined in the distal ends of intermediate spine portion 2230. The spine 2200 also includes a cover 2240 configured to close the opening defined in the spine portion 2230 and/or lock the distal portions 2250 and 2260 in place. The lower distal portion 2260 includes an articulation protrusion 1262 extending therefrom that is tightly positioned within an articulation hole defined in an articulation frame 2270 mounted within the channel jaw 2210.

Unlike spine 1200, which is mounted to frame 1110 to prevent translation of spine 1200 relative to frame 1110, spine 2200 is slidably positioned in frame 2110 and can be moved proximally and distally relative to frame 2110 by emergency system 2800. 38 and 39, the emergency system 2800 includes an emergency lever 2802 rotatably mounted to the frame 2110 about a fixed axis pivot 2804. In fact, referring to Fig. 41, the emergency system 2800 includes two emergency levers 2802 rotatably mounted to the frame 2110 on opposite sides thereof, which are connected to each other by a cross bar 2807, as shown in Fig. 42, so that the emergency levers 2802 rotate together . The emergency system 2800 also includes a drive coupling 2806 rotatably mounted to each of the emergency levers 2802 . 41 , each emergency lever 2802 includes a drive pin 2803 that extends into a drive hole defined in the drive coupling 2806 and operably couples the drive coupling 2806 to the emergency lever 2802 .

In addition to the above, referring to FIGS. 40 and 41 , each drive coupling 2806 includes a drive pin 2808 extending therefrom that is positioned in an annular slot 2218 defined in the proximal spine portion 2210 . When the emergency lever 2802 is rotated distally to its actuated position, as shown in FIG. side translation. Additionally, due to the fact that anvil jaw 1330 is rotatably mounted to channel jaw 2310, distal movement of channel jaw 2310 also translates anvil jaw 1330 distally. This distal movement of the jaws 2310 and 1330 includes an emergency opening stroke that disengages the anvil jaw 1330 from the anvil cam 1564 of the firing rod 1550 and allows the anvil jaw 1330 to move to the open position. In addition to the above, the end effector 2300 includes a compressed biasing member, such as, for example, a spring, which can bias the anvil jaw 1330 once the anvil jaw 1330 has been sufficiently disengaged from the anvil cam 1564 to its open position.

As the reader should understand, emergency system 2800 is independent and distinct from retraction system 1700 . Thus, emergency system 2800 and retraction system 1700 may operate independently of each other. In at least one example, the emergency system 2800 can be used to open the end effector 2300 during the closing stroke, if desired, and the retraction system 1700 can be used to open the end effector 2300 during the 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 closing stroke and/or during the firing stroke. In some instances, emergency system 2800 may be used to open end effector 2300 during the closing stroke and/or the firing stroke. In at least one such example, the emergency opening stroke produced by emergency system 2800 is sufficient to open end effector 2300 at any point during the closing stroke and/or at any point during the firing stroke. However, in some instances, the emergency opening stroke produced by the emergency system 2800 may be insufficient to open the end effector 2300 during the firing stroke. In this example, the clinician may use the retraction system 1700 to open the end effector 2300 in addition to or instead 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 emergency system 2800 may open the end effector 2300 with one stroke. In instances where the emergency system 2800 cannot open the end effector 2300 by 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 . Furthermore, in the example shown, the channel jaw 2310 is pushed distally away from the firing rod 1550 and the firing rod 1550 is pulled proximally away from the anvil jaw 1330 . In instances where the emergency system 2800 can open the end effector 2300 by itself, the firing rod 1550 of the firing system 1500 does not need to 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 distally actuated position (FIG. 46) to open the end effector 2300 and The end effector 2300 is released from the patient tissue. The end effector 2300 can then be moved away from the patient tissue. The emergency lever 2802 can then be rotated from its distal actuated position (FIG. 46) to its proximal unactuated position (FIG. 45) to pull the ridge 2200 and channel jaws 2310 proximally and close the end effector 2300. This feature can be particularly useful when removing the end effector 2300 from the surgical site, because in various instances, the end effector 2300 is removed from the surgical site when the end effector 2300 is in its closed configuration can be easier. In any event, the emergency system 2800 can be activated and deactivated to open and close the end effector 2300 as many times as necessary.

32 and 33 again, the shaft assembly 1000 includes an articulation lock lever 1480 configured to engage the articulation lock 1494 of the shaft assembly 1000 and displace the arm 1495 of the articulation lock 1494 Positioned to engage the articulation drivers 1440 and 1450 of the articulation system 1400 to lock the end effector 1300 in place and prevent articulation of the end effector 1300 by the articulation system 1400 . Such arrangements include a single stage articulation locking system in that both arms 1495 engage with articulation drivers 1440 and 1450 simultaneously, or at least substantially simultaneously. In an alternative embodiment, the shaft assembly 6000 shown in FIGS. 67-71 includes a two-stage articulation locking system 6490 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 aspects of which are not discussed herein for the sake of brevity. Although not necessarily shown in FIGS. 67-71 , shaft assembly 6000 includes shaft 1200 , end effector 1300 , articulation system 1400 , firing system 1500 , and outer frame 1600 . The shaft assembly 6000 also includes an articulation lock actuator configured to move the lock lever 6480 relative to the end effector 1300 and to engage the lock lever 6480 with the articulation lock system 6490 . As described in more detail below, the locking system 6490 is configured to directly engage the first lock and end effector 1300 first, and then engage the articulation drivers 1440 and 1450 of the second lock and articulation system 1400 . In the described example, the first and second locks of the articulation locking system 6490 can cooperate to hold the end effector 1300 in place.

Referring primarily to FIG. 67 , the two-stage articulation locking system 6490 includes a frame 6491 positioned in the outer tube 1620 of the outer frame 1600 and fixedly mounted to the ridges of the shaft 1200 . The articulation locking system 6490 also includes: 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 installation with Articulation frame 1270 in end effector 1300 is engaged. The first lock 6496 includes a flange 6498 extending therefrom, and a biasing spring 6499 is compressed between the flange 6498 and the proximal end wall of the cavity 6492 defined in the frame 6491. Accordingly, the biasing spring 6499 is configured to move the first lock 6496 from the proximal unlocked position (FIG. 66), in which the first lock 6496 is not engaged with the articulation frame 1270, to the distal locked position (FIG. 67- 70) (in this position 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 each configured to be defined in a distal end of the first lock 6496 when the first lock 6496 is advanced distally to its locked position The tooth recesses 6497 engage. The array of teeth 1277 extends around the proximal perimeter 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 always appear in front of the distal end of the first lock 6496 so that the first lock 6496 can lock the end effector 1300 when the first lock 6496 is biased into its locked position by the biasing spring 6499. Lock in place.

Articulation lock system 6490 also includes a second articulation lock 6494 configured to selectively engage with articulation drivers 1440 and 1450 of articulation system 1400 . Articulation lock 6494 is fixedly mounted to the spine of shaft assembly 6490 and includes lock arms 6495 extending therefrom. The locking arms 6495 are movable between an unflexed configuration (FIG. 67), in which they are not engaged with the articulation drivers 1440 and 1450, and a flexed configuration (FIG. 68), in which they are not engaged with the articulation drivers 1440 and 1450. In the curved configuration, they are engaged with articulation drivers 1440 and 1450. In other words, the locking arms 6495 flex laterally or outwardly from the unlocked configuration to the locked configuration to engage the articulation drivers 1440 and 1450 .

Each locking arm 6495 includes teeth defined thereon that are configured to engage the articulation drivers 1440 and 1450 when the locking arms 6495 are deflected outwardly into engagement with the articulation drivers 1440 and 1450 . More specifically, the teeth of the first locking arm 6495 are configured to engage the teeth 1445 defined on the articulation driver 1440 and the teeth of the second locking arm 6495 are configured to engage the teeth 1455 defined on the articulation driver 1450 . This interaction and 1450 between the locking arm 6495 and the articulation driver 1440 prevents the articulation drivers 1440 and 1450 from moving proximally and distally to articulate the end effector 1330, and thus the end effector 1330 Lock 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 .

