CN105682573B - Cover retention configuration for sterilizable surgical instruments - Google Patents

Abstract

A surgical instrument includes a shaft, an end effector extending distally from the shaft, and a housing extending proximally from the shaft. The housing comprises a first cover portion; a second cover portion; a working assembly nested in the first cover portion, wherein the working assembly is detachable from the first cover portion, wherein the second cover portion is removably coupleable to the first cover portion to allow the working assembly to be detached from the first cover portion; and at least one securing member movable to secure the working assembly to the first shroud portion.

Description

Cover retention configuration for sterilizable surgical instruments

technical field

The present invention relates to a surgical instrument and, in various configurations, to powered surgical cutting and stapling instruments and cartridges thereof designed for cutting and stapling tissue.

Background technique

Surgical staplers are commonly used to deploy staples into soft tissue, for example, to reduce or eliminate bleeding of the soft tissue, especially when the tissue is transected. A surgical stapler, such as an endocutter, may include an end effector that is movable or articulated relative to the elongated shaft assembly. End effectors are often configured to secure soft tissue between a first jaw member and a second jaw member, wherein the first jaw member often includes a staple cartridge configured to removably store staples therein , the second jaw member often includes an anvil. Such surgical staplers may include a closure system for pivoting the anvil relative to the staple cartridge.

As noted above, surgical staplers can be configured to enable the anvil of the end effector to pivot relative to the staple cartridge so as to capture soft tissue therebetween. In various instances, the anvil can be configured to apply a clamping force to the soft tissue so as to hold the soft tissue securely between the anvil and the staple cartridge. However, if the surgeon is not satisfied with the position of the end effector, the surgeon must typically activate a release mechanism on the surgical stapler to pivot the anvil into an open position and then reposition the end effector. The staples are then deployed from the staple cartridge, typically by a driver, which traverses a channel in the staple cartridge, deforming the staples against the anvil and securing the layers of soft tissue together. As is known in the art, staples are often deployed in several staple lines or rows to more securely secure tissue layers together. The end effector may also include a cutting member, such as a knife, that is advanced between the two rows of staples to cut the soft tissue after the layers of soft tissue have been stapled together.

Such surgical staplers and effectors may be sized and configured to be inserted into body cavities through trocars or other access openings. The end effector is typically coupled to an elongated shaft sized to pass through a trocar or opening. The elongate shaft assembly is typically operably coupled to a handle that supports a control system and/or trigger for controlling operation of the end effector. To facilitate proper positioning and orientation of the end effector within the body, many surgical instruments are configured to facilitate articulation of the end effector relative to a portion of the elongated shaft.

Powered surgical instruments are disclosed in US Patent Application Publication US 2009/0090763A1 entitled POWERED SURGICAL STAPLING DEVICE to Zemlok et al. (hereinafter "Zemlok '763"), the entire disclosure of which is hereby incorporated by reference way incorporated into this article. Powered surgical instruments are also disclosed in Zemlok et al., U.S. Patent Application Publication US 2011/0278344A1 (hereinafter, "Zemlok '344") (now U.S. Patent 8,201,721), entitled POWERED SURGICAL INSTRUMENT, which published The entire disclosure is hereby incorporated by reference herein.

The above discussion is only for the purpose of illustrating each present aspect of the relevant art in the technical field of the present invention, and should not be taken as a negation of the scope of the claims.

Description of drawings

The features and advantages of the present invention, as well as the method of obtaining them, will become more apparent and the invention itself can be better understood by reference to the following description of embodiments of the invention, taken in conjunction with the accompanying drawings, in which:

Figure 1 is a perspective view of one form of surgical instrument in a retracted configuration;

2 is a perspective view of an exemplary loading unit that may be used in conjunction with the various surgical instruments disclosed herein;

Figure 3 is an exploded perspective view of a portion of the loading unit shown in Figure 2;

Figure 4 is a top view of a portion of the surgical instrument of Figure 1;

5 is a partial side view of a portion of the surgical instrument shown in FIG. 4 with the clutch assembly in a disengaged position;

Figure 6 is a top view of a portion of a retraction assembly embodiment and its retraction lever configuration;

Figure 7 is a partially exploded view of a form of a drive unit, partly shown in section;

8 is another top view of a portion of a surgical instrument with the drive unit locking system in a locked position;

Figure 9 is a top view of one form of locking pawl assembly;

10 is a side elevational view of the locking pawl assembly of FIG. 9;

Figure 11 is a bottom view of the locking pawl assembly of Figures 9 and 10;

Figure 12 is a front view of an embodiment of a gearbox housing;

13 is a partial side sectional view of an embodiment of a surgical instrument with portions thereof shown in section and with the drive unit locking system in a locked orientation;

14 is another partial side sectional view of the surgical instrument of FIG. 13 with the drive unit locking system in an unlocked orientation;

15 is a top view of another surgical instrument embodiment with a portion of the housing removed to expose a portion of the instrument's drive unit locking system configuration;

16 is a partial side sectional view of the surgical instrument embodiment of FIG. 15 , shown partially in section, with the drive unit locking system shown in solid lines in a locked orientation and the drive unit locking system in an unlocked orientation in dashed lines;

17 is another partial top view of the surgical instrument embodiment of FIGS. 15 and 16 , wherein the solid line shows the position of the retraction lever before actuation and the dotted line shows the position of the retraction lever after initial actuation;

18 is another partial top view of the surgical instrument embodiment of FIGS. 15-17, showing the retraction lever in a fully actuated position in dashed lines;

19 is a partial top view of a portion of another surgical instrument embodiment with a portion of the housing omitted to expose the instrument's drive unit locking system, showing the retraction lever in an unactuated position in solid lines and retraction lever after initial actuation;

20 is a partial top view of another surgical instrument embodiment with a portion of the housing omitted to expose the drive unit locking system in a locked orientation;

21 is another partial top view of the surgical instrument embodiment of FIG. 20 with the drive unit locking system in an unlocked orientation;

22 is a side view, partially in section, of a surgical instrument and a portion of an end effector with its retraction assembly in an unactuated orientation;

23 is another partial cutaway side view of the surgical instrument and end effector of FIG. 22 after the firing rod assembly has been fired;

24 is another partial cutaway side view of the surgical instrument and end effector of FIG. 23 after the retraction assembly has been actuated to retract the drive beam back to its original position within the end effector;

25 is a side view, in partial section, of another surgical instrument and a portion of an end effector in a pre-fired state with its retraction assembly in a non-actuated orientation;

26 is another partial cutaway side view of the surgical instrument and end effector of FIG. 25 after firing;

27 is another side view, partially in section, of the surgical instrument and end effector of FIG. 26 with the latch of the retraction member thereof in an unlatched state;

28 is another partial cutaway side view of the surgical instrument and end effector of FIG. 27 with the distal firing rod portion in a retracted orientation;

Figure 29 is a partial cross-sectional view of a portion of another surgical instrument embodiment with its drive coupler assembly in an articulating orientation;

30 is a partial cross-sectional view of a portion of the surgical instrument embodiment of FIG. 29 with its drive coupler assembly in a fired orientation;

31 is an enlarged broken view of the drive coupler assembly of the surgical instrument of FIGS. 29 and 30 with the coupler selector member shown in solid lines in an articulating orientation and the coupler selector member shown in phantom lines in a fired orientation;

Figure 32 is a partial cross-sectional view of a portion of another surgical instrument embodiment;

Figure 33 is an enlarged partial cross-sectional view of a portion of the surgical instrument of Figure 32;

34 is another enlarged partial cross-sectional view of a portion of the surgical instrument of FIGS. 32 and 33 with its travel limiter in its most distal orientation;

35 is another enlarged partial cross-sectional view of the surgical instrument of FIGS. 32-34 with its travel limiter in its proximal-most orientation;

36 is a partial cross-sectional view of the surgical instrument of FIG. 33 taken along line 36-36 in FIG. 33;

Figure 37 is a partial perspective view of a portion of the surgical instrument of Figures 32-36;

38 is a partial perspective view of a shaft, collar, and disposable loading unit not attached to the shaft of a surgical instrument according to various embodiments of the present disclosure;

Figure 39 is a partial perspective view of the shaft, collar, and disposable loading unit of Figure 38, showing the disposable loading unit attached to the shaft;

Figure 40 is a partially exploded perspective view of the shaft, collar, and disposable loading unit of Figure 38;

41 is another partially exploded perspective view of the shaft, collar, and disposable loading unit of FIG. 38;

42 is a perspective view of the distal attachment portion of the disposable loading unit of FIG. 38;

43 is another perspective view of the distal attachment portion of the disposable loading unit of FIG. 38;

Figure 44 is a perspective view of the proximal attachment portion of the shaft of Figure 38;

45 is another perspective view of the proximal attachment portion of the shaft of FIG. 38;

46 is a perspective view of the collar and firing shaft of the surgical instrument of FIG. 38;

47 is a partial perspective cutaway view of the disposable loading unit, collar, and shaft of FIG. 38, showing the disposable loading unit attached to the shaft;

Figure 48 is a partial elevational cross-sectional view of the disposable loading unit, collar, and shaft of Figure 38, showing the disposable loading unit not attached to the shaft;

49 is a partial elevational cross-sectional view of the disposable loading unit, collar, and shaft of FIG. 38, showing the disposable loading unit attached to the shaft;

Figure 50 is an elevational view of the bushing and shaft of Figure 38 taken along the plane shown in Figure 48;

Figure 51 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of Figure 38, showing the disposable loading unit not attached to the shaft, and also showing the collar in an initial orientation relative to the shaft ;

Figure 52 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of Figure 38, showing the disposable loading unit not attached to the shaft, and also showing the collar in an initial orientation relative to the shaft ;

53 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of FIG. 38, showing the disposable loading unit entering the shaft, and also showing the collar in an initial orientation relative to the shaft;

Figure 54 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of Figure 38, showing the disposable loading unit entering the shaft, and also showing the collar in a second, rotational orientation relative to the shaft ;

Figure 55 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of Figure 38, showing the disposable loading unit entering the shaft, and also showing the collar in a second, rotational orientation relative to the shaft ;

56 is a perspective, partial cutaway view of the disposable loading unit, collar, and shaft of FIG. 38, showing the disposable loading unit fully inserted into the shaft, and also showing the disposable loading unit in a second, rotational orientation relative to the shaft. Lining;

57 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of FIG. 38, showing the disposable loading unit fully inserted into the shaft, and also showing the collar in an initial orientation relative to the shaft;

58 is a perspective, partial cross-sectional view of the disposable loading unit, collar, and shaft of FIG. 38, showing the disposable loading unit fully inserted into the shaft, and also showing the collar in an initial orientation relative to the shaft;

59 is a partial, perspective, cross-sectional view of a shaft of a surgical instrument and a disposable loading unit not attached to the shaft, according to various embodiments of the present disclosure;

Figure 60 is a partial, perspective, cross-sectional view of the shaft and disposable loading unit of Figure 59, showing the disposable loading unit fully inserted into the shaft, and also showing the latch in an unlatched position;

Figure 61 is a partial, perspective, cross-sectional view of the shaft and disposable loading unit of Figure 59, showing the disposable loading unit fully inserted into the shaft, and also showing the latch in a latched position;

Figure 62 is a partial, front, cross-sectional view of the shaft and disposable loading unit of Figure 59, showing the disposable loading unit fully inserted into the shaft, and also showing the latch in a latched position;

63 is a schematic diagram of torque-voltage curves according to various embodiments of the present disclosure;

Figure 64(a) is a schematic diagram of high duty cycle periodic pulses delivered by a pulse width modulation circuit according to various embodiments of the present disclosure;

Figure 64(b) is a schematic diagram of low duty cycle pulses delivered by a pulse width modulation circuit according to various embodiments of the present disclosure;

Fig. 65(a) is a schematic diagram of a firing element driven by a high duty cycle periodic pulse of the pulse width modulation circuit of Fig. 64(a);

Fig. 65(b) is a schematic diagram of a firing element driven by a low duty cycle periodic pulse of the pulse width modulation circuit of Fig. 64(b);

66(a)-66(c) are schematic diagrams of a pulse width modulation circuit having a primary coil set and an auxiliary coil set according to various embodiments of the present disclosure;