67 and 68 illustrate the locking sequence of the two-stage articulation locking system 6490. As shown in Figure 67, the first articulation lock 6496 is biased to its locked state by a biasing spring 6499, as described above. Therefore, the first articulation lock 6496 does not need to be actuated to place the articulation locking system 6490 in the first locked state. It is worth noting, however, that when the articulation lock 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 arms 6495 of the articulation lock 6494 are not yet biased into engagement with articulation drivers 1640 and 1650. Instead, referring to FIG. 68 , the locking lever 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 . Therefore, the second articulation lock 6494 must be actuated to place the articulation lock system 6490 in the second locked state.

Referring again to FIG. 67 , the lock lever 6480 includes a shaft portion 6481 configured to slide between the lock arms 6495 without laterally displacing the lock arms 6495 into engagement with the articulation drivers 1440 and 1450 . That is, referring now to FIG. 68, the locking lever 6480 includes an enlarged portion 6485 defined on the shaft portion 6481, the enlarged portion being configured to engage the locking arm 6495 when the locking lever 6480 is advanced distally and lock the locking arm 6495 Deflected into its locked configuration. 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 the unlocking sequence of the two-stage articulation locking system 6490. 69 shows the articulation locking system 6490 in its second locked state, and in order to unlock the end effector 1300 so that it can be articulated as described above, the articulation locking system 6490 is sequentially placed in its first locked state state, as shown in Figure 70, and then placed in its unlocked state, as shown in Figure 71. 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 from the articulation drivers 1440 and 1450. At this point, the articulation locking system 6490 has returned to its first locked state. Notably, the locking bar 6480 includes a distal end 6482 that is slidably positioned in an elongated hole 6493 defined in the first articulation lock 6496, and that when the locking bar 6480 is moved proximally to articulate The locking system transitions from its second locked state to its first locked state, and as described above, the distal end 6482 can slide within the elongated bore 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, the lock lever 6480 can be retracted further proximally to pull the first articulation lock 6496 out of engagement with the articulation frame 1270 as described above. More specifically, the distal end 6482 of the locking bar 6480 can abut the proximal end wall of the bore 6483 when the locking bar 6480 is retracted proximally to apply a retraction force to the first articulation lock 6494. This 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 lock 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 lever 6480 can be released to allow the biasing spring 6499 to place the first articulation lock 6496 in its locked state again. Alternatively, the locking lever 6480 can be driven distally to relock 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 the second articulation lock 6494. Alternative embodiments are contemplated in which the articulation locking system is configured to sequentially lock the second articulation lock 6494 and then the first articulation lock 6496. Additionally, 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 in which the articulation locking system is configured to sequentially unlock the first articulation lock 6496 and then unlock the second articulation lock 6494. Additionally, alternative embodiments are contemplated that are configured to unlock the first articulation lock 6494 and the second articulation lock 6494 simultaneously.

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

Referring primarily to FIGS. 47 and 49 , outer shaft assembly 3600 includes proximal portion 3610 , intermediate portion 3620 coupled to proximal portion 3610 , and distal portion 3630 coupled to intermediate portion 3620 . The proximal portion 3610 is mounted to the frame 3110 of the attachment portion 3100 such that the proximal portion 3610 can rotate relative to the frame 3110 but cannot translate. The proximal portion 3610 includes a longitudinal passageway 3615 extending therethrough, and similarly, the intermediate portion 3620 includes a longitudinal passageway 3625 extending therethrough. Longitudinal passages 3615 and 3625 are aligned, or at least substantially aligned, with each other and surround the spine, articulation system 1400 and firing system 1500 of shaft assembly 3600 . In addition to the above, the distal portion 3630 includes a longitudinal passage 3635 extending therethrough that is aligned with the longitudinal passage 3625 defined in the intermediate portion 3620. The proximal end of the distal portion 3630 is positioned in the longitudinal passage 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 the distal flange 3611. The distal flange 3611 and the proximal flange 3621 are parallel or at least substantially parallel to each other. Referring primarily to FIGS. 48 and 49 , the outer shaft assembly 3600 also includes an extension assembly 3700 that connects the distal flange 3611 of the proximal portion 3610 to the proximal flange 3621 of the intermediate portion 3620 . Extension assembly 3700 is configured to allow displacement of outer shaft assembly 3600 between a collapsed configuration (FIG. 50) and an expanded configuration (FIG. 51), as discussed in more detail below.

48 and 49, extension assembly 3700 includes a first link including a proximal link 3710 and a distal link 3720 and an additional second link including a proximal link 3730 and distal coupling 3740. The proximal link 3710 is rotatably mounted to the proximal portion 3610 of the outer shaft assembly 3600. Proximal portion 3610 includes mounting posts 3612 extending therefrom that are positioned in post holes 3712 defined in proximal coupling 3710. Similarly, the distal link 3720 is rotatably mounted to the intermediate portion 3620 of the outer shaft assembly 3600. The intermediate portion 3620 includes a mounting hole 3622 defined therein that is configured to receive a post 3722 extending from the distal coupling 3720. Additionally, proximal link 3710 is rotatably coupled to distal link 3720. More specifically, the proximal coupling 3710 includes a connector post 3724 extending therefrom that is rotatably positioned in a connector aperture 3724 defined in the distal coupling 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. Proximal portion 3610 includes mounting posts 3616 extending therefrom that are positioned in post holes 3736 defined in proximal coupling 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. The intermediate portion 3620 includes a mounting hole defined therein that is configured to receive a post 3746 extending from the distal coupling 3740. Additionally, proximal link 3730 is rotatably coupled to distal link 3740 . More specifically, each proximal coupling 3730 includes a connector post 3734 extending therefrom that is rotatably positioned in a connector aperture 3744 defined in the distal coupling 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 before the rack 1520 is advanced distally by the firing rod 1510 to perform the closing stroke and/or firing stroke . When the rack 1520 is advanced distally, referring to FIG. 51 , the rack 1520 engages the extension assembly 3700 and displaces the outer shaft assembly 3600 from its retracted configuration ( FIG. 50 ) to its expanded configuration ( FIG. 51 ). More specifically, the rack 1520 abuts the links 3710 and 3720 of the extension assembly 3700 and rotates them laterally or outwardly, thus, it pushes the links 3730 and 3740 distally or longitudinally. Referring primarily to FIG. 49 , the links 3710 and 3720 can include a cam surface 3715 defined therein that is engaged and driven by the rack 1520 . For the reasons described above, when the outer shaft assembly 3600 is switched from its contracted configuration ( FIG. 50 ) to its expanded configuration ( FIG. 51 ), the middle portion 3620 and the distal portion 3630 of the outer shaft assembly 3600 face toward the proximal portion 3610 relative to the proximal portion 3610 . The distal side is pushed.

In addition to the above, referring primarily to FIG. 51 , the distal portion 3630 of the outer shaft assembly 3600 engages the anvil jaw 1330 as the distal portion 3630 is advanced distally and thereby rotates the anvil jaw 1330 to its closed position. In other words, distal movement of the rack 1520 of the firing system 1500 creates a closing stroke that closes the end effector 1300 . The firing system 1500 can then be used to drive the firing link 1510, rack 1520, intermediate firing link 1530, and firing rod 1550 through the firing stroke - which is discussed in more detail above. Thus, the firing system 1500 transmits separate and distinct closing strokes and firing strokes to the end effector 1300 via the outer shaft assembly 1600 and the firing rod 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 capable of firing the shaft assembly 3000 after it has switched from its articulation mode of operation to its firing operation The pattern is followed by a closing stroke - again discussed in more 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. Throughout the closing and firing strokes, the rack 1520 remains engaged with the extension assembly 3700 and thus retains the outer shaft assembly 3600 in its expanded configuration throughout the closing and firing strokes. After the closing stroke and/or firing stroke has been completed or at least substantially completed, the firing system 1500 is operable to retract the firing rod 1510 and the rack 1520 proximally. When the rack 1520 is retracted proximally, the rack 1520 is disengaged from the extension assembly 3700, and thus, the outer shaft assembly 3600 will no longer be retained in its extended configuration by the rack 1520.

Referring again to Figure 49, the outer shaft assembly 3600 also includes a 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 contracted configuration. The distal flange 3611 of the proximal portion 3610 includes a hole 3619 defined therein that is configured to enable mounting of the spring 3750 to the proximal portion 3610, and similarly, the proximal flange 3621 of the intermediate portion 3620 includes a hole 3619 defined in the proximal portion 3610. The hole 3629 therein is configured to enable mounting of the spring 3750 to the intermediate portion 3620. When the middle 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 Figures 52-54. Shaft assembly 4000 is similar in many respects to shaft assembly 3000 - most of which are not discussed herein for the sake of brevity. Shaft assembly 4000 includes an outer shaft assembly including proximal portion 4610 and intermediate portion 4620 connected by extension spring 4750 extending around extension assembly 3700. Similar to the above, when the intermediate portion 4620 is displaced distally away from the proximal portion 4610 by the rack 1520, the tension spring 4750 applies a proximal biasing force to the intermediate portion 4620. Also similar to the above, the tension spring 4750 retracts the intermediate portion 4620 toward the proximal portion 4610 after the rack 1520 has been disengaged from the extension assembly 3700.

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

Referring to FIG. 55 , shaft assembly 5000 includes attachment portion 5100 including outer housing 5120 . Referring primarily to Figure 57, the outer housing 5120 includes a first housing portion and a second housing portion 5121 that are attached to each other to form a housing frame. For example, the 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, handles of surgical instruments and, alternatively, arms of a surgical robot. For example, housing portion 5121 also includes one or more bearing surfaces configured to slidably support a translatable member of drive assembly 5500, and additionally includes one or more bearing holes configured to The rotatable components of the drive assembly 5500 can be rotatably supported.

Referring primarily to Figures 57-59, drive assembly 5500 includes a translatable firing link 5510 configured to be operably coupled with a drive system of a surgical system. The drive assembly 5500 also includes an input rack 5520 fixedly mounted to the firing link 5510 such that the input rack 5520 can translate with the firing link 5510. The drive assembly 5500 is configured to transmit translation of the input rack 5520 to the first rack 5560 of the first drive system and, alternatively, the second rack 5580 of the second drive system. To accomplish this, the drive assembly 5500 includes a displaceable shaft 5540 that can be in a first position (FIG. 64) in which the input rack 5520 is operatively coupled to the first rack 5560 during the first mode of operation. Displaced between the second position (FIGS. 60-62) in which the input rack 5520 is operatively coupled to the second rack 5580 during the 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 the shaft 5540 between its first position (FIG. 64) and its second position (FIGS. 60-62) or switch.

Referring again to FIGS. 57-59 , the drive assembly 5500 also includes a gear 5530 slidably mounted to the shaft 5540 , a first output gear 5550 operatively engaged with the shaft 5540 , and a second output gear 5540 operatively engaged with the shaft 5540 5570. Referring to Figure 62, gear 5530 includes an array of teeth 5536 extending around its perimeter, and additional splined holes 5534 extending therethrough. Teeth 5536 operably intermesh with a longitudinal array of teeth 5526 defined on input rack 5520. When the input rack 5520 is displaced distally, the input rack 5520 rotates the gear 5530 in a first direction, and when the input rack 5520 is displaced proximally, the input rack 5520 rotates the gear 5530 in a second or Rotate in the opposite direction. The splined hole 5534 of the gear 5530 is operably intermeshed with a splined portion 5544 defined on the shaft 5540. Therefore, when the gear 5530 rotates in the first direction, the gear 5530 rotates the shaft 5540 in the first direction. Likewise, when gear 5530 rotates in the second direction, gear 5530 rotates shaft 5540 in the second direction.

In addition to the above, gear 5530 is constrained within housing 5120 such that gear 5530 does not move laterally or at least substantially relative to first output gear 5550 and second output gear 5570 . However, when the shaft 5540 is in its first position (FIG. 64) (to place the shaft assembly 5000 in its first mode of operation) and its second position (FIG. 62) (to place the shaft assembly 5000 in its second mode of operation) Shaft 5540 can move laterally relative to gear 5530 , first output gear 5550 and second output gear 5570 when moving therebetween. Notably, the splined portion 5544 of the shaft 5540 has a length sufficient to operatively 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, gear 5530 remains in operative engagement with input rack 5520 and shaft 5540 regardless of the position of shaft 5540 and regardless of the mode of operation in which shaft assembly 5000 is placed.

When the shaft 5540 is in its first position, referring to FIG. 64 , the splined portion 5544 of the shaft 5540 is operatively 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 the splined hole 5554 defined in the first output gear 5550 such that rotation of the shaft 5540 is transmitted to the first output gear 5550. Thus, when the shaft 5540 rotates in the first direction, the shaft 5540 rotates the first output gear 5550 in the first direction, and correspondingly, when the shaft 5540 rotates in the second direction, the shaft 5540 rotates the first output gear 5550 rotates in the second direction. The first output gear 5550 includes an array of teeth 5556 extending around its perimeter 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 correspondingly, when the input rack 5520 is displaced proximally, the first rack 5560 is displaced proximally bit. Similar to gear 5530 , first output gear 5550 is constrained within housing 5520 such that first output gear 5550 does not move laterally, or at least substantially move, relative to first rack 5560 . Accordingly, the first output gear 5550 remains in operative engagement 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, referring to FIG. 62 , the splined portion 5544 of the shaft 5540 is operatively 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 the splined hole 5574 defined in the second output gear 5570 such that rotation of the shaft 5540 is transmitted to the second output gear 5570. Thus, when the shaft 5540 rotates in the first direction, the shaft 5540 rotates the second output gear 5570 in the first direction, and correspondingly, when the shaft 5540 rotates in the second direction, the shaft 5540 rotates the second output gear 5570 rotates in the second direction. The second output gear 5570 includes an array of teeth 5576 extending around its perimeter 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 correspondingly, when the input rack 5520 is displaced proximally, the second rack 5580 is displaced proximally bit. Similar to gear 5530 and first output gear 5550 , second output gear 5570 is constrained within housing 5520 such that second output gear 5570 does not move laterally or at least substantially relative to second rack 5580 . Accordingly, the second output gear 5570 remains in operative engagement with the second rack 5580 regardless of the mode of operation of the shaft assembly 5000 .

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

The drive system 5500 can be used to selectively drive a first drive system including a first rack 5560 or a second drive system including a second rack 5580 . The first drive system and the second drive system 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 closing stroke that closes the end effector of the shaft assembly 5000, and a second drive system can be used to generate a firing stroke from, for example, a staple positioned in the end effector Warehouse shoots nails. In the example, the shaft assembly 5000 is capable of performing separate and distinct closing strokes and firing strokes. Alternatively, a first drive system can be used to articulate the end effector of shaft assembly 5000, and a second drive system can be used to generate one or more strokes that close the end effector and fire, for example, from a staple cartridge nail. In either case, drive system 5500 is configured to selectively transmit linear input motion applied to 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. Gear 5596 is slidable between a drive position (FIGS. 60, 61 and 63) and a retracted position (FIG. 65). When the gear 5596 is in its drive position, see FIGS. 60 , 61 and 63 , the gear 5596 is operatively intermeshed with the longitudinal array of teeth 5586 defined on the second rack 5580 . In the illustrated example, the second rack 5580 can rotate the shaft assembly 5590 through the gear 5596 as the second rack 5580 is driven proximally and distally by the firing link 1510, as described above. When the gear 5596 is in its retracted position, referring to FIG. 65 , the gear 5596 is operably decoupled from the second rack 5580 . Rather, in the depicted example, gear 5596 is operably coupled with retraction system 5700, as described in more detail below.