67 is a graph illustrating speed and torque throughout the firing stroke, according to various embodiments of the present disclosure;

FIG. 68 is a graph illustrating a speed limiting test segment during a firing stroke, according to various embodiments of the present disclosure;

69 and 70 are schematic diagrams of simplified stepper motors according to various embodiments of the present disclosure;

71-73 are schematic diagrams of hybrid stepper motors according to various embodiments of the present disclosure;

Figures 74(a)-74(c) are schematic illustrations of the hybrid stepper motor of Figures 71-73, showing varying polarity;

75 is a perspective view of a display including a touch screen for use with an endoscope according to various embodiments of the present disclosure;

76 is a front view of a first information layer displayed on the display of FIG. 75, wherein the first information layer includes video feed of a disposable loading unit (DLU) attached to a surgical instrument as viewed by an endoscope;

77 is a front view of a second information layer displayed on the display of FIG. 75, wherein the second information layer includes a control panel for receiving input via a touch screen;

Figure 78 is a front view of the second information layer of Figure 77 superimposed on the first information layer of Figure 76;

79 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. 76, wherein the second information layer includes digital data related to the progress of the knife when the knife is located near the beginning of the firing stroke and the knife. visual representation of progress;

Figure 80 is a front view of the second information layer of Figure 77 superimposed on the first information layer of Figure 76, wherein the second information layer includes digital data related to the progress of the knife when the knife is located near the distal end of the firing stroke and a visual representation of knife progress;

Figure 81 is a front view of the second information layer of Figure 77 superimposed on the first information layer of Figure 76, wherein the second information layer includes a knife superimposed on the detection position of the knife in the DLU shown in the first information layer symbol representation;

82 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. 76, wherein the second information layer includes a graphical representation of the velocity of the distal advancing knife during the firing stroke;

Figure 83 is a front view of the second information layer of Figure 77 superimposed on the first information layer of Figure 76, wherein the second information layer includes clamping forces applied by the DLU jaws to tissue along the length of the DLU jaws a graphical representation of;

Figure 84 is a front view of the second information layer of Figure 77 superimposed on the first information layer of Figure 76, wherein the second information layer includes digital data related to the orientation of the DLU, and wherein the DLU shown in the first information layer in a non-articulated orientation;

85 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. 76, wherein the second information layer includes digital data related to the orientation of the DLU and a visual representation of the orientation of the DLU, and wherein the second information layer An information layer shows the DLU in the articulation orientation;

86 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. 76, showing input from the user for adjusting the articulation of the DLU via the touch screen of FIG. 75;

87 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. Schematic diagram to adjust the input of the joint motion of the DLU;

88 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. Motion-oriented DLU;

89 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. 76 showing input from the user for controlling the closure of the movable jaw via the touch screen of FIG. 75;

90 is a front view of the second information layer of FIG. 77 superimposed on the first information layer of FIG. 76, showing the first information layer in response to the user input shown in FIG. 89 in a clamped orientation. The movable jaw of DLU;

Figure 91 is a front view of a controller interface for the second information layer of Figure 77;

Figure 92 is a front view of the second information layer of Figure 77 superimposed on the first information layer of Figure 76, wherein the second information layer includes the controller interface and progress bar of Figure 91;

93 is a schematic diagram illustrating a communication system for a feedback controller with an endoscope, a surgical instrument, and the display of FIG. 75;

94 is an exploded view of a surgical instrument system including a handle and an end effector, the surgical instrument system including a plurality of indicators, in accordance with at least one embodiment;

95 is a partial front view of a handle of a surgical instrument system including multiple indicators in accordance with at least one embodiment;

96 is a partial cross-sectional view of a handle of a surgical instrument system including a trigger lock, showing the trigger lock in an unlocked state, in accordance with at least one embodiment;

Figure 97 is a partial cross-sectional view of the handle of Figure 96, showing the trigger lock in a locked state;

Figure 98 is a cross-sectional view of the trigger lock of Figure 96, showing the trigger lock in its unlocked state;

Figure 99 is a cross-sectional view of the trigger lock of Figure 96, showing the trigger lock in its locked state;

99A is a flow chart outlining an operating procedure for a surgical instrument for evaluating whether the surgical instrument has been exposed to a temperature above its threshold temperature and determining a manner of notifying a user of the surgical instrument that the threshold temperature has been exceeded;

100 is a cross-sectional view of a handle of a surgical instrument system including a trigger lock in a locked state, in accordance with at least one embodiment;

Figure 101 is a cross-sectional detail view of the handle of Figure 100 showing the trigger lock in its locked state;

Figure 102 is another cross-sectional detail view of the handle of Figure 100, showing the trigger lock in its unlocked state;

Figure 103 is a perspective view of the trigger lock of Figure 100 shown in its locked state;

104 is a partial cutaway perspective view of a handle of a surgical instrument system including a trigger lock in a locked state, in accordance with at least one embodiment;

Figure 105 is a partial cutaway perspective view of the handle of Figure 104 shown in an unlocked state;

Figure 106 is a partial cross-sectional left side view of the handle of Figure 104 shown in its locked state;

Figure 107 is a partial cutaway right side view of the handle of Figure 104 shown in its locked state;

Figure 108 is a partial cross-sectional left side view of the handle of Figure 104 shown in its unlocked state;

Figure 109 is a partial cutaway right side view of the handle of Figure 104 shown in its unlocked state;

110 is a process flow diagram illustrating steps that may be performed using a controller of a surgical instrument to process signals received from an end effector attached to the surgical instrument;

110A is a schematic diagram illustrating an array of parameters that may be provided from an end effector to a surgical instrument;

Figure 111 is a process flow diagram illustrating steps for using the end effector and surgical instrument of Figure 110;

Figure 112 is a schematic diagram illustrating an interconnector between an end effector and a shaft of a surgical instrument, in accordance with at least one embodiment;

Figure 113 is a plan view of a printed circuit board of the interconnector of Figure 112;

Figure 114 is a partial perspective view of an end effector of a surgical instrument in accordance with at least one embodiment;

Figure 115 is a partial perspective view of a shaft of a surgical instrument and the end effector of Figure 114;

116 is a cross-sectional view of the end effector of FIG. 114 attached to the shaft of FIG. 115;

Figure 117 is a cross-sectional view of an interconnector between an end effector and a shaft in accordance with at least one embodiment;

Figure 118 is a cross-sectional view of an interconnect between an end effector and a shaft in accordance with at least one embodiment;

Figure 119 is a cross-sectional view of an interconnector between an end effector and a shaft in accordance with at least one embodiment;

Figure 120 is a detailed view of the interconnector of Figure 119;

121 is a side view of an end effector including an anvil and an anvil position indicator showing the anvil in an open position, according to at least one embodiment;

Figure 122 is a side view of the end effector of Figure 121, showing the anvil in a partially closed position;

Figure 123 is another side view of the end effector of Figure 121, showing the anvil in a partially closed position;

Figure 124 is another side view of the end effector of Figure 121, showing the anvil in a partially closed position;

Figure 125 is a detail view of the anvil position indicator of Figure 121 showing the anvil in the position shown in Figure 121;

Figure 126 is a detail view of the anvil position indicator of Figure 121 showing the anvil in the position shown in Figure 122;

Figure 127 is a detail view of the anvil position indicator of Figure 121 showing the anvil in the position shown in Figure 123;

Figure 128 is a detail view of the anvil position indicator of Figure 121 showing the anvil in the position shown in Figure 124;

Figure 129 illustrates a cutaway side view of a surgical instrument according to certain embodiments disclosed herein;

Figure 130 illustrates a power system for powering the surgical instrument of Figure 129, wherein the power system is in communication with the control system of the surgical instrument of Figure 129;

Figure 131 shows the battery pack of the power system of Figure 130 connected to a charger dock;

Figure 132 shows a power management circuit of the power system of Figure 130;

Figure 133 shows a schematic block diagram illustrating operating parameters of the power system of Figure 130;

Figure 134 shows a perspective view of a power source for a surgical instrument according to various embodiments described herein;

Figure 135 illustrates a perspective view of the power source of Figure 134 disassembled according to various embodiments described herein;

FIG. 136 shows a circuit diagram of a circuit of the power source of FIG. 134 including an integral disconnectable portion, according to various embodiments described herein;

FIG. 137 shows a circuit diagram of the circuit of FIG. 136 with the disconnectable portion disconnected, according to various embodiments described herein;

Figure 138 shows a block diagram of a system for protecting data stored in memory from unauthorized access, according to various embodiments described herein;

Figure 139 shows a perspective view of a power source of a surgical instrument including an overlaid data access portal;

Figure 140 shows the data access entry of Figure 139 in an uncovered configuration;

Figure 141 shows a perspective view of a power source for a surgical instrument including an internal data access portal;

Figure 142 shows a block diagram of a system for protecting data stored in memory from unauthorized access, according to various embodiments described herein;

Figure 143 shows a perspective view of a power source for a surgical instrument according to various embodiments described herein;

Figure 144 shows a perspective view of the power source of Figure 143 coupled to a surgical instrument;

Figure 145 illustrates LEDs of the power source of Figure 143 in different configurations according to various embodiments described herein;

Figure 146 shows a side view of a surgical instrument including a housing according to various embodiments described herein;

Figure 147 shows a side view of the housing of Figure 146 with the outer housing removed to expose removable components secured to the housing by securing members;

Figure 148 shows a side view of the housing of Figure 147 with the detachable parts removed from the housing;

Figure 149 is a schematic diagram illustrating a detectable indentation, indentation, or barcode imprint defined in a surface of an end effector;

Figure 150 is a schematic diagram of an exemplary barcode that may be used with a barcode reader;

Figure 151 is a partial side view of a shaft of an end effector including a barcode in accordance with at least one embodiment;

152 is a partial front view of a shaft of an end effector of a surgical instrument including a barcode, according to at least one embodiment;

153 is a partial perspective view of a handle of a surgical instrument including a barcode reader, according to at least one embodiment;

Figure 154 is a cross-sectional view showing the barcode reader of Figure 153 with an end effector positioned therein;

Figure 155 is an exploded perspective view of an end effector and shaft of a surgical instrument in accordance with at least one embodiment;

Figure 156 is an exploded perspective view of an end effector and shaft of a surgical instrument according to at least one embodiment, wherein the end effector includes portions of a firing member releasably locked together;

Figure 157 is a partial perspective view of the firing member portions of Figure 156 locked together by a locking member;

158 is a partial perspective view of the firing member portion and locking member of FIG. 156, showing a portion of the firing member removed to reveal the locking member releasably locking the firing member portions together;

159 is an exploded view of the firing member of FIG. 156 with a release actuator configured to move the locking member to an unlocked state and partially unlock the firing member;

Figure 160 is a partial exploded view of the interconnect between the release actuator of Figure 159 and the corresponding shaft release actuator;

Figure 161 is a cross-sectional view of the interconnector of Figure 160;

162 is an exploded perspective view of an assembly including a motor, a drive shaft, and a slip clutch configured to selectively transmit rotation between the motor and drive shaft;

Figure 163 is a cross-sectional view of the assembly of Figure 162;

Figure 164 is a perspective view of a biasing element of the slip clutch of Figure 162;

Figure 165 is a cross-sectional view of the assembly of Figure 162 showing the clutch elements of the slip clutch in an intermediate position;

Figure 166 is a cross-sectional view of the assembly of Figure 162 showing the clutch element of Figure 165 in a forward position;

Figure 167 is a cross-sectional view of the assembly of Figure 162 showing the clutch element of Figure 165 in a reverse position;

Figure 168 is a perspective view of a motor and gear assembly according to various embodiments of the present disclosure;

Figure 169 is a perspective view of a motor, gear assembly, and audio feedback generator according to various embodiments of the present disclosure;

170 is an elevational view of a pick on a disc of the gear assembly of FIG. 169 showing the disc rotating in a clockwise direction and a clicker engaging the audio feedback generator of FIG. 169 in accordance with various embodiments of the present disclosure. Pick;

171 is an elevational view of a pick on a disc of the gear assembly of FIG. 169 showing the disc rotating in a counterclockwise direction and a clicker engaging the audio feedback generator of FIG. 169 in accordance with various embodiments of the present disclosure. Pick;

172 is a perspective view of a motor, a gear assembly having multiple discs, and an audio feedback generator, according to various embodiments of the present disclosure;

173 is a graphical representation of feedback generated by the audio feedback generator of FIG. 172 near the end of the firing stroke, according to various embodiments of the present disclosure;

174 and 175 are graphical representations of feedback generated by the audio feedback generator of FIG. 172 near the limits of articulation of a loading unit, according to various embodiments of the present disclosure;

Figure 176 is a schematic diagram illustrating an algorithm for operating a surgical instrument;

Figure 177 is another schematic diagram illustrating an algorithm for operating a surgical instrument;

Figure 178 is a schematic diagram illustrating an algorithm for operating a surgical instrument;

Figure 179 is a circuit configured to indicate battery voltage;

Figure 180 is a circuit diagram of a blinker configured to indicate that a battery is charged;

Figure 181 is a schematic illustration of a diagnostic test for use with a surgical instrument, according to at least one embodiment;

Fig. 182 is a schematic diagram illustrating the discharge of a battery and power cut-off when the charge of the battery is below a minimum charge level;

Figure 183 is a table of information that may be maintained to record the operation and/or performance of the battery;

Figure 184 is a schematic diagram of a battery diagnostic circuit;

185 is a perspective view of a sealed motor and gear assembly for use with a surgical instrument according to various embodiments of the present disclosure; and

186 is an exploded, front, cross-sectional view of the canned motor and gear assembly of FIG. 185, according to various embodiments of the present disclosure.