Referring to FIG. 56 , the retraction system 5700 is stored or stored in the housing 5120 of the attachment portion 5100 . Housing 5120 includes a cover or hatch 5125 rotatably mounted to one of housing portions 5121 that can be opened to access retraction system 5700 . 57, the cover 5125 includes a pin hole 5128 defined therein that aligns with a pin hole 5123 defined in the housing portion 5121. Each set of pin holes 5123 , 5128 is configured to receive therein a pin 5127 that can rotatably couple the cover 5125 to the housing portion 5121 . Other means for connecting the cover 5125 to the housing portion 5121 may be used. Housing 5120 also includes an opening 5122 defined therein through which retraction system 5700 is accessible when 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 driven position (FIG. 63) into its retracted position (FIG. 65) when the cover 5125 is opened. Referring to FIG. 63 , when gear 5596 is in its drive position, gear 5596 is operatively engaged with rack 5580 and operatively disengaged from retraction system 5700 . Referring to FIG. 65 , when gear 5596 is in its retracted position, gear 5596 is operatively disengaged from second rack 5580 and operatively engaged with retraction system 5700 . Thus, when the cover 5125 is opened to enter the retraction system 5700, the cover 5125 automatically displaces the shaft assembly 5000 from its second mode of operation to the retracted mode of operation (FIGS. 65 and 66). Thus, 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 before the clinician can even grasp the crank 5702 of the retraction system 5700. Additionally, the cover 5125 retains the gear 5596 in its retracted position as long as the cover 5125 is in its open position.

In view of the above, the shaft assembly 5590 may 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 the second or retracted mode of operation, referring primarily to FIG. 60 , the bevel gear 5598 of the shaft assembly 5590 is operatively engaged with the output system 5600 . Output system 5600 includes bevel gear 5608 operatively intermeshing with bevel gear 5598 . The output system 5600 also includes a rotatable output gear 5606 . Bevel gear 5608 is fixedly mounted to output shaft 5606 such that when shaft assembly 5590 rotates, output shaft 5606 rotates. The output system 5600 also includes a rotatable firing shaft 5602 and a gear reduction box 5604 operatively coupling the rotatable firing shaft 5602 and the rotatable output shaft 5606 . In addition to the above, when the shaft assembly 5000 is in its second mode of operation and the gear 5596 is operatively coupled with the second rack 5580, depending on the direction in which the second rack 5580 is displaced, the firing shaft 5602 can pass through the second rack 5580 Rotate in the first direction or the opposite direction. When the shaft assembly 5000 is in its retracted mode of operation, the retraction system 5700 is only capable of rotating the firing shaft 5602 in its opposite direction, as described in more detail below.

58 , 59 and 66 , the crank 5702 of the retraction system 5700 is rotatable relative to the shaft 5710 , which is rotatably supported by the housing 5120 . Notably, the crank 5702 does not directly drive the shaft 5710 when the crank 5702 rotates. Instead, crank 5702 includes a pawl 5706 rotatably mounted thereto that drives a ratchet gear 5716 fixedly mounted to shaft 5710 . Referring primarily to FIG. 59 , pawl 5706 is rotatably coupled to crank 5702 about pin 5704 mounted to 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 the first direction. On the other hand, the pawl 5706 is configured to slide relative to the ratchet gear 5716 when the crank 5702 is rotated in the second or opposite direction. The retraction system 5700 also includes a gear 5712 fixedly mounted to the shaft 5710 that rotates with the shaft 5710 when the shaft 5710 is rotated by the pawl 5706 . Referring primarily to FIG. 66 , gear 5712 is operatively intermeshed with gear 5722 rotatably mounted to shaft 5724 such that rotation of gear 5712 is transmitted to gear 5722 . When gear 5596 is in its retracted position, in addition to the above, gear 5596 and gear 5722 are operably intermeshed. Thus, rotation of the crank 5702 in its first direction, which is shown in Figure 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 cover 5125 permanently decouples gear 5596 from second rack 5580 and, correspondingly, permanently decouples firing shaft 5602 from input shaft 5510. More specifically, after gear 5596 is moved to its retracted position (FIG. 65), gear 5596 cannot be reset or at least not easily reset to its driven position (FIG. 63). Therefore, 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, where cover 5125 is opened and then reclosed, arm 5126 of cover 5125 will disengage from gear 5596, but gear 5596 will not move back into engagement with second rack 5580. However, in the described example, the retraction system 5700 can still be used to rotate the firing rod 5602 in its opposite direction. Furthermore, in the described example, the drive system 5500 can still be used to engage the first rack 5560 with the firing link 5510 and operate the first drive system. Such an arrangement would prevent the clinician from reusing a potentially defective shaft assembly 5000 - since the act of opening the cover 5125 could indicate a possible problem with the shaft assembly 5000.

Various alternative embodiments are contemplated in which the shaft assembly 5000 can be reset to its second mode of operation after being placed in its retracted mode of operation. For example, shaft assembly 5000 may include a spring positioned intermediate gear 5596 and bevel gear 5598 that is held back by gear 5596 when cover 5125 is opened and gear 5596 slides along splined portion 5594 of shaft assembly 5590 to its retracted position compression. In the example, when the cover 5125 is closed, the spring can bias the gear 5596 back to its drive position and operatively re-engage 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 shows 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 that is configured to be grasped, manipulated and/or actuated by a clinician. Shaft assembly 200 includes shaft 210 and end effector 300 . Shaft 210 includes a shaft frame, and a hollow outer sleeve or closure tube 250 through which the shaft frame extends. The shaft assembly 200 also includes a nozzle assembly 290 configured to engage the outer sleeve 250 and enable the 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, such as when latch 230 is engaged with handle 110 , latch 230 may close an electrical circuit in handle 110 . The entire disclosure of US Patent Application No. 13/803,086, filed March 14, 2013, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK," is incorporated herein by reference. All of the embodiments disclosed herein can be used with handle 110 .

73 illustrates an exemplary surgical robot 500 configured to actuate a plurality of surgical tools (eg, generally designated 600). Surgical robot 500 may be used in conjunction with a master controller, not shown, configured to allow a surgeon to control and observe surgical procedures performed by surgical robot 500 . In various forms, the surgical robot 500 includes a base 510 from which, in the illustrated embodiment, three surgical tools 600 are supported, for example. In various forms, 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 a cover that obscures most of the movable parts. These covers may be optional, and in some embodiments may be limited in size or eliminated entirely to minimize the inertia encountered by the servos for steering arm 520 . In various forms, the surgical robot 500 has wheels that allow the surgical robot 500 to be positioned near the operating table by a single attendant. FIG. 73 further illustrates the work envelope 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 dimensions of the work area 700 shown in FIG. 73 are merely illustrative. Thus, the work area is not limited to the specific size and shape of the sample work area shown in FIG. 73 . The entire disclosure of US Patent 9,060,770, entitled "ROBOTICALLY-DRIVENSURGICAL INSTRUMENT WITH E-BEAM DRIVER," issued June 23, 2015, is incorporated herein by reference in its entirety. All of the embodiments disclosed herein can be used with the surgical robot 500 .

Example

Embodiment 1 - A method comprising the steps of 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 also includes the steps of attaching the shaft assembly to an arm of a surgical robot, and removing the shaft assembly from the arm.

Embodiment 2 - The method of Embodiment 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 includes the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical instrument handle.

Embodiment 3 - The method of Embodiment 1, wherein the step of removing the shaft assembly from the surgical robotic arm occurs before the step of attaching the shaft assembly to the surgical instrument handle, and wherein The method further includes the step of sterilizing the shaft assembly after removing the shaft assembly from the surgical robotic arm.

Embodiment 4 - The method of Embodiments 1, 2, or 3, wherein the shaft assembly includes a firing member, wherein the surgical instrument handle includes an electric motor that is used to attach the shaft assembly to The surgical instrument handle is operably coupled with the firing member during the step of The firing member can be operably coupled with the firing member during the step.

Embodiment 5 - The method of Embodiments 1, 2, 3, or 4, wherein the shaft assembly includes a latch configured to engage the handle and optionally the surgical instrument the arm of the surgical robot.

Embodiment 6 - The method of Embodiments 1, 2, 3, 4, or 5, wherein the shaft assembly includes a shaft microprocessor and a shaft electrical connector, wherein the handle includes a handle microprocessor and a handle an electrical connector, and wherein the surgical robot includes a robotic microprocessor and a robotic connector.