Detailed ways

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

- U.S. Patent Application entitled FIRING MEMBER RETRACTION DEVICES FOR POWERED SURGICALINSTRUMENTS, Attorney Docket No. END7293USNP/130016;

- U.S. Patent Application entitled SECONDARY BATTERY ARRANGEMENTS FOR POWERED SURGICALINSTRUMENTS, Attorney Docket No. END7294USNP/130017;

- U.S. Patent Application entitled ERROR DETECTION ARRANGEMENTS FOR SURGICAL INSTRUMENT ASSEMBLIES, Attorney Docket No. END7295USNP/130018;

- US Patent Application entitled ATTACHMENT PORTIONS FOR SURGICAL INSTRUMENT ASSEMBLIES, Attorney Docket No. END7296USNP/130019;

- US Patent Application entitled TAMPER PROOF CIRCUIT FOR SURGICAL INSTRUMENT BATTERY PACK, Attorney Docket No. END7297USNP/130020;

- U.S. Patent Application entitled CLOSURE INDICATOR SYSTEMS FOR SURGICAL INSTRUMENTS, Attorney Docket No. END7298USNP/130021;

- U.S. Patent Application entitled TORQUE OPTIMIZATION FOR SURGICAL INSTRUMENTS, Attorney Docket No. END7299USNP/130022;

- US Patent Application entitled CONDUCTOR ARRANGEMENTS FOR ELECTRICALLY POWERED SURGICALINSTRUMENTS WITH ROTATABLE END EFFECTORS, Attorney Docket No. END7301USNP/130024;

- U.S. Patent Application entitled END EFFECTOR DETECTION SYSTEMS FOR SURGICAL INSTRUMENTS, Attorney Docket No. END7302USNP/130025;

- US Patent Application entitled FIRING TRIGGER LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, Attorney Docket No. END7303USNP/130026;

- U.S. Patent Application entitled INTERACTIVE DISPLAYS, Attorney Docket No. END7304USNP/130027; and

-US Patent Application entitled MOTOR-POWERED ARTICULATABLE SURGICAL INSTRUMENTS, Attorney Docket No. END7305USNP/130028.

Certain exemplary embodiments will now be described to provide an overall understanding of the principles of structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will appreciate that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is limited only by the claims Book limited. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

The terms "comprise" (and any form of including, such as "comprises" and "comprising"), "having" (and any form of having, such as "has" and "having ”), “comprising” (and any form of containing, such as “includes”, and “including” and “containing” (and any form of containing, such as “contains” and “containing ( containing)") is an open-ended copula. Thus, a surgical system, device, or device that "comprises," "has," "comprises," or "contains" one or more elements has those one or more elements, but does not is limited to having only these one or more elements. Likewise, an element of a system, device, or device that "comprises", "has", "comprises" or "contains" one or more features has these one or more features, but Not limited to having only one or more of these features.

The terms "proximal" and "distal" are used herein with respect to the clinician manipulating the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion remote from the clinician. It should also be understood that spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein in connection with the drawings for the sake of brevity and clarity. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, those of ordinary skill in the art will readily appreciate that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including, for example, in conjunction with open surgery. Continuing to refer to the detailed description, those skilled in the art will further understand that various instruments disclosed herein can be inserted into the body in any way, such as through natural orifices, through incisions or puncture holes formed in tissues, and the like. The working or end effector portion of the instrument may be inserted directly into the patient or may be inserted through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument may be advanced.

FIG. 1 shows a powered surgical instrument 10, which may be similar in many respects (including various features, components, and subcomponents thereof) to those disclosed, for example, in Zemlok '763 and/or Zemlok '344, the Each is incorporated herein by reference in its entirety. Surgical instrument 10 shown in FIG. 1 includes a housing 12 having a handle portion 14 to facilitate handling and operation of the instrument. Accordingly, the term "housing" as used herein may encompass hand-held configurations or configurations that can be otherwise manually manipulated. However, the term "housing" may also encompass parts of automated housing instrumentation systems (e.g., robotically controlled systems) that are not intended to be and/or the actuator is otherwise manipulated and actuated.

An elongate shaft assembly 16 in the form of an endoscopic portion protrudes from housing 12 and is configured to be operably attachable to a surgical end effector configured to respond to a force applied thereto. An action is fired to perform at least one surgical procedure. Such surgical end effectors may include, for example, linear cutters, graspers, or other devices that may include a pair of jaws, one of which is selectively movable relative to the other or in some configuration. Both jaws in the model are movable relative to each other. By way of another example, a surgical end effector may include a device configured to cut and staple tissue, such as a "loading unit" 20 as shown in FIGS. 2 and 3 . A surgical end effector, such as loading unit 20 , for example, is releasably attachable to elongate shaft assembly 16 of powered surgical instrument 10 , as described in greater detail herein.

One exemplary form of loading unit 20 that may be used with surgical instrument 10 is shown in FIGS. 2 and 3 . Such loading unit 20 may be similar to the loading unit disclosed in the aforementioned U.S. Patent Application Publication, which is incorporated herein by reference in its entirety, as well as, for example, U.S. Patent Application titled SURGICAL STAPLING INSTRUMENTSWITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS the disclosure of which is incorporated herein by reference The loading unit disclosed in publication US 2012-0298719-A1.

As can be seen in FIG. 2 , loading unit 20 includes an anvil assembly 22 supported for pivotal travel relative to a carrier 24 that operatively supports a staple cartridge 26 therein. Mount assembly 28 is pivotally coupled to cartridge carrier 24 to form an articulation joint 27 that allows carrier 24 to pivot about an articulation axis "AA-AA" transverse to longitudinal tool axis "LA-LA". . Referring to FIG. 3 , the mounting assembly 28 may include, for example, an upper mounting portion 30 and a lower mounting portion 32 . Each mounting portion 30, 32 may include a threaded bore 34 on each side thereof sized to receive a bolt (not shown) to secure the proximal end of the carrier 24 to the on it. A pair of centrally located pivot members 36 may extend between the upper and lower mounting portions by a pair of coupling members 38 that engage the distal end of the housing portion 40 . Coupling members 38 may each include an interlocking proximal portion 39 configured to be received in a groove 42 formed in a proximal end of housing portion 40 to couple mounting assembly 30 and The housing portion 40 remains in a longitudinally fixed position.

As further seen in FIG. 3 , housing portion 40 of loading unit 20 may include an upper housing half 44 and a lower housing half 46 each configured to be received within outer housing 50 . The proximal end of housing half 44 may include an engagement block 48 for releasably engaging the distal end of elongated shaft assembly 16 . Block 48 may, for example, form a “bayonet-type” coupling with the distal end of elongated shaft assembly 16 . Various coupling configurations are described in some detail herein. The housing halves 44 , 46 may define a channel 47 for slidably receiving an axially movable drive beam 60 . The second articulation link 70 may be sized to be slidably positioned within a slot 72 formed between the housing halves 44 , 46 . A pair of “blast” plates 74 may be positioned adjacent the distal end of housing portion 40 adjacent the distal end of drive beam 60 to prevent drive beam 60 from bulging outward during articulation of carrier 24 .

Drive beam 60 may include a distal working head 62 and a proximal engagement portion 64 . Drive beam 60 may be made from a single sheet of material or preferably from a plurality of stacked sheets. The engagement portion 64 may include a pair of engagement fingers sized and configured to mountably engage a corresponding pair of retention slots formed in the drive member 66 . Drive member 66 may include a proximal aperture 67 configured to receive the distal end of the firing rod when the proximal end of loading unit 20 is engaged with the elongated shaft assembly of surgical instrument 10 . The distal working head 62 may have a tissue cutting portion 63 formed thereon. The distal working head 62 can also include a pair of pins 65 configured to engage the anvil assembly 22 to pivot to the closed position when the distal working head 62 is driven distally through the staple cartridge 26 , thereby clamping the tissue between the anvil 22 and the staple cartridge 26 . Tissue cutting portion 63 on distal working head 62 is used to cut through clamped tissue when surgical staples (not shown) supported in staple cartridge 26 are driven into contact with anvil 22 in a known manner. For example, distal working head 62 is configured to axially engage and advance a sled (not shown) movably supported within staple cartridge 26 . When drive member 66 drives the sled in the distal direction, the sled contacts a pusher (not shown) associated with the staple and causes the pusher to drive the staple out of cartridge 26 into engagement with anvil 22 of loading unit 20 .

As can be seen in FIG. 1 , surgical instrument 10 includes a motor 100 configured to produce a rotational actuation motion that may be used, for example, to apply a firing motion to loading unit 20 , as will be discussed in greater detail below. . In at least one form, for example, the motor 100 is configured to apply a rotational actuation motion to a firing member assembly, generally designated 82 . In one configuration, for example, firing member assembly 82 includes a drive tube 102 rotatably supported within housing 12 and having internal threads (not shown) formed therein. A proximal threaded portion of firing rod 104 is supported for threaded engagement with drive tube 102 such that rotation of drive tube 102 causes axial movement of firing rod 104 . The firing rod 104 may interface with internal threads of the drive beam 60 in the loading unit 20 . As discussed in greater detail in Zemlok '763 and Zemlok '344 cited above, rotation of drive tube 102 in a first direction (eg, counterclockwise) causes firing rod 104 to advance drive member 60 in a distal direction. Initial advancement of drive member 60 in the distal direction within loading unit 20 causes anvil 22 to pivot toward cartridge 26 . The anvil 22 is actuated by a pin 65 on the drive member 60 for camming the anvil 22 to the closed position upon initial actuation of the drive member 60 in the distal direction "DD". Additional distal translation of the firing rod 104 and final drive member 60 through the loading unit 20 causes the staples to be driven into contact with the staple-forming lower surface on the anvil 22 .

As further seen in FIG. 1 , surgical instrument 10 may include an articulation system, generally designated 109 . However, surgical instrument 10 may include various other articulation system configurations disclosed in detail herein. In at least one form, articulation system 109 may include an articulation mechanism 110 including an articulation motor 112 and a manual articulation knob 114 . The articulation motor 112 can be actuated by a powered articulation switch 116 or by pivoting a manual articulation knob 114 . Actuation of the articulation motor 112 is used to rotate the articulation gear 118 of the articulation mechanism 110 . Actuation of the articulation mechanism 110 may cause the end effector (e.g., the cartridge/anvil portion of the loading unit 20) to move from its first position (wherein its axis is aligned with the longitudinal tool axis “LA-LA” of the elongated shaft assembly 16 substantially aligned) to a position in which the axis of the end effector is disposed at an angle relative to the longitudinal tool axis "LA-LA" of the elongated shaft assembly about, for example, the articulation axis "AA-AA". Additional discussion of various aspects of the articulation mechanism 110 can be found in Zemlok '763, previously incorporated herein by reference in its entirety. Additionally, US Patent 7,431,188, entitled SURGICAL STAPLING APPARATUS WITH POWERED ARTICULATION, the entire disclosure of which is incorporated herein by reference, discloses a motor-powered articulable end effector usable in conjunction with surgical instrument 10 .

In various embodiments, the surgical instrument can include at least one motor that can impart a firing motion to the loading unit 20 and/or can impart an articulation motion to the articulation system 109, as described in greater detail elsewhere. stated. The motor 100 may be powered, for example, by a power source 200 of the type described in more detail in Zemlok '763. For example, power source 200 may include a rechargeable battery (eg, lead-based, nickel-based, lithium-ion based, etc.). It is also contemplated that power source 200 may include at least one disposable battery. Primary batteries may be, for example, from about 9 volts to about 30 volts. However, other power sources may be used. FIG. 1 shows an example in which a power source 200 includes a plurality of battery cells 202 . The number of battery cells 202 used may depend on the current load requirements of the instrument 10 .

In certain embodiments, surgical instrument 10 may include an auxiliary power source for powering at least one motor of surgical instrument 10 . For example, referring now to FIG. 129 , surgical instrument 10 may include a power system 2000 that may be configured to provide energy for operation of surgical instrument 10 . As shown in FIG. 129 , a power system 2000 may be disposed, for example, in the handle portion 14 of the housing 12 and may include a primary power source 2002 and an auxiliary or backup power source 2004 . Primary power source 2002 may be configured to provide energy for operation of surgical instrument 10 during normal operation, and auxiliary power source 2004 may be configured to provide energy for operation of surgical instrument 10 when primary power source 2002 is unable At least in a limited capacity, energy is provided for operation of surgical instrument 10 when primary power source 2002 is depleted and/or disconnected from surgical instrument 10 . For example, auxiliary power source 2002 may be configured to provide energy to restore surgical instrument 10 to a default state during a surgical procedure if primary power source 2002 is depleted and/or disconnected from surgical instrument 10 .

Referring to FIG. 1 , a power source, such as power source 200 , may provide power for operation of surgical instrument 10 , as described in greater detail elsewhere. For example, power source 200 may power a motor (eg, motor 100 ) to cause rotation of drive tube 102 in a first direction and ultimately cause axial advancement of firing rod 104 , thereby driving drive beam 60 distally through the loading chamber. Unit 20. Alternatively, power source 200 may provide power to motor 100 to cause rotation of drive tube 102 in a second direction opposite the first direction and ultimately cause axial retraction of firing rod 104, thereby causing drive beam 60 to move toward Proximal motion to its home and/or default position. Similarly, primary power source 2002 may be configured to provide power to motor 100 to advance and/or retract firing rod 104 during normal operation of surgical instrument 10 . Additionally, the auxiliary power source 2004 can be configured to provide the required power in situations where the primary power source 2002 is unable to provide the required power (e.g., when the primary power source 2002 is depleted and/or disconnected from the surgical instrument 10) to retract the firing rod 104 to the default position.

Further to the above, as described in greater detail elsewhere, surgical instrument 10 can be configured to record and store various information about surgical instrument 10 during a surgical procedure, e.g., end effector 20 (see FIG. 2 ) The articulation angle of the end effector 20, the actuation state of the end effector 20, the sensor readings, the number of firings, the tissue thickness, and/or the position of the firing rod 104. In some examples, such information may be recorded and stored in volatile or temporary memory units, such as random access memory (RAM) units, which may require power to maintain stored information. During normal operation of surgical instrument 10, primary power source 2002 (similar to other power sources described in greater detail elsewhere) may provide the power needed to maintain stored information within volatile or temporary memory units of surgical instrument 10 . Additionally, the auxiliary power source 2004 may provide the required power to temporarily provide the required power in the event that the primary power source 2002 is unable to provide the required power (e.g., when the primary power source 2002 is depleted and/or disconnected from the surgical instrument 10). Keep the stored information.

In certain aspects, surgical instrument 10 may include a control system 2005 of the type and configuration disclosed by Zemlok '763, which is incorporated herein by reference in its entirety. Additional details regarding the construction and operation of such a control system 2005 can be obtained from this publication. For example, control system 2005 may be configured to generate or provide information, such as warnings or instrument status, to a user through a user interface (eg, a visual or audio display). The signals or inputs generated by the control system 2005 may be, for example, in response to other signals or inputs provided by the user, instrument components, or may be a function of one or more measurements related to the instrument 10 . During normal operation of surgical instrument 10, as described in greater detail elsewhere, a power source, such as main power source 2002 (see FIG. The interface interacts with the user. Additionally, the auxiliary power source 2004 can provide the required power, at least in a limited capacity, in the event that the primary power source 2002 is unable to provide the required power (e.g., when the primary power source 2002 is depleted and/or disconnected from the surgical instrument 10). power to temporarily interact with the user through the user interface.

Referring now to FIG. 130 , a power system 2000 may include a power management circuit 2006 connectable to a primary power source 2002 and an auxiliary power source 2004 . Power management circuitry 2006 may include, or may be selectively associated with, semiconductors, computer chips, or memory. Power management circuitry 2006 may be configured to send analog or digital inputs or signals to various components of surgical instrument 10 (including but not limited to control system 2005, primary power source 2002, and/or auxiliary power source 2004), or to receive input from Analog or digital inputs or signals to various components of surgical instrument 10 . In various aspects, the power management circuit 2006 can use software (which can employ one or more algorithms) to further modulate the input signal to control and monitor various components of the surgical instrument 10, including the main power source 2002 and/or auxiliary power Source 2004. Such modulated input signals may be a function of criteria measured and/or calculated by power management circuitry 2006, or in some cases, may be generated by another instrument component, a user, or a person in operative communication with power management circuitry 2006. An independent system is provided to the power management circuit 2006 .

Referring again to FIG. 129 , the primary power source 2002 may include one or more battery cells, depending on the current load requirements of the instrument 10 . In various aspects, as shown in FIG. 129 , the primary power source 2002 can include a battery pack 2008 that can include, for example, a plurality of battery cells 2010 that can be connected in series with each other. Battery pack 2008 may be replaceable. In other words, the battery pack 2008 can be disconnected and removed from the surgical instrument 10, and can be replaced by another similar battery pack. In some aspects, primary power source 2002 may include a rechargeable battery (eg, lead-based, nickel-based, lithium-ion based, etc.). The battery cell 2008 may be, for example, a 3 volt lithium battery cell, such as a CR 123A battery cell, although in other embodiments, for example, a different type of battery cell may be used, such as a battery cell with a different voltage level and/or a different chemistry. A user may disconnect and remove the depleted or depleted battery pack 2008 from the surgical instrument 10 and connect the charged battery pack 2008 to provide power to the surgical instrument 10 . The depleted battery pack 2008 can then be charged and reused. It is also contemplated that primary power source 2002 may include at least one disposable battery. In various aspects, the disposable battery can be, for example, from about 9 volts to about 30 volts. The user can disconnect and remove the depleted disposable battery pack 2008 and connect a new disposable battery pack 2008 to power the surgical instrument 10 .

As noted above, the battery pack 2008 may include rechargeable battery cells and may be removably disposed within the handle portion 14 of the housing 12, for example. In such cases, battery pack 2008 may be charged using a charger dock. For example, as shown in FIG. 131 , charger base 2012 may be connected to battery pack 2008 by removing battery pack 2008 from its position in handle portion 14 and connecting it to charger base 2012 . As shown in FIG. 131 , the charger dock 2012 may include a power source 2014 for charging the battery pack 2008 . The power source 2014 of the charger base 2012 may be, for example, a battery (or a plurality of batteries connected in series), or an AC/DC converter that converts alternating current to direct current, for example from the mains, or a power source for charging the battery pack 2008. any other suitable power source. The charger base 2012 may also include indicator devices, such as LEDs, LCD displays, etc., to display the charging status of the battery pack 2008 .

Additionally, as shown in FIG. 131 , the charger dock 2012 may include, for example, one or more processors 2016 , one or more memory units 2018 , and i/o interfaces 2020 , 2022 . The charger base 2012 can communicate with the power pack 2008 through the first i/o interface 2020 (via the power pack's i/o interface) to allow, for example, data stored in the memory of the power pack 2008 to be downloaded to the memory of the charger base 2012 2020. In various cases, the downloaded data can then be downloaded via the second i/o interface 2022 to another computer device for use, for example, in a hospital system (in which a procedure involving the instrument 10 is performed), a surgical room, an instrument Distributors, device manufacturers, etc. for evaluation and analysis.

The charger stand 2012 may also include a fuel gauge 2024 for measuring the charge on the battery cells of the overall battery pack 2008 . Fuel gauge 2024 may be in communication with processor 2016 such that processor 2016 may determine the suitability of battery pack 2008 in real time for use in ensuring that the battery is functioning as intended.

Referring again to FIG. 129 , the auxiliary power source 2004 may include one or more battery cells 2026 that may be disposed within the handle portion 14, for example. The battery cells 2026 may be rechargeable (eg, lead-based, nickel-based, lithium-ion based, etc.). For example, battery cell 2026 may be a 3 volt lithium battery cell, such as a CR 123A battery cell. Additionally, the battery unit 2026 may be configured to be rechargeable without being removed from the instrument 10 . For example, battery unit 2026 may be charged using primary power source 2002 when primary power source 2002 is connected to instrument 10 .

Referring to FIG. 132, an exemplary embodiment of a power management circuit 2006 is shown. Power management circuitry 2006 may be configured to monitor electrical parameters related to the operation of primary power source 2002 and/or auxiliary power source 2004, among other things. For example, power management circuitry 2006 may be configured to monitor power levels in primary power source 2002 and/or secondary power source 2004 . As shown in FIG. 132 , the power management circuit 2006 may include a fuel gauge 2028 that may be configured to measure the power across the primary power source 2002 and/or the auxiliary power source 2004 . Power management circuitry 2006 may also include non-volatile memory 2030 (eg, flash or ROM memory) and one or more processors 2032 . The processor 2032 can be connected to and can control the memory 2030 . Additionally, processor 2032 may be connected to fuel gauge 2028 to read fuel gauge 2028 and otherwise control fuel gauge 2028 . In addition, the processor 2032 can control output devices of the power management circuit 2006, such as LEDs.

The reader will appreciate that fuel gauges 2024 and/or 2028 may be configured to measure voltage, charge, resistance, and/or current. In some examples, fuel gauges 2024 and/or 2028 may include battery capacity measurement circuitry that may be configured to measure a voltage state at a predetermined load.

Further to the above, processor 2032 may store information regarding primary power source 2002 and/or secondary power source 2004 in memory 2030 . The information may include (among other things) total power available, number of uses, and/or performance. Additionally, the information stored in memory 2030 may include an ID value for primary power source 2002 that power management circuitry 2006 may read and store. Such an ID may be, for example, an RFID read by the power management circuit 2006 via the RFID transponder 2034 . The RFID transponder 2034 can read RFID from a power source including an RFID tag. The ID value may be read, stored in memory 2030, and compared by processor 2032 to a list of acceptable ID values stored in memory 2030 or in another memory associated with power management circuit 2006, to determine if the removable/replaceable primary power source 2002 associated with the read ID value is authorized and/or appropriate, for example. In such cases, if the processor 2032 determines that the removable/replaceable component associated with the read ID value is not authorized, the power management circuit 2006 may be configured to prevent use of the instrument 10, such as by disconnecting the A switch (not shown) prevents power from being delivered to the instrument 10 . Various parameters that may be evaluated by processor 2032 to determine whether a part is authorized and/or appropriate include, for example, date code, part model/type, manufacturer, geographic information, and/or previous error codes.

Further to the above, the power management circuit 2006 may also include an i/o interface 2036 for communicating with another device, such as a computer, thereby allowing data stored in the memory 2030 to be downloaded to another device for, e.g. The evaluation and analysis is performed by the hospital system in which the procedure involving the instrument 10 is performed, the surgical department, the instrument distributor, and/or the instrument manufacturer. I/o interface 2036 may be, for example, a wired or wireless interface.