Embodiment 7 - The method of Embodiment 6, wherein attaching the shaft assembly to the handle of the surgical instrument comprises electrically connecting the shaft electrical connector to the handle electrical connector join.

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

Embodiment 9 - The method of Embodiment 6, wherein attaching the shaft assembly to the arm of the surgical robot comprises electrically coupling the shaft electrical connector with the robotic electrical connector.

Embodiment 10 - The method of Embodiment 6, wherein the step of attaching the shaft assembly to the arm of the surgical robot comprises placing the shaft microprocessor for operation with the robot microprocessor Signal communication.

Embodiment 11 - The method of Embodiments 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, further comprising the step of attaching the shaft assembly to the surgical instrument handle The previous step of attaching the staple cartridge to the shaft assembly.

Embodiment 12 - The method of Embodiments 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, further comprising the step of attaching the shaft assembly to the surgical instrument handle This is followed by the step of attaching the staple cartridge to the shaft assembly.

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

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

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

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

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

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

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

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

The shaft assembly also includes 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 axle assembly also includes a retraction crank rotatably mounted to the frame, wherein the retraction crank is selectively engageable with the firing member, and wherein the axle assembly is not mounted to the motorized In the case of a surgical system, the retraction crank is selectively operable to retract the firing member away from the end effector.

Embodiment 21 - The shaft assembly of Embodiment 20, wherein the end effector includes a jaw movable between an open position and a closed position, and wherein the firing member is configured to The jaws are moved from the open position toward the closed position during a stroke.

Embodiment 22 - The shaft assembly of Embodiment 20 or 21, wherein the end effector comprises a first jaw and a second jaw, wherein the first jaw is capable of being between an open position and a closed position moving, and wherein the shaft assembly further includes a closure member configured to move the first jaw toward the closed position.

Embodiment 23 - The shaft assembly of Embodiments 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 axle frame to move the first jaw toward the open position.

Embodiment 24 - The axle assembly of Embodiments 20, 21, 22, or 23, further comprising a retraction pawl pivotally mounted to the retraction crank, and wherein the retraction pawl is configured to The firing member can be engaged when the retraction crank is rotated relative to the frame.

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

Embodiment 26 - The shaft assembly of Embodiment 25, wherein the first motorized surgical system includes a handle of a surgical instrument, and wherein the second motorized surgical system includes a surgical robot.

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

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

Embodiment 29 - A surgical system comprising a first motorized surgical system including a first electric motor, a second motorized surgical system including a second electric motor, and a shaft assembly. The shaft assembly includes a frame that is selectively mountable to the first motorized surgical system and the second motorized surgical system. The shaft assembly also includes a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first electric motor and the second electric motor, wherein The firing member is movable toward the end effector during a firing stroke. The axle assembly also includes a retraction crank rotatably mounted to the frame, wherein the retraction crank is selectively engageable with the firing member, and wherein the axle assembly is mounted to the first motorized A chemical surgical system, mounted to the second motorized surgical system and not mounted to the first motorized surgical system or the second motorized surgical system, the retraction crank is selectively operable to retract the firing member away from the end effector.

Embodiment 30 - The surgical system of Embodiment 29, wherein the end effector includes a jaw movable between an open position and a closed position, and wherein the firing member is configured to The jaws are moved from the open position toward the closed position during a stroke.

Embodiment 31 - The surgical system of Embodiment 29 or 30, wherein the end effector comprises a first jaw and a second jaw, wherein the first jaw is capable of being between an open position and a closed position moving, and wherein the shaft assembly further includes a closure member configured to move the first jaw toward the closed position.

Embodiment 32 - The surgical system of Embodiments 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 axle frame to move the first jaw toward the open position.

Embodiment 33 - The surgical system of Embodiments 29, 30, 31 or 32, further comprising a retraction pawl pivotally mounted to the retraction crank, and wherein the retraction pawl is configured to The firing member can be engaged when the retraction crank is rotated relative to the frame.

Embodiment 34 - The surgical system of Embodiments 29, 30, 31, 32, or 33, wherein the first motorized surgical system includes a handle of a surgical instrument, and wherein the second motorized surgical system includes a surgical robot.

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

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

Embodiment 37 - A shaft assembly for use with a first surgical instrument system and a second surgical instrument system, wherein the shaft assembly includes a shaft assembly that is selectively mountable to the first surgical instrument system and the second surgical instrument system framework. The shaft assembly also includes a shaft extending from the frame, an end effector coupled to the shaft, and a firing member operably engageable with the first surgical instrument system and the second surgical instrument system , 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.

Embodiment 38 - The shaft assembly of Embodiment 37, wherein the end effector comprises a staple cartridge.

Embodiment 39 - The shaft assembly of Embodiment 38, wherein the staple cartridge is replaceable.

Embodiment 40 - A shaft assembly for use with a surgical system, wherein the shaft assembly includes a frame, wherein the frame includes a proximal portion A tube extending distally. The shaft assembly also includes a ridge, wherein the ridge extends through the tube, and wherein the ridge is slidably mounted to the proximal portion. The shaft assembly also includes an end effector, wherein the end effector includes 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 also includes a firing member operably engageable with a drive system of the surgical system, wherein the firing member is movable distally relative to the spine during a firing stroke. The shaft assembly also includes a firing member retraction system configured to pull the firing member proximally, and configured to slide the spine distally and allow the second jaw to rotate to a desired position. The end effector in the open position opens the system.

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

Embodiment 42 - The shaft assembly of Embodiment 40 or 41 , wherein the end effector opening system includes a manually actuatable lever.

Embodiment 43 - The shaft assembly of Embodiments 40, 41 or 42, wherein the end effector further comprises a staple cartridge.

Embodiment 44 - The shaft assembly of Embodiment 43, wherein the staple cartridge is replaceably seatable in the first jaw.

Embodiment 45 - The shaft assembly of Embodiment 43, wherein the staple cartridge is replaceably seatable in the second jaw.

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

Embodiment 47 - The shaft assembly of Embodiments 40, 41, 42, 43, 44, 45, or 46, wherein the end effector opening system and the firing member are operable independently of each other.

Embodiment 48 - The shaft assembly of Embodiments 40, 41, 42, 43, 44, 45, 46, or 47, wherein the firing member includes a A first cam of the jaw and a second cam member configured to engage the second jaw during the firing stroke.

Embodiment 49 - The shaft assembly of Embodiments 43, 44, 45, 46, 47, or 48, wherein the staple cartridge includes staples removably stored therein, and wherein the firing member is configured to enable The staples are ejected from the staple cartridge.

Embodiment 50 - The shaft assembly of Embodiments 40, 41, 42, 43, 44, 45, 46, 47, 48, or 49, wherein the end effector further comprises: A staple cartridge of staples, and wherein the firing member is configured to fire the staples from the staple cartridge.

Embodiment 51 - The shaft assembly of Embodiments 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, or 50, further comprising a closure member configured to during which the second jaw is moved from the open position towards the closed position.

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

Embodiment 53 - The shaft assembly of Embodiments 51 or 52, wherein the closure member is configurable in a collapsed configuration and an expanded configuration, and wherein the closure member is The closing stroke is performed when transitioning between the contracted configuration and the expanded configuration.

Embodiment 54 - The shaft assembly of Embodiments 51, 52, or 53, wherein the closure member includes a latch configured to releasably retain the closure member in the collapsed configuration middle.

Embodiment 55 - The shaft assembly of Embodiments 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.

Embodiment 56 - The shaft assembly of Embodiments 51, 52, 53, 54, or 55, wherein the closure member includes a proximal portion and a distal portion, wherein the proximal portion of the closure member is mounted to the the proximal portion of the frame, and wherein the distal portion is movable away from the proximal portion of the closure member during a closing stroke.

Embodiment 57 - The shaft assembly of Embodiments 51, 52, 53, 54, 55, or 56, wherein the closure member further comprises the proximal portion configured to orient the distal portion toward the closure member. Side section biased springs.

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

Embodiment 59 - a shaft assembly for use with a surgical system, wherein the shaft assembly includes a frame mountable to the surgical system, and an end effector, wherein the end effector includes 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 also includes a closure member that is configurable into a collapsed configuration and an expanded configuration, wherein the closure member is configured to be capable of transitioning from the collapsed configuration to the closure member during a closing stroke The expanded configuration moves the second jaw toward the closed position.

Embodiment 60 - The shaft assembly of Embodiment 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.

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

Embodiment 62 - The shaft assembly of Embodiments 60 or 61, wherein the closure member includes a latch configured to releasably retain the closure member in the collapsed configuration.

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

Embodiment 64 - The shaft assembly of Embodiments 59, 60, 61, 62, or 63, wherein the closure member includes a proximal portion and a distal portion, wherein the proximal portion of the closure member is mounted to the the frame, and wherein the distal portion is movable away from the proximal portion during the closing stroke.

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

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

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

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

Embodiment 69 - The shaft assembly of Embodiment 67 or 68, wherein the staple cartridge is seatable in the first jaw.

Embodiment 70 - The shaft assembly of Embodiment 67 or 68, wherein the staple cartridge is seatable 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 capable of moving through the 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 also includes a firing system operably coupled to the firing member, and a clutch, wherein the clutch is configurable for 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 couples the firing system when the clutch is placed in the closed mode Operably decoupled from the rotatable input. The clutch operably couples the rotatable input with the firing system when the clutch is in the firing mode, and wherein the clutch closes the closing when the clutch is placed in the firing mode The system is operably decoupled from the rotatable input.

Embodiment 72 - The shaft assembly of Embodiment 71, wherein the clutch includes a toggle that is positionable in a closed position to place the clutch in the closed mode, and is positionable at firing position to place the clutch in firing mode.

Embodiment 73 - The shaft assembly of Embodiment 71 or 72, wherein the toggle includes a first pushable end and a second pushable end.

Embodiment 74 - The shaft assembly of Embodiments 71, 72, or 73, further comprising a manually operable retraction system configured to retract the firing member.

Embodiment 75 - The shaft assembly of Embodiment 74, wherein the retraction system is configurable in a deactivated configuration and an activated configuration, and wherein the retraction system is configured to enable the retraction when the retraction The rotational input is decoupled from the firing system when the system is placed in the activated configuration.

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

Embodiment 77 - The shaft assembly of Embodiments 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.

Embodiment 78 - The shaft assembly of Embodiment 75, wherein the firing system is operably coupled with the rotational input after the retraction system has returned to the deactivated configuration.

Embodiment 79 - The shaft assembly of Embodiments 74, 75, 76, 77, or 78, wherein the attachment portion includes a housing, and wherein the housing includes a housing that is movable between a closed position and an open position to A cover that exposes the lever of the retraction system.

Embodiment 80 - The shaft assembly of Embodiment 79, wherein when the cover is moved from the closed position to the open position, the cover is configured to connect the firing system with the available The rotary input is operatively disengaged.

Embodiment 81 - The shaft assembly of Embodiment 79 or 80, wherein the cover does not connect the closure system to the rotatable when the cover is moved from the closed position to the open position The input is operatively disengaged.

Embodiment 82 - The shaft assembly of Embodiment 80, wherein the firing system is operable to re-engage with the rotatable input when the cover is moved back to the closed position.

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

Embodiment 84 - The shaft assembly of Embodiments 80, 81, 82, or 83, wherein the firing system includes a first gear and a second gear, wherein when the cover is in the closed position, the first gear A gear is operably intermeshed with the second gear, and wherein the first gear is disengaged from the second gear when the cover is in the open position.

Embodiment 85 - The shaft assembly of Embodiment 84, further comprising a spring configured to bias the first gear into operative intermesh with the second gear.

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

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

Embodiment 88 - The shaft assembly of Embodiments 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, or 87, wherein the firing The member can be rotated and the closure member can be translated.

Example 89 - A shaft assembly for use with a surgical system, comprising an end effector, a first drive system, and a second drive system. The shaft assembly also includes 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 also 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 when the clutch is in the first mode of operation The clutch operatively decouples the second drive system from the rotatable input shaft. The clutch operably couples the rotatable input shaft with the second drive system when the clutch is in the second mode of operation, and wherein when the clutch is placed in the second mode of operation , the clutch operatively decouples the first drive system from the rotatable input shaft.

Embodiment 90 - A shaft assembly for use with a surgical system, comprising a first drive system, a second drive system, and a shaft frame configured to engage a frame of the surgical system. The shaft assembly also includes a rotatable input shaft configured to receive rotational motion from the surgical system, and a transmission device 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 when the transmission is in the first mode of operation , the transmission operatively decouples the second drive system from the rotatable input shaft. The transmission operatively couples the rotatable input shaft with the second drive system when the transmission is in the second mode of operation, and when the transmission is placed in the second In an operating mode, the transmission operably decouples the first drive system from the rotatable input shaft, and a manually operable retraction system is configured to operably deactivate all of the drive systems when actuated. the first mode of operation and retract the second drive system.

Example 91 - A shaft assembly for use with a surgical system, wherein the shaft assembly includes a frame attachable to the surgical system, and an end effector including a first jaw, a second jaw, wherein The first jaw is rotatable relative to the second jaw and includes a staple cartridge that includes staples removably stored therein. The shaft assembly also includes an articulation joint, wherein the end effector is rotatably connected to the frame about the articulation joint. The shaft assembly also includes a firing member that is translatable during a firing stroke between an unfired position and a fired position to fire staples from the staple cartridge, wherein the firing member is capable of being in a first orientation and a second orientation. Rotate between orientations. The shaft assembly also includes an articulation driver configured to rotate the end effector about the articulation joint, wherein the firing member is in the first orientation. A firing member is operably coupled to the articulation driver, wherein the translational motion of the firing member is transmitted to the articulation driver when the firing member is in the first orientation, and wherein when the firing member is in the first orientation When the firing member is in the second orientation, the firing member is operably decoupled from the articulation driver.

Embodiment 92 - The shaft assembly of Embodiment 91, further comprising an articulation lock movable between an unlocked configuration and a locked configuration, wherein when the articulation lock is in the unlocked configuration, the articulation lock The end effector is rotatable relative to the frame, 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 .

Embodiment 93 - The shaft assembly of Embodiment 92, wherein the articulation lock is configured to engage the articulation driver and to activate the articulation driver when the articulation lock is in the locked configuration stay in place.

Embodiment 94 - The shaft assembly of Embodiments 92 or 93, wherein the articulation lock is configured to engage the end effector and lock the articulation lock when the articulation lock is in the locked configuration. The end effector remains in place.

Embodiment 95 - The shaft assembly of Embodiments 92, 93, or 94, further comprising an articulation lock actuator configured to enable the articulation lock in the unlocked configuration. type and the locked configuration.

Embodiment 96 - The shaft assembly of Embodiment 95, wherein the articulation lock actuator is configured to, when the articulation lock actuator moves the articulation lock to the unlocked configuration, The firing member can be rotated to the first orientation and operably coupled with the articulation driver.

Embodiment 97 - The shaft assembly of Embodiments 95 or 96, wherein the articulation lock actuator is configured to move the articulation lock to the locked configuration when the articulation lock actuator moves the articulation lock , the firing member can be rotated to the second orientation and operatively decoupled from the articulation driver.

Embodiment 98 - The shaft assembly of Embodiments 91, 92, 93, 94, 95, 96, or 97, wherein the firing member is configured to engage the first jaw and cause the The first jaw moves toward the second jaw, and wherein the firing member is configured to perform the closing stroke prior to the firing stroke.

Embodiment 99 - The shaft assembly of Embodiments 91, 92, 93, 94, 95, 96, 97, or 98, further comprising a retraction actuator, wherein the retraction actuator is selectively connectable to all The firing member is engaged and manually actuatable to retract the firing member to the unfired position.

Embodiment 100 - The shaft assembly of Embodiments 91, 92, 93, 94, 95, 96, 97, 98, or 99, further comprising a closure member configured to engage the first jaw And the first jaw is moved towards the second jaw during the closing stroke.