Referring to the block diagram shown in FIG. 133 , power management circuitry 2006 can selectively transfer power to surgical instrument 10 from primary power source 2002 and secondary power source 2004 . For example, processor 2032 may be programmed to allow power to be transferred from primary power source 2002 to instrument 10 when primary power source 2002 is available to provide power to instrument 10 and to allow power to be transferred from auxiliary Power source 2004 is delivered to instrument 10 .

During normal operation of the instrument 10, the processor 2032 may allow the primary power source 2002 to provide power to the instrument 10 after the primary battery source 2002 is detected and authorized (as described above). Primary power source 2002 continues to provide power to instrument 10 until primary power source 2002 reaches or falls below a predetermined minimum charge level, eg, when primary power source 2002 is disconnected and/or depleted. Power management circuitry 2006 may be used to determine when primary power source 2002 has reached or dropped below a predetermined minimum charge level. For example, processor 2032 may be configured to monitor the charge level of primary power source 2002 using fuel gauge 2028 or another similar fuel gauge and detect when the charge level reaches or drops below a level stored in memory 2030 of power management circuitry 2006. The predetermined minimum level in . At this time, the processor 2032 may prompt the user to replace the main power source 2002 . Power management circuitry 2006 may include an indicator, such as an LCD display, one or more LEDs, that is activated to prompt a user of instrument 10 to replace primary power source 2002 . Additionally, processor 2032 may be configured to switch power to instrument 10 from primary power source 2002 to secondary power source 2004 upon detection that the charge level of primary power source 2002 has reached or dropped below a predetermined minimum level. The reader will appreciate that additional indicators can be used to provide additional feedback to the user. For example, an indicator may be used to alert the user that the instrument 10 is switching from the primary power source 2002 to the auxiliary power source 2004, and vice versa.

Further to the above, processor 2032 may be programmed to allow primary power source 2002 to charge secondary power source 2004 when primary power source 2002 is connected to surgical instrument 10 . In some examples, the auxiliary power source 2004 may remain idle once fully charged by the primary power source 2002 to a predetermined maximum power level, provided that the primary power source 2002 remains capable of providing power to the instrument 10 . Additionally, power management circuitry 2006 may be used to determine when auxiliary power source 2004 is sufficiently charged. For example, the processor 2032 can be configured to monitor the charge level of the auxiliary power source 2004 using the fuel gauge 2028 until the charge level reaches a predetermined maximum level that can be stored in the memory 2030 of the power management circuit 2006, at which point the processor 2032 can stop Primary power source 2002 charges auxiliary power source 2004 . Power management circuitry 2006 may include an indicator, such as an LCD display, one or more LEDs, etc., that may be activated to alert the user of instrument 10 when auxiliary power source 2004 is sufficiently charged.

Referring again to FIG. 129 , primary power source 2002 may be housed within chamber 2038 of handle portion 14 of instrument 10 . To replace primary power source 2002 , the outer housing of handle portion 14 may be removed to expose chamber 2038 . In some examples, a trigger or switch may be associated with the outer housing of the handle portion 14 such that an attempt to remove the outer housing of the handle portion 14 may be interpreted by the processor 2032 as triggering an event to receive power from the main power source 2002. Switch to auxiliary power source 2004 .

When replacing primary power source 2002 of surgical instrument 10 with a new primary power source 2002, power management circuitry 2006 may check for authorization of new primary power source 2002, as described above, and upon validating such authorization, power management circuitry 2006 may The new primary power source 2002 is allowed to deliver power to the instrument 10 . Additionally, primary power source 2002 may charge secondary power source 2004, as described above.

A surgical end effector, such as loading unit 20 (FIGS. 2 and 3), is operably coupled to elongate shaft assembly 16 of powered surgical instrument 10 (FIG. 1). For example, referring now to FIGS. 38-58 , a surgical end effector (eg, disposable loading unit (DLU) 5502 ) can be releasably attachable to a surgical instrument, eg, powered surgical instrument 10 ( FIG. 1 ). In various embodiments, a surgical instrument can include a shaft 5520 that can engage a DLU 5502, for example. In various embodiments, a collar (eg, rotatable collar 5580 ) can releasably lock DLU 5502 relative to shaft 5520 . Additionally, in various embodiments, rotation of the collar 5580 can facilitate attachment and/or alignment of the firing assembly and/or articulation assembly, as described herein.

In various embodiments, DLU 5502 can include distal attachment portion 5504 and shaft 5520 can include outer tube 5554 and proximal attachment portion 5522 . The distal attachment portion 5504 of the DLU 5502 can receive the proximal attachment portion 5522 of the shaft 5520 when the DLU 5502 is secured to the shaft 5520 ( FIG. 39 ). Additionally, a rotatable collar 5580 can be positioned around the proximal attachment portion 5522 of the shaft 5520 such that the distal attachment portion 5504 of the DLU 5502 can also be positioned within the rotatable collar 5580 . The rotatable collar 5580 can be fixed to the shaft 5502 and/or the proximal attachment portion 5504, and in some embodiments is rotatably fixed to the proximal attachment portion 5504 of the shaft 5502, for example. In certain embodiments, the proximal attachment portion of the shaft 5520 can receive the distal attachment portion of the DLU 5502 when the DLU 5502 is secured to the shaft 5520 . Additionally, in some embodiments, collar 5580 is rotatably secured to DLU 5502 .

Still referring to FIGS. 38-58 , the DLU 5502 can translate along the longitudinal axis defined by the shaft 5520 as the DLU 5502 moves relative to the shaft 5520 of the surgical instrument between the unattached position and the attached position. The distal attachment portion 5504 of the DLU 5502 can be inserted into the proximal attachment portion 5522 of the shaft 5520 when the DLU 5502 is moved from the unattached position to the attached position. For example, DLU 5502 may translate along direction A (FIG. 39) as DLU 5502 is moved between an unattached position and an attached position. In certain embodiments, the groove-slot engagement between the distal attachment portion 5504 and the proximal attachment portion 5522 can guide the DLU 5502 along the longitudinal axis defined by the shaft 5520 . Referring primarily to FIG. 42 , the distal attachment portion 5504 can include a rail 5514 . Additionally, referring primarily to FIG. 44 , the proximal attachment portion 5522 can include a channel 5534 . Guide slot 5534 can be sized and configured to receive and guide guide rail 5514 when proximal attachment portion 5504 of DLU 5502 is inserted into distal attachment portion 5522 of shaft 5520 . For example, the channels 5534 may include longitudinal slots, and the rails 5514 may include, for example, longitudinal ridges. In certain embodiments, the guide slot 5534 and guide rail 5514 can prevent twisting and/or rotation of the DLU 5502 relative to the longitudinal axis defined by the shaft 5520 .

Referring primarily to FIG. 38 , the distal attachment portion 5504 can include a first alignment mark 5510 (e.g., a first arrow), and the shaft 5520 and/or collar 5580 can include a second alignment mark 5590 (e.g., a second arrow ). Alignment of first alignment mark 5510 and second alignment mark 5590 can align guide rail 5514 with guide slot 5534 , which can facilitate attachment of distal attachment portion 5504 to proximal attachment portion 5522 . Translation of the DLU 5502 along the longitudinal path toward the axis 5520 can releasably lock the DLU 5502 relative to the axis 5520, as described herein. In such embodiments, rotation of the LU 5502 relative to the shaft 5520 may not be required to attach the DLU 5502 relative to the shaft 5520 . In fact, rotation of the DLU 5502 relative to the shaft 5520 can be limited and/or prevented by the groove-slot engagement between the proximal attachment portion 5522 and the distal attachment portion 5504, as described herein. In various embodiments, collar 5580 is rotatable relative to LU 5502 and/or shaft 5520 to releasably lock DLU 5502 to shaft 5520 . For example, collar 5580 may be rotated from an initial orientation ( FIG. 53 ) to a second orientation ( FIG. 54 ) and then back to the original orientation ( FIG. 57 ) to lock DLU 5502 to shaft 5520 as described herein.

Referring primarily to FIGS. 42 and 43 , the proximal portion 5504 of the DLU 5502 can include a rotational key or rib 5506 . Rotation key 5506 can effect rotation of collar 5580 as DLU 5502 is moved in direction A ( FIG. 39 ) between an unattached position ( FIG. 38 ) and an attached position ( FIG. 39 ). For example, rotation key 5506 may rotate and/or bias collar 5580 in direction B (FIG. 39) from an initial orientation to a second orientation. Distal attachment portion 5504 can be inserted into proximal attachment portion 5522 when collar 5580 is biased to the second orientation. Additionally, the rotation key 5506 can allow the collar 5580 to be rotated in direction C ( FIG. 39 ) from the second orientation to the initial orientation when the distal attachment portion 5504 is fully inserted into the proximal attachment portion 5522 . Direction C may be opposite to direction B, for example. As described herein, the collar 5580 can lock the distal attachment portion 5504 relative to the proximal attachment portion 5522 when the collar 5580 is returned to the original orientation. Still referring to FIGS. 42 and 43 , the rotation key 5506 can include a rotation ramp 5508 at its proximal end. Rotation ramp 5508 may engage elements of shaft 5520 to effect rotation of, for example, rotation collar 5580 .

In various embodiments, the rotation ramp 5508 can affect the rotation of the firing shaft 5540 positioned within the shaft 5520 . For example, referring primarily to FIGS. 47-50 , the firing shaft 5540 can include a firing shaft rotator 5544 that can extend radially outward from the firing shaft 5540 . The rotation ramp 5508 of the rotation key 5506 can engage the firing shaft rotator 5544 when the DLU 5502 is inserted into the shaft 5520 . In various embodiments, rotation ramp 5508 can rotate firing shaft rotator 5544 , which can rotate firing shaft 5540 . For example, the firing shaft 5540 and the firing shaft rotator 5544 are rotatable in direction B (FIG. 54) between a first orientation (FIG. 53) and a second orientation (FIG. 54). Still referring to FIGS. 47-50 , the firing shaft 5540 can be engaged with a rotatable collar 5580 . For example, rotatable collar 5580 may include rotator groove 5584 that may be configured and dimensioned to receive and/or retain firing shaft rotator 5544 . The firing shaft rotator 5544 can be retained by the rotator groove 5584 such that rotation of the firing shaft rotator 5544 causes the rotating collar 5580 to rotate. In such embodiments, insertion of DLU 5502 into shaft 5520 may cause rotation of rotatable collar 5580 in direction B, eg, by rotation of firing shaft rotator 5544 in direction B ( FIG. 54 ).

Referring primarily to FIGS. 44 and 45 , the proximal attachment portion 5522 can include a rotation key slot 5524 that can receive the rotation key 5506 when the distal attachment portion 5504 is inserted into the proximal attachment portion 5522 . In various embodiments, the rotation key slot 5524 can include a clearance notch 5526 for receiving the firing shaft rotator 5544 . For example, the rotation ramp 5508 at the proximal end of the rotation key 5506 can rotate the firing shaft rotator 5544 to the second orientation and into the clearance notch 5526 ( FIG. 54 ). The rotation key 5506 can continue to move along the rotation key slot 5524 when the DLU 5502 is inserted into the shaft 5520 . In addition, when the distal end 5509 of the rotation key 5506 is moved past the firing shaft rotator 5544, the firing shaft rotator 5544 can be counter-rotated to the first orientation ( FIG. 58 ), which can correspondingly cause the rotatable collar 5580 to counter-rotate. rotate to its initial orientation.

In various embodiments, rotatable collar 5580 can be biased into an initial orientation relative to shaft 5520 and/or proximal attachment portion 5522 . For example, spring 5592 can bias locking collar 5580 into an initial orientation. The spring 5592 can include a proximal end 5594 that can be fixed relative to the shaft 5520 and a distal end 5596 that can be fixed relative to the collar 5580 . For example, the proximal end 5594 of the spring 5592 can be retained in the proximal spring slot 5538 ( FIG. 51 ) of the shaft 5520 and the distal end 5596 of the spring 5592 can be retained in the distal spring of the rotatable collar 5580 , for example. in slot 5588 (FIG. 46). In such embodiments, rotation of the collar 5580 can move the distal end 5596 of the spring 5592 relative to the proximal end 5594 of the spring 5592, which can create a torsional force. Accordingly, the collar 5580 can resist rotation from the initial orientation to the second orientation, and the spring 5592 can back-bias the collar 5580 to the initial orientation when the collar is rotated to the second orientation. The spring 5592 can also bias the firing shaft 5540 to its first orientation due to the engagement of the firing shaft rotator 5544 with the collar 5580 .