Embodiment 101 - The shaft assembly of Embodiments 91, 92, 93, 94, 95, 96, 97, 98, 99, or 100, wherein the firing member includes a first portion, a second portion, and a clutch, wherein the The clutch is configured to switch the firing member between an articulation mode configuration and a firing mode configuration, wherein the first portion is capable of relative to the firing mode when the firing member is in the articulation mode configuration The second portion moves, and wherein when the firing member is in the firing mode configuration, the first portion engages the second portion to drive the second portion distally.

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

Embodiment 103 - The shaft assembly of Embodiment 101 or 102, wherein the lock is mounted to the second portion of the firing member.

Embodiment 104 - The shaft assembly of Embodiments 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.

Embodiment 105 - The shaft assembly of Embodiments 101, 102, 103, or 104, wherein the frame further comprises a key, wherein the lock is configured to enable the firing member to be retracted toward the unfired position The key is engaged and wherein the key is configured to unlock the lock and allow the firing member to transition from the firing mode configuration to the articulation mode configuration.

Embodiment 106 - The shaft assembly of Embodiment 91, wherein the frame includes a first rotational stop and a second rotational stop, wherein the first rotational stop is configured to enable the firing The member stops in the first orientation, and wherein the second rotation stop is configured to stop the firing member in the second orientation.

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

Embodiment 108 - A shaft assembly for use with a surgical system, wherein the shaft assembly includes a frame attachable to the surgical system, and an end effector including a first jaw and a second jaw, wherein The first jaw is rotatable relative to the second jaw. The shaft assembly also includes an articulation joint, wherein the end effector is rotatably connected to the frame about the articulation joint, and is configured to enable the end effector to be articulated about the articulation joint Rotary articulation drive. The shaft assembly also 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 and the articulation driver are rotatable when the first portion is in the articulation mode orientation operably linked. Translational motion of the firing assembly is transmitted to the articulation driver when the first portion is in the articulation mode orientation, and wherein the firing assembly is coupled to the articulation driver when the first portion is in the firing mode orientation The articulation driver is operably decoupled.

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

Embodiment 110 - A shaft assembly for use with a surgical system, comprising a frame attachable to the surgical system, and an end effector, wherein the end effector includes a first jaw and a second jaw , wherein the first jaw is rotatable relative to the second jaw. The shaft assembly also includes an articulation joint, wherein the end effector is rotatably connected to the frame about the articulation joint, and is configured to enable the end effector to be articulated about the articulation joint Rotary articulation drive. The shaft assembly also 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 also includes means for selectively rotating the first portion of the firing assembly into and out of operative engagement with the articulation driver, and for engaging the first portion with the articulation driver. Means for operatively decoupling the second portion of the firing assembly from the first portion when the articulation driver is operatively engaged.

Example 111 - A shaft assembly for use with a surgical system, the shaft assembly including a staple cartridge, an end effector, and a firing member. The staple cartridge includes a cartridge body including a plurality of staple cavities, staples removably stored in the staple cavities, and movable between an unfired position and a fired position to remove the staples from the staple cavities during a firing stroke Slider for shooting nails. The end effector includes a cartridge channel configured to receive the staple cartridge, wherein the cartridge channel includes 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 rod including a cutting edge configured to cut tissue of a patient during a firing stroke. The firing member also includes a lock rotatably mounted to the firing rod, wherein the lock is rotatable between an unlocked position and a locked position, wherein the slider is configured to be rotatable when the staple cartridge is seated in the position. the slider is capable of holding the lock in the unlocked position when in the cartridge channel and the slider is in the unfired position, and wherein the slider is capable of holding the lock in the unlocked position when the staple cartridge is not in the cartridge channel or the slider The lock can be rotated from the unlocked position to the locked position by the locking spring when the member is not in the unfired position.

Embodiment 112 - The shaft assembly of Embodiment 111, further comprising a staple driver, wherein the slider is configured to engage the staple driver to eject staples from the staple cavity during a firing stroke.

Embodiment 113 - The shaft assembly of Embodiment 112, wherein the staple driver is integrally formed with the staples.

Embodiment 114 - The shaft assembly of Embodiments 111, 112, or 113, wherein the firing rod further comprises a coupling member, wherein the coupling member comprises the cutting edge, and wherein the coupling member comprises a A cartridge cam that engages the cartridge channel and an anvil cam that is configured to engage the anvil during a firing stroke.

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

Embodiment 116 - The shaft assembly of Embodiment 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 the staples The position of the cartridge relative to the anvil.

Embodiment 117 - The shaft assembly of Embodiments 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 The shaft assembly also includes a closure member configured to orient the anvil toward the closed position.

Embodiment 118 - The shaft assembly of Embodiments 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 also includes a closure member configured to move the cartridge channel toward the closed position.

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

Embodiment 120 - The shaft assembly of Embodiments 111, 112, 113, 114, 115, 116, 117, 118, or 119, wherein when the firing stroke begins and the staple cartridge is not in the cartridge channel or at all When the slider is not in the unfired position, the lock is biased into the locking groove by the locking spring, and wherein the firing stroke is limited before the staple is ejected from the staple cavity. The lock and the locking groove stop.

Embodiment 121 - The shaft assembly of Embodiments 111, 112, 113, 114, 115, 116, 117, 118, 119, or 120, wherein the firing rod is not biased toward the locking groove by the locking spring pressure.

Embodiment 122 - The shaft assembly of Embodiments 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, or 121, wherein the lock is configured so that if the With a staple cartridge positioned in the cartridge channel and the slider in the unfired position, the lock can push the slider through the firing stroke.

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

Embodiment 124 - The shaft assembly of Embodiments 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 be retractable when the lock is retracted. Remains in the unlocked position when retracted past the locking spring.

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

Embodiment 126 - The shaft assembly of Embodiments 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, or 125, wherein the cartridge channel is capable of being movable In addition to attaching to the end effector.

Embodiment 127 - The shaft assembly of Embodiments 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, or 125, wherein the cartridge channel is not operable Removably attached to the end effector.

Embodiment 128 - A shaft assembly for use with a surgical system, wherein the shaft assembly includes a staple cartridge, an end effector, and a firing assembly. The staple cartridge includes a cartridge body and staples, wherein each staple is at least partially stored in the cartridge body. The staple cartridge also includes a slider movable between an unfired position and a fired position to fire staples from the cartridge body during a firing stroke. The end effector includes a cartridge channel configured to receive the staple cartridge, wherein the cartridge channel includes a latch. The end effector also includes an anvil configured to deform the staples, and a biasing member. The firing assembly includes 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, and wherein the slider is configured to, when the cartridge is seated The slider is capable of holding the lock in the unlocked position when in the cartridge channel and the slider is in the unfired position, and where the staple cartridge is not in the cartridge channel or at all The lock is rotatable by the biasing member from the unlocked position to the locked position when the slider 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 in the body. The staple cartridge also includes a slider movable between an unfired position and a fired position to fire staples from the cartridge body during a firing stroke. The end effector also includes a cartridge channel configured to receive the staple cartridge, wherein the cartridge channel includes a latch, an anvil configured to deform the staples, and a biasing member. The end effector also includes a firing assembly, wherein the firing assembly includes 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 The slider is configured to retain the lock in the unlocked position when the staple cartridge is seated in the cartridge channel and the slider is in the unfired position, and wherein when The lock can be rotated by the biasing member from the unlocked position to the locked position when the staple cartridge is not in the cartridge channel or the slider is not in the unfired position.

Embodiment 130 - A shaft assembly comprising a shaft frame, an end effector including an end effector frame, and an articulation joint, wherein the articulation joint rotatably connects the end effector frame to the end effector frame. the axle frame. The shaft assembly also includes an articulation driver configured to rotate the end effector about the articulation joint. The shaft assembly also includes 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 selectively actuatable A second articulation lock that moves to engage the articulation driver and prevent rotation of the end effector frame relative to the axle frame.

Embodiment 131 - The shaft assembly of Embodiment 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.

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

Embodiment 133 - The shaft assembly of Embodiments 130 or 131, wherein the second articulation lock is configured to be able to communicate with the first articulation lock during an unlocking movement of the lock actuator The end effector frame is disengaged from the articulation driver prior to disengagement.

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

Embodiment 135 - The shaft assembly of Embodiments 130 or 131, wherein the second articulation lock is configured to be able to communicate with the first articulation lock during an unlocking motion of the lock actuator The end effector frame is then disengaged from the articulation driver.

Embodiment 136 - The shaft assembly of Embodiments 130 or 131 , wherein the first articulation lock is configured to be capable of engaging the articulation driver while the second articulation lock is engaged during the locking stroke Engage the end effector frame.

Embodiment 137 - The shaft assembly of Embodiment 130 or 131 , wherein the second articulation lock is configured to be able to communicate with the first articulation lock during an unlocking motion of the lock actuator The end effector frame is disengaged simultaneously with the articulation driver.

Embodiment 138 - The shaft assembly of Embodiment 130, wherein the first articulation lock and the second articulation lock are separately actuatable.

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

Embodiment 140 - The shaft assembly of Embodiment 139, wherein the articulation lock is configured to engage the second articulation driver and prevent the end when the second articulation lock is actuated The actuator frame rotates relative to the shaft frame.

Embodiment 141 - The shaft assembly of Embodiment 139, wherein the second articulation lock is configured to engage the first articulation driver and the first articulation driver while the second articulation lock is actuated Two-joint kinematic drive.

Embodiment 142 - The shaft assembly of Embodiment 139, wherein the second articulation lock is configured to engage the first articulation driver and all of the articulation drivers at different times than when the second articulation lock is actuated. the second articulation driver.

Embodiment 143 - The shaft assembly of Embodiments 139, 140, 141 or 142, wherein the second articulation lock includes a first arm configured to engage the first articulation driver and configured to engaging a second arm of the second articulation driver, and wherein the first articulation lock is configured to articulate the first arm with the first during a locking motion of the first articulation lock A motion driver engages and engages the second arm with the second articulation driver.

Embodiment 144 - The shaft assembly of Embodiments 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, or 143, wherein the end effector further comprises a spike warehouse.

Embodiment 145 - The shaft assembly of Embodiment 144, wherein the staple cartridge is replaceable.

Example 146 - A shaft assembly including a shaft frame, and an end effector including an end effector frame. The shaft assembly also includes an articulation joint, wherein the articulation joint rotatably connects the end effector frame to the shaft frame and is configured to enable the end effector to surround the joint Articulation driver for the rotation of the kinematic joint. The shaft assembly also 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 driver and The end effector frame is prevented from rotating relative to the shaft frame.

Embodiment 147 - The shaft assembly of Embodiment 146, wherein the end effector further comprises a staple cartridge.

Example 148 - A shaft assembly including a shaft frame, and an end effector including an end effector frame. The shaft assembly also includes an articulation joint, wherein the articulation joint rotatably connects the end effector frame to the shaft frame, and is displaceable to move the end effector about the articulation Articulation driver for joint rotation. The shaft assembly also includes a first locking device for selectively preventing rotation of the rotary end effector about the articulation joint, and a second locking device for selectively preventing displacement of the articulation driver locking device.

Embodiment 149 - The shaft assembly of Embodiment 148, wherein the end effector further comprises a staple cartridge.

Many of the surgical instrument systems described herein are actuated by electric motors; however, the surgical instrument systems described herein may be actuated in any suitable manner. In various instances, for example, the surgical instrument systems described herein may be actuated by manually operated triggers. In some instances, the motors disclosed herein may include part or parts of a robotic control system. Furthermore, any end effector and/or tool assembly disclosed herein may be used with a robotic surgical instrument system. For example, US Patent Application Serial No. 13/118,241 (now US Patent 9,072,535) entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS" discloses several examples of robotic surgical instrument systems in greater detail.

The surgical instrument systems described herein have been described in conjunction with deployment and deformation of the staples; however, the embodiments described herein are not so limited. For example, various embodiments are contemplated that deploy fasteners other than nails, such as clips or tacks. In addition, various embodiments are contemplated that utilize any suitable device for sealing tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Additionally, for example, end effectors 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 "ELECTROSURGICAL HEMOSTATIC DEVICE," issued April 4, 1995;

U.S. Patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" issued on February 21, 2006;

U.S. Patent 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK," issued September 9, 2008;

U.S. Patent 7,464,849 entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS" issued December 16, 2008;

U.S. Patent 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATINGEND EFFECTOR," issued March 2, 2010;

US Patent 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS," issued July 13, 2010;

U.S. Patent 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE," issued March 12, 2013;

US Patent Application Serial No. 11/343,803 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now US Patent 7,845,537;

U.S. Patent Application Serial No. 12/031,573, "SURGICAL CUTTING AND FASTENING INSTRUMENTHAVING RF ELECTRODES," filed February 14, 2008;

U.S. Patent Application Serial No. 12/031,873 (now U.S. Patent 7,980,443), filed February 15, 2008, entitled "END EFFECTORS FOR ASURGICAL CUTTING ANDSTAPLING INSTRUMENT";

US Patent Application Serial No. 12/235,782 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now US Patent 8,210,411;

US Patent Application Serial No. 12/249,117 entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now US Patent 8,608,045;

US Patent Application Serial No. 12/647,100, filed December 24, 2009, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENTWITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY"; now US Patent 8,220,688;

US Patent Application Serial No. 12/893,461, filed September 29, 2012, entitled "STAPLE CARTRIDGE," now US Patent No. 8,733,613;

US Patent Application Serial No. 13/036,647, "SURGICAL STAPLING INSTRUMENT," filed February 28, 2011, now US Patent No. 8,561,870;

US Patent Application Serial No. 13/118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS", now US Patent 9,072,535;

U.S. Patent Application Serial No. 13/524,049, filed June 15, 2012, entitled "ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING A FIRING DRIVE"; now U.S. Patent 9,101,358;

US Patent Application Serial No. 13/800,025, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM," now US Patent 9,345,481;

US Patent Application Serial No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM," filed March 13, 2013, now US Patent Application Publication 2014/0263552;

U.S. Patent Application Publication 2007/0175955, filed January 31, 2006, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTWITH CLOSURE TRIGGER LOCKING MECHANISM"; and

US Patent Application Publication 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR," filed April 22, 2010, now US Patent 8,308,040.

Although various apparatuses have been described herein in connection with certain embodiments, many modifications and variations of these embodiments can be implemented. The particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. Thus, without limitation, a particular feature, structure or characteristic 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. Additionally, where materials are disclosed for certain components, other materials may also be used. Furthermore, according to various embodiments, a single component may be replaced with multiple components, and multiple components may 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 devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned after at least one use. Repair may include any combination of steps including, but not limited to, disassembly of the device, followed by cleaning or replacement of specific components of the device, and subsequent reassembly of the device. Specifically, the repair facility and/or surgical team may disassemble the device, and after cleaning and/or replacing certain components of the device, the device may be reassembled for subsequent use. Those skilled in the art will understand that the trimming device can 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 this application.

The devices disclosed herein can be processed prior to surgery. First, new or used instruments are available and cleaned as needed. The instruments can 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 device can then be exposed to a radiation field that penetrates the container, such as gamma radiation, X-rays, and/or high-energy electrons. Radiation kills bacteria on instruments and in containers. The sterilized instruments can then be stored in sterile containers. The sealed container keeps the instrument sterile until the container is opened in the medical facility. The device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.

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

Any patent, publication or other disclosure material incorporated herein by reference, in whole or in part, is incorporated only to the extent that the incorporated material does not conflict with existing definitions, statements or other disclosure material described herein This article. Accordingly, and to the extent necessary, the disclosure expressly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated herein by reference but which conflicts with existing definitions, statements, or other disclosed material set forth herein will only not arise between the incorporated material and the existing disclosed material merged to the extent of conflict.

Claims (18)

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;

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;

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;

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

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