In various embodiments, rotatable collar 5580 can include locking detents 5582 that lock DLU 5502 to shaft 5520 . Referring primarily to FIG. 46 , locking pawls 5582 can extend radially inwardly from the inner periphery of rotatable collar 5580 . In various embodiments, locking detents 5582 can extend into detent slots 5536 ( FIG. 44 ) in proximal attachment portion 5522 . Referring primarily to FIG. 44 , the detent slot 5536 can form a notch in the channel 5534 . In various embodiments, the detent slot 5536 can extend from the channel 5534 and can be perpendicular or substantially perpendicular to the channel 5534, for example. Additionally, locking pawl 5582 can move along pawl slot 5536 when rotatable collar 5580 is rotated relative to shaft 5520 between an initial orientation and a second orientation.

In various embodiments, locking pawl 5582 can engage distal attachment portion 5504 of DLU 5502 to lock DLU 5502 relative to shaft 5520 . For example, referring again to FIG. 42 , the distal attachment portion 5504 can include a rail 5514 that can have a locking notch 5516 defined therein. Locking notches 5516 may be configured and sized to receive locking pawls 5582 of rotatable collar 5580 when DLU 5502 is fully inserted into proximal attachment portion 5522 . For example, locking notch 5516 of distal attachment portion 5504 can align with detent slot 5536 of proximal attachment portion 5522 when distal attachment portion 5504 is fully inserted into proximal attachment portion 5522 . Accordingly, the locking pawl 5582 can slide along the detent slot 5536 in the proximal attachment portion 5522 and into the locking notch 5516 in the distal attachment portion. Additionally, locking pawl 5582 may be biased by torsion spring 5592 into engagement with locking notch 5516 . For example, after the firing shaft rotator 5544 exits the distal end 5509 of the rotation key 5506, the firing shaft 5540 can be reverse biased to the first orientation and the rotatable collar 5580 can be reverse biased to the initial orientation by the torsion spring 5592 . Furthermore, when the collar 5580 is counter-rotated from the second orientation to the initial orientation, its locking detent 5582 can align with and engage the locking notch 5516 in the rail 5514 .

In various embodiments, rotation of the collar 5580 can facilitate attachment and/or alignment of the firing assembly. For example, firing shaft 5540 can extend between proximal end 5546 and distal end 5542 . The proximal end 5546 can have a swivel joint that can allow rotation of the firing shaft 5540 between the first configuration and the second configuration. Additionally, the distal end 5542 may have couplers for attaching elements of the DLU 5502 . Rotation of the firing shaft 5540 can facilitate attachment of the cutting elements. For example, when the coupler at the distal end 5542 of the firing shaft 5540 is rotated, the coupler can engage and connect to a cutting element in the DLU 5502 . In certain embodiments, the coupler can include a bayonet socket that can engage a corresponding bayonet receptacle of a cutting element in the DLU 5502 . Referring primarily to FIGS. 40 and 41 , the firing assembly can also include a sleeve 5550 positioned between the proximal end 5546 and the distal end 5542 about the firing shaft 5540 , for example.

In various embodiments, when the firing shaft 5540 is rotated within the shaft 5520, the firing shaft 5540 can be rotated into alignment with the firing shaft slot 5518 in the DLU 5502. For example, firing shaft rotator 5544 may align with firing shaft slot 5518 when DLU 5502 is fully inserted and attached to shaft 5520 . However, in various embodiments, the firing shaft rotator 5544 can be rotated by the rotation key 5506 out of alignment with the firing shaft slot 5518 when the DLU 5502 is only partially inserted into the shaft 5520 . In other words, the firing shaft rotator 5544 can be aligned with the firing shaft slot 5514 when the firing shaft 5540 is in the first orientation, and can be misaligned with the firing shaft slot 5514 when the firing shaft 5540 is rotated to the second orientation. In such embodiments, when the DLU 5502 is only partially inserted into the shaft 5520 and/or before the DLU 5502 is releasably locked to the shaft 5520 by the rotatable collar 5580, the firing path of the firing shaft rotator 5544 can be displaced distally. Attachment portion 5504 blocks. The integration of the firing shaft 5540 and the collar 5580 can ensure that the DLU 5502 is securely attached to the shaft 5520 before the firing shaft 5540 can be fired and/or advanced. For example, the surgical instrument cannot be fired until a cutting element in DLU 5502 is coupled to firing shaft 5540 and/or until firing shaft 5540 is properly aligned, eg, within shaft 5520 .

In certain embodiments, rotation of collar 5580 may facilitate attachment and/or alignment of articulation assembly 5559 . Referring primarily to FIGS. 40 and 41 , the articulation assembly 5559 can include a proximal articulation rod 5560 , a distal articulation rod 5562 , and an articulation connector 5566 . Additionally, the shaft 5520 can include a proximal articulation rod slot 5528 and the DLU 5502 can include a distal articulation rod slot 5512, for example. In certain embodiments, the proximal articulation rod 5560 can be aligned with the proximal articulation rod slot 5528 and the distal articulation rod 5562 can be aligned with the distal articulation rod slot 5512 . Referring now to FIG. 46 , articulation connector 5566 may be received within rotatable collar 5580 . For example, rotatable collar 5580 can include articulation connector slot 5586, and articulation connector 5566 can be movably positioned therein.

In various embodiments, referring again to FIGS. 40 and 41 , the proximal articulation bar 5560 can have a proximal notch 5572 and the distal articulation bar 5562 can have a distal notch 5574 . Additionally, articulation connector 5566 can include proximal articulation lug 5568 and distal articulation lug 5572 . The proximal articulation lug 5568 can be retained in the proximal notch 5572 of the proximal articulation rod 5560 . In certain embodiments, the distal articulation lug 5570 can be operatively engaged with the distal notch 5574 of the distal articulation rod 5562 . As described herein, rotatable collar 5580 is rotatable between an initial configuration and a second configuration. As collar 5580 is rotated, articulation connector 5566 received therein may also rotate relative to a longitudinal axis defined by shaft 5520 . In various embodiments, the proximal articulation lug 5568 of the articulation connector 5566 can remain positioned in the proximal notch 5572 of the proximal articulation rod 5560 as the articulation connector 5566 is rotated. Further, the distal articulation lug 5570 of the articulation connector 5566 is movable into a distal notch of the distal articulation rod 5562 when the articulation connector 5566 and collar 5580 are rotated from the second orientation to the initial orientation. 5574 engagement. For example, the distal notch 5574 of the distal articulation rod 5562 can align with the distal articulation lug 5568 of the articulation connector 5566 when the DLU 5502 is fully inserted into the shaft 5508 . In such embodiments, the distal articulation lug 5568 can slide into the distal notch 5574 of the distal articulation rod 5562 when the rotatable collar 5580 is counter-rotated to the original configuration. When the distal articulation lugs 5568 are positioned in the distal recesses 5574, the articulation assembly 5559 can be fully assembled.

Referring primarily to FIG. 45 , in various embodiments, the proximal articulation rod slot 5528 can include a first gap 5530 and a second gap 5532 . The proximal articulation lug 5568 and the distal articulation lug 5570 of the articulation connector 5566 can extend into the first gap 5530 and the second gap 5532, respectively. In certain embodiments, the first gap 5530 and the second gap 5532 can provide space for the proximal articulation lug 5568 and the distal lug 5568 when the collar 5580 is rotated and/or when the articulation assembly 5559 is articulated, for example. Side articulation lug 5570 movement.

Referring now to FIGS. 51-58 , to couple the DLU 5502 to the shaft 5520 of a surgical instrument, a user may align the alignment marks 5510 of the DLU 5502 with the alignment marks 5590 of the shaft 5520 and/or collar 5580 ( FIG. 51 ). While maintaining the alignment of the alignment marks 5510 , 5590 , the user can move the DLU 5502 relative to the shaft 5520 along the longitudinal axis defined by the shaft 5520 . A user may move the DLU 5502 along a straight or substantially straight path, and in various embodiments, it is not necessary to rotate the DLU relative to, for example, the axis 5520 . Referring primarily to FIG. 53 , the DLU 5502 can continue to translate relative to the shaft 5520 and the guide rail 5514 of the distal attachment portion 5504 can fit into the guide slot 5534 in the proximal attachment portion 5522 of the shaft 5520 ( FIG. 44 ). As the distal attachment portion 5504 is moved into the proximal attachment portion 5522, the guide slot 5534 can guide the guide rail 5514 and can maintain alignment of, for example, the alignment marks 5510, 5590. In other words, the guide slot 5534 and guide rail 5514 can prevent rotation of the DLU 5502 relative to the longitudinal axis of the shaft 5520 . Referring primarily to FIG. 52 , the proximal articulation lug 5568 of the articulation connector 5522 can extend into the first gap 5530 and can be positioned within the proximal recess 5572 of the proximal articulation rod 5562 and the articulation connector 5522 The distal articulation lug 5570 of the can extend through the second gap 5532, for example.

Referring primarily to FIG. 54 , the rotation key ramp 5508 of the rotation key 5506 can abut the firing shaft rotator 5544 when the distal attachment portion 5504 is inserted into the proximal attachment portion 5522 . Rotation key ramp 5508 can guide firing shaft rotator 5544 and/or into clearance notch 5526 extending from rotation key slot 5524 . Additionally, the firing shaft 5540 can rotate in direction B when the firing shaft rotator 5544 is moved into the clearance notch 5526 . The firing shaft 5540 is rotatable from a first orientation to a second orientation. Such rotation of the firing shaft 5540 can facilitate attachment of the distal end 5542 of the firing shaft 5540 to the cutting elements in the DLU 5502 . Additionally, rotation of firing shaft rotator 5544 may rotate collar 5580 in direction B through engagement of firing shaft rotator 5544 with firing shaft rotator groove 5584 ( FIG. 46 ) in collar 5580 . The collar 5580 can be rotated, for example, from an initial orientation to a second orientation. Additionally, the locking pawl 5582 can move along the pawl slot 5536 in the shaft 5520 when the collar 5580 is rotated. Additionally, rotation of the collar 5580 can rotate the distal end 5596 of the spring 5592 as the distal end 5596 of the spring 5592 can be retained within the distal spring slot 5588 ( FIG. 46 ) in the collar 5580 . Displacement of the distal end 5596 relative to the proximal end 5594 can create a torsional resilience that can, for example, deflect the collar 5580 from the second orientation to the initial orientation and can, for example, change the firing shaft 5540 from the second orientation. Deflects to a first orientation.

Referring primarily to FIG. 55 , the proximal articulation lug 5568 can remain engaged with the proximal notch 5572 in the proximal articulation rod 5560 when the collar 5580 is rotated toward the second orientation. Additionally, the distal articulation lug 5570 can be rotated such that the distal articulation lug 5570 provides clearance for the distal articulation rod 5562 of the DLU 5502 . Referring to Fig. 56, when the collar 5580 and the articulation connector 5566 positioned therein are rotated to the second orientation, the DLU 5502 can be fully inserted into the shaft 5520. In various embodiments, the distal articulation rod 5562 can clear the distal articulation lug 5570 of the articulation connector 5566 when the articulation connector 5566 is rotated to the second orientation. Additionally, distal articulation lug 5570 can be rotatably aligned with distal notch 5574 in articulation connector 5566 . Still referring to FIG. 56 , when the DLU 5502 is fully inserted into the shaft 5520 , the firing rod rotator 5544 can clear the distal end 5509 of the rotation key 5506 .

Referring now to FIG. 57 , the firing shaft rotator 5544 can rotate in direction C as the distal end 5509 of the rotation key 5506 passes the firing shaft rotator 5544 . For example, the firing shaft rotator 5544 can rotate along direction C from the second orientation to the first orientation. Additionally, rotation of firing shaft rotator 5544 can cause collar 5580 to rotate in direction C from the second orientation to the initial orientation. In various embodiments, the spring 5592 can bias the firing rod 5540 to its first orientation and can bias the collar 5580 to its initial orientation. For example, firing shaft rotator 5544 may be positioned within firing shaft rotator groove 5584 ( FIG. 46 ) in collar 5580 such that rotation of firing shaft rotator 5544 rotates collar 5580 . Due to the alignment of the distal articulation lug 5570 of the articulation connector 5566 and the distal notch 5574 of the distal articulation rod 5562, the articulation connector 5566 can rotate as the collar 5580 is rotated and the distal Articulation lug 5570 can be rotated into engagement with distal notch 5574 . Articulation assembly 5559 may be assembled when distal articulation lug 5570 engages distal notch 5574 . Furthermore, when the firing shaft rotator 5544 is rotated in the direction C, the distal end 5542 of the firing shaft 5540 can be rotated in the direction C, which can facilitate the attachment of cutting elements in the DLU 5502 to the distal end of the firing shaft 5540 5542.

Referring now to FIG. 58 , rotation of the collar 5580 may also rotate the locking detent 5582 of the collar 5580 into the locking notch 5516 in the rail 5514 of the distal attachment portion 5504 . For example, when DLU 5502 is fully inserted into shaft 5520 , locking notch 5516 can align with pawl slot 5536 such that locking pawl 5582 can be rotated through detent slot 5536 into locking notch 5516 . After the firing shaft rotator 5544 exits the distal end 5509 of the rotation key 5506, the spring 5592 can bias the collar 5580 to rotate in direction C (FIG. 57), as described herein. Still referring to FIG. 58 , when the firing shaft rotator 5544 is rotated in direction C, the firing shaft rotator 5544 can be moved into alignment with the firing shaft slot 5518 in the DLU 5502 . Alignment of the firing shaft rotator 5544 with the firing shaft slot 5518 can allow, for example, the firing shaft 5540 to be advanced distally to fire the DLU 5502 .

Rotatable collar 5580 may releasably lock DLU 5502 relative to shaft 5520 as described herein. Additionally, rotation of collar 5580 may facilitate, for example, the attachment and/or alignment of articulation assembly 5559 and the attachment and/or alignment of firing shaft 5540 with cutting elements in DLU 5502 . Additionally, rotation of the collar can also disconnect the firing shaft 5540 from the shaft unlocking DLU 5502 , disconnecting the articulation assembly 5559 , and/or the cutting element in the DLU 5502 . For example, locking detent 5582 can disengage locking notch 5516 in distal attachment portion 5504 when collar 5580 is rotated again from the initial orientation to the second orientation. Accordingly, the distal attachment portion 5504 can be withdrawn from the proximal attachment portion 5522 , for example, along the longitudinal axis defined by the shaft 5520 . In various embodiments, the DLU 5502 can be disengaged from the shaft 5520 without rotating the DLU 5502 relative to the shaft 5520 . However, the collar 5580 can be rotated relative to the shaft 5520, which can, for example, disconnect the distal articulation rod 5562 from the articulation connector 5566 in the collar 5580 and can disconnect the firing shaft 5540 from the cutting element in the DLU 5502 .

Referring now to FIGS. 59-62 , a disposable loading unit (DLU) or end effector 5602 can be releasably attached to a shaft 5620 of a surgical instrument. In various embodiments, a spring or springs, for example, can bias DLU 5602 relative to shaft 5620 into a locked position. For example, the DLU 5602 can be releasably attached to the shaft 5620 by a bayonet mount, and a spring can rotate the DLU 5602 to connect the DLU 5602 to the shaft 5620 by a bayonet connection. DLU 5602 can include distal attachment portion 5604 and shaft 5620 can include proximal attachment portion 5622, for example. The distal attachment portion 5604 of the DLU 5602 can receive the proximal attachment portion 5622 of the shaft 5620 when the DLU 5602 is secured to the shaft 5620 . In other embodiments, the proximal attachment portion of the shaft 5620 can receive the distal attachment portion of the DLU 5602 when the DLU 5602 is secured to the shaft 5620 .

In various embodiments, the distal attachment portion 5604 of the DLU 5602 can include a detent 5606 that can extend radially outward from a portion of the distal attachment portion 5604 . Additionally, the detent 5606 can include an angled surface 5608 . As described herein, when the distal attachment portion 5604 is inserted into the proximal attachment portion 5622, the sloped surface 5608 of the detent 5606 can engage a spring (eg, spring 5636b) and can deform the spring 5636b. Additionally, detent 5606 can be retained by proximal attachment portion 5622 to releasably lock DLU 5602 to shaft 5622 . Referring primarily to FIG. 59 , the proximal attachment portion 5622 of the shaft 5620 can define a cavity 5624 . In various embodiments, cavity 5624 can be configured and sized to receive distal attachment portion 5604 of DLU 5602 . Additionally, springs 5636a, 5636b may be positioned within cavity 5624. For example, a first spring 5636a can be positioned on a first side of the cavity 5624 and a second spring 5636b can be positioned on a second side of the cavity 5624 . The springs 5636a, 5636b may be symmetrical or asymmetrical with respect to the cavity 5624. In various embodiments, at least a portion of the springs 5636a, 5636b can extend into the cavity 5624. For example, a leg 5637 of the second spring 5636b can extend into the cavity 5624 and the other leg 5637 of the second spring 5636 can be retained in the proximal attachment portion 5622, for example.

Still referring to FIG. 59 , the proximal attachment portion 5622 can also include a locking slot 5638 that can be defined in and/or accessible via the cavity 5624 , for example. Locking slot 5638 may be configured and sized to receive pawl 5606, for example. In various embodiments, locking slot 5638 can retain pawl 5606 to releasably lock DLU 5602 relative to shaft 5620 . Additionally, in various embodiments, the proximal attachment portion 5622 can include a latch 5630 . The latch 5630 is movable between an unlatched position (FIGS. 59 and 60) and a latched position (FIGS. 61 and 62). In various embodiments, the latch 5630 can be spring loaded, and a spring 5634 can bias the latch 5630 into the latched position. For example, the latch 5630 can include a latch spring 5634 that can bias the latch 5630 into and/or into a latched position. The latched position may, for example, be located distal to the unlatched position. In certain embodiments, the latch 5630 can include a thumb grip and/or a ridge 5632 to facilitate movement of the latch 5630 from the latched position to the unlatched position. For example, a user may engage thumb grip 5632 and pull latch 5630 proximally to unlock latch 5630 .

In various embodiments, the latch 5630 can be operable to block, or at least partially block, the locking slot 5638 . For example, the arm 5635 of the latch 5630 can extend over at least a portion of the locking slot 5638 when the latch 5630 is in the latched position ( FIGS. 61 and 62 ). The latch 5630 can cover, or at least partially cover, the locking slot 5638 and can prevent and/or limit access to the locking slot 5638 . In certain embodiments, the arm 5635 of the latch 5630 can prevent the pawl 5606 from moving and/or sliding into the locking slot 5638 . Additionally, the latch 5630 can engage the springs 5636a, 5636b when the latch 5630 is in the latched position. For example, referring to FIGS. 61 and 62 , the latch 5630 can support the spring 5636b such that deformation of the spring 5636b is limited and/or prevented. Additionally, the latch 5630 can support the spring 5636b such that the cavity 5624 cannot receive the distal attachment portion 5604 of the DLU 5602 . For example, at least a portion of spring 5636b can block cavity 5624 , which can prevent distal attachment portion 5604 from being fully inserted into proximal attachment portion 5622 . In some embodiments, the proximal attachment portion 5622 can include a plurality of springs that can apply a rotational force to the distal attachment portion 5604 to keep the distal attachment portion 5604 relative to the proximal attachment portion. The joint part 5622 rotates. For example, proximal attachment portion 5622 may include a pair of springs or more than three springs. In other embodiments, a single spring in proximal attachment portion 5622 may attempt to rotate distal attachment portion 5604 relative to proximal attachment portion 5622 . Additionally or alternatively, in various embodiments, the distal attachment portion 5602 of the DLU 5602 can include, for example, at least one spring that can position the distal attachment portion 5602 relative to the proximal The joint part 5622 rotates.

In various embodiments, the arm 5635 of the latch 5630 may not block and/or block the locking slot 5638 to a lesser extent when the latch 5630 is in the unlatched position ( FIGS. 59 and 60 ). For example, pawl 5606 may fit through unlatched latch 5630 to fit into locking slot 5638 . Additionally, the pawl 5606 can be biased through the unlatched latch 5630 into the locking slot 5638, as described herein. Additionally, in various embodiments, the latch 5630 can disengage the springs 5636a, 5636b when the latch 5630 is in the unlatched position. For example, the latch 5630 may not protect and/or limit deformation of the springs 5636a, 5636b when the latch 5630 is unlatched.

Referring primarily to FIG. 59 , the spring 5636b may be unsupported by the latch 5630 when the latch 5630 is moved and held in, for example, a proximal and/or unlatched position. In such embodiments, DLU 5602 is movable in direction A such that distal attachment portion 5604 moves relative to proximal attachment portion 5622 . Referring primarily to FIG. 60, the detent 5606 of the distal attachment portion 5604 can engage the spring 5636b and can compress and/or deform the spring 5636b, for example. In certain embodiments, the ramped surface 5608 of the pawl 5606 can slide along the spring 5636b and move the free leg 5637 of the spring 5636b. Deformation of the spring 5636b can generate a resilient force such that the spring 5636b can apply a resilient force to the pawl 5606 . Referring now to FIG. 61 , the resilient force can cause rotation of the pawl 5606 . For example, pawl 5606 can be rotated in direction B into locking slot 5638 defined in cavity 5624 . In various embodiments, when the user releases the latch 5630, the latch spring 5634 can return the latch 5630 to the unlatched position. Additionally, the arm 5635 of the latch 5630 can block or partially block the locking slot 5638 when the latch 5630 is returned to the unlatched position. In such embodiments, the detents 5606 of the distal attachment portion 5604 can be releasably locked relative to the proximal attachment portion 5622 while the detents 5606 are retained in the locking slots 5638 . Additionally, in some embodiments, the latch 5630 can hold and/or support the spring 5636b against the pawl 5606 until the latch is moved to the unlatched position again. In various embodiments, to release the DLU 5602 from the shaft 5620 , the user can again move the latch 5630 from the latched position to the unlatched position such that the pawl 5606 can rotate away from the locking slot 5638 . In such embodiments, rotation of the pawl 5606 again compresses and/or deforms the spring 5636b until the distal attachment portion 5604 is withdrawn from the proximal attachment portion 5622 .

Further to the above, a surgical instrument may be configured to recognize, or at least attempt to recognize, an end effector mounted to the surgical instrument. In certain embodiments, as described in more detail further below, the end effector can include electrical contacts that can engage corresponding electrical contacts on the shaft of the surgical instrument when the end effector is mounted to the shaft. point. In such embodiments, the controller of the surgical instrument may establish a wired connection with the end effector, and signal communication between the controller and the end effector may occur through electrical contacts. As described in more detail below, the end effector can include at least one data stored thereon that can be accessed by the controller to identify the end effector. The at least one data may include, for example, one bit, more than one bit, one byte, or more than one byte of information. In certain other embodiments, the end effector may include a transmitter that may be in wireless signal communication with a controller of the surgical instrument. Similar to the above, the end effector may include at least one data stored thereon that may be transmitted to the controller to identify the end effector. In such embodiments, the controller of the surgical instrument can include or use a receiver that can receive transmissions from the end effector. Such receivers may be located, for example, in the shaft and/or handle of a surgical instrument.

The reader will appreciate that an end effector in wireless communication with a controller may, for example, be configured to transmit wireless signals. In various cases, the end effector may be configured to transmit the signal one or more times. In some cases, the end effector may be prompted to fire signals at desired times and/or to fire signals repeatedly in a continuous fashion. In some cases, the end effector may include a switch operable by a user of the surgical instrument before, during, and/or after assembly of the end effector of the surgical instrument to the surgical instrument. In various embodiments, the end effector switch can include an on/off or power switch that can be closed or operated to activate the end effector. In at least one such embodiment, the end effector can include at least one power source, such as a battery, that can be used by the transmitter to transmit a signal when the on/off switch is closed. Upon activation of the end effector, the controller of the end effector may be configured, under various circumstances, to generate a signal and transmit the signal via the transmitter. In some cases, the end effector may not emit a signal until the end effector is activated. Such configurations may, for example, save power from the battery. In some embodiments, the surgical instrument may be placed in an operating mode in which it may wait for a signal from the end effector before the end effector switch is actuated. In various circumstances, the surgical instrument may be in a standby or low power mode of operation, wherein the controller may place the surgical instrument in a full power mode of operation once the signal has been received by the controller. In some embodiments, the end effector switch can instruct the end effector controller to transmit a signal to the surgical instrument controller. Such switches may or may not include a power switch, however, such switches may be selectively actuated by the user to prompt the end effector to continuously transmit signals at and/or from subsequent desired times.

Turning now to FIG. 114 , an end effector, such as end effector 9560 , can include one or more electrical contacts, such as contact 9561 , that can be used to actuate end effector 9560 . For example, turning now to FIG. 112 , the shaft 9040 of a surgical instrument can include a contact bridge 9562 that can be configured to enable either or both of the contacts 9561 when the end effector 9560 is assembled to the shaft 9040. More short circuits or electrical connections. Bridge 9562 may complete an electrical circuit including two contacts 9561 , a battery 9564 , and at least one integrated circuit 9566 defined on a printed circuit board 9565 . Further to the above, once the circuit is turned on, the battery 9564 can provide power to the integrated circuit 9566 and the end effector 9560 can be activated. In various cases, the integrated circuit 9566 and antenna 9567 defined on the printed circuit board 9565 may include the controller and transmitter discussed above. In certain embodiments, the shaft 9040 can include a biasing member, such as a spring 9563 , which can be configured to bias the bridge 9562 into contact with the electrical contacts 9561 . Before the bridge 9562 connects the electrical contacts 9561 and/or after the end effector 9560 has been disengaged from the shaft 9040, the circuit may be open and power from the battery 9564 may not be provided to the integrated circuit 9566 and/or provided to the integrated circuit 9566 Power may be reduced and end effector 9560 may be inactive. As a result of the foregoing, in such embodiments, assembly of the end effector may be initiated by assembly of the end effector to the surgical instrument. In various cases, further to the above, the end effector and surgical instrument can be constructed and arranged such that only complete and proper assembly of the end effector and surgical instrument will activate the end effector.

As mentioned above, referring now to FIG. 111 , the end effector can be attached to the surgical instrument (shown by step 9600), activated (shown by step 9602), and then evaluated by the surgical instrument (shown by step 9604 ). Further to the above, when a surgical instrument is attempting to evaluate a wireless signal from an activated end effector, the surgical instrument may be configured to evaluate the integrity of the signal. In various embodiments, asynchronous serial communication between the end effector and the surgical instrument can be used to evaluate the integrity of signals received by the surgical instrument. For example, the end effector may transmit a signal that includes a start bit that precedes a data frame (eg, an information byte) and/or a stop bit that follows a data frame. In such cases, the start bits, data bytes, and stop bits may comprise, for example, 10-bit character frames or bit patterns. In such cases, when the controller of the surgical instrument can recognize the start and stop bits of the bit pattern, the controller can assume that the data bytes or data bits received between the start and stop bits are correct and / Or in other words complete. In various cases, the start bit and/or the stop bit may include a stop period before the next byte of information is transmitted and/or before the previous byte of information is transmitted again.

Further to the above, turning now to FIG. 110 , a controller of a surgical instrument may compare bit patterns or bits of data to determine whether the plasticizer it received is correct and/or otherwise complete. In various cases, the data can be transmitted such that the controller can evaluate the data and compare the data to a bit pattern template of expected received data. For example, such templates may be constructed and arranged such that the most significant data bit (eg, the leftmost data bit) comprises a 1, for example. If the controller can identify that the most significant data bit is equal to 1, see step 9700 in Figure 110, the controller can XOR the data and compare the data to a bit pattern template available to the controller, as shown in step 9702 . The XOR operation is known and a detailed discussion thereof is not provided herein for the sake of brevity. If the bit pattern received by the surgical instrument matches a bit pattern template available to the controller, then the controller will have identified the end effector. Upon identifying the end effector, the controller may access stored information about the end effector, eg, in a memory chip accessible by the controller. If the controller determines that the most significant data bit in the received bit pattern is not equal to 1, referring again to step 9700, the controller may perform a shift operation. Many shift operations are known, such as arithmetic shifts, logical shifts, and/or circular shifts, which can be used to remove outlier data bits received before the desired bit pattern. In various cases, leading or leftmost 0 data bits can be removed, see now step 9704 in FIG. 110, and the bit pattern can be shifted, eg, to the left, until the leading bit is 1. At this point, further to the above, the shifted bit pattern can be compared to the bit pattern template in order to identify the end effector. If the shifted bit pattern does not match the bit pattern template, the controller can shift the bit pattern again until the next 1 in the bit pattern becomes the leading bit and can compare the newly shifted bit pattern to the bit pattern template . Such shifting and comparing operations may be performed any suitable number of times until the end effector is identified and/or the surgical instrument determines that the end effector cannot be identified.

The reader will appreciate that the surgical instrument may include information about any suitable number of end effectors. Further to the above, when the end effector has been identified by the surgical instrument, the surgical instrument may access stored information about the end effector. For example, such stored information may indicate to the surgical instrument, for example: 1) the distance the firing member in the end effector must be advanced in order to complete the firing stroke, and/or 2) the maximum power the surgical instrument's motor should apply to the firing member volume or torque. Such information or sets of information may be unique to each end effector, thus identifying the end effector in some way allows the surgical instrument to operate in the desired manner. In the absence of such information, the surgical instrument may not be able to recognize the stroke length required to fully utilize the end effector and/or may not be able to properly limit the power it applies to the firing member. In various circumstances, surgical instruments may rely on sensors configured to detect when the firing stroke has been completed and/or excessive power has been applied to the firing member. Such sensors may prevent the surgical instrument's motor from overpowering and damaging, for example, a firing member of an end effector.

Further to the above, some end effectors may be more robust than others, so some end effectors are able to withstand greater forces from the motors of the surgical instruments. Correspondingly, other end effectors may be less robust and thus may only be able to withstand relatively small forces from the motor. In order for a surgical instrument to determine the appropriate force to apply to any particular end effector, further to the above, the surgical instrument must identify the end effector attached to the surgical instrument. If the end effector does not recognize the end effector, the surgical instrument may use a default operating program or mode. In the default mode of operation, the controller of the surgical instrument may limit the power that the motor can apply to the firing member of the end effector to a minimum or default power. The minimum power can be chosen such that regardless of the end effector used, the motor will not damage the end effector. In some cases, parameters for the weakest or least strong end effector that can be used with a surgical instrument may be used by the default mode of operation so that no matter what end effector is used, the surgical instrument will not exceed rate is provided to the end effector. In various circumstances, the advent of motor powered surgical instruments can result in the end effector being overpowered. In other words, end effectors that were previously used by manually driven surgical instruments and that are substantially indestructible by such manually driven surgical instruments may be susceptible to damage by motor powered surgical instruments. Furthermore, such anterior end effectors may not include technology that would be recognized by motor-driven surgical instruments, and may still be used even with motor-driven surgical instruments due to the default operating procedures described herein. That is, the default operating procedure may use other default parameters as well. For example, a default operating program may use a minimum or default firing stroke length. In each case, the default operating procedure may employ the shortest stroke length of the end effector usable with the surgical instrument. In such cases, regardless of the end effector used, the firing member will not collide or impinge with the distal end of the end effector.

The reader will be aware that surgical instruments include stored information about end effectors usable with the surgical instruments and that the information available for the surgical instruments may need to be updated. For example, information stored within each surgical instrument may need to be updated if preferred operating parameters for a particular end effector change over time. In addition, surgical instruments may need to be updated, for example, as new end effectors are developed for use with them. To the extent the surgical instrument is not updated in time, the surgical instrument may not recognize the end effector, and therefore the default operating procedures described herein may be used. In various embodiments, the surgical instrument may not include stored information about end effectors, or at least some end effectors, that may be used with the surgical instrument. In such embodiments, the end effector may include stored information or parameters associated with the end effector. Such parameters can be accessed by and/or can be communicated to the surgical instrument. In various cases, further to the above, assembly of the end effector with the surgical instrument can cause the end effector to emit a signal that can be received by the surgical instrument. Also similar to above, the end effector may be prompted to fire a signal. In various cases, the signal can be transmitted to the surgical instrument via a wired and/or wireless connection. In some embodiments, the surgical instrument may prompt the end effector to fire a signal.

Further to the above, the end effector may include one or more parameters related to the end effector stored therein. Such parameters may be stored, for example, on one or more memory devices. In various cases, such parameters may include, for example, the desired firing speed of the firing member, the desired retraction speed of the firing member, the distance or stroke the firing member will travel, the maximum torque applied to the firing member by the motor of the surgical instrument , and/or the maximum angle that the end effector will articulate if the end effector is in fact an articulating end effector. Certain articulating end effectors are disclosed in US Patent Application 13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, the entire disclosure of which is incorporated herein by reference. With regard to the parameter relating to the maximum articulation angle, the controller may utilize this parameter to limit the angle at which the articulable portion of the end effector can articulate. In some cases, the maximum articulation angle may be, for example, 45 degrees, as measured from the longitudinal axis of the surgical instrument shaft. With respect to parameters such as the firing speed and/or retraction speed of the firing member, this parameter may convey, for example, a percentage or fraction for the desired speed of the firing member and/or the maximum speed of the motor. For example, a value of 3 for firing speed may convey that the controller should cause the motor to operate, for example, at 30% of its maximum speed when advancing the firing member. Also, for example, a value of 5 for the retraction speed may communicate that the controller should cause the motor to operate, for example, at 50% of its maximum speed when retracting the firing member. In the case of parameters relating to, for example, the maximum torque of the motor, this parameter may convey, for example, a value for the maximum torque of the motor and/or a percentage or fraction of the maximum torque. Furthermore, for a parameter such as the stroke length of the firing member, this parameter may communicate the desired distance the firing member will be advanced and/or retracted, and/or a percentage or fraction of the maximum stroke length of the surgical instrument. For example, a value of 60 may indicate that the firing stroke should be, for example, 60 mm. In each case, parameter values may be communicated in any suitable format, including, for example, binary format (comprising bits and/or bytes). An exemplary embodiment of a parameter array is shown in Figure 110A.

In various embodiments, further to the above, the surgical instrument can be configured to obtain parameters from the end effector in a particular order. For example, a signal transmitted from an end effector may include, for example, a home bit, a first bit pattern for a first parameter (eg, maximum articulation angle), a second bit pattern for a second parameter (eg, firing speed) , a third bit pattern for a third parameter (e.g. retract speed), a fourth bit pattern for a fourth parameter (e.g. maximum motor torque), a fifth bit pattern for a fifth parameter (e.g. stroke length) , and stop bits. But this is just an example. Any suitable number of parameters may be communicated as part of the signal. Additionally, any suitable number of start bits and/or stop bits may be used. For example, a start bit may precede each parameter bit pattern and/or a stop bit may follow each parameter bit pattern. As mentioned above, the use of at least one start position and/or at least one stop position may facilitate the controller of the surgical instrument to analyze the integrity of the signal from the end effector. In some embodiments, start and/or stop bits may not be used. Additionally, a number of signals may be transmitted from the end effector to communicate parameters of the end effector to the surgical instrument.

In various cases, further to the above, the controller of the surgical instrument may use a checksum to evaluate whether the signal it has received from the end effector is complete and/or whether the signal it has received is authorized, i.e. , from the identified end effector. A checksum may include a value used to ensure that data is stored, transmitted, and/or received without error. It can be produced by computing, for example, the binary value of the data and combining the binary values together using some algorithm. For example, the binary values of the data could be added together, but various other algorithms could be used. In embodiments where parameters relating to certain end effectors are stored in the surgical instrument, as described above, a checksum for each such end effector may also be stored. In use, the controller of the surgical instrument can access the parameter data and the checksum value, and after calculating the checksum value from the parameter data (i.e., calculating the calculated checksum value), the controller can transfer the calculated checksum value to Compare with stored checksum value. If the calculated checksum value is equal to the stored checksum value, the controller may assume that all data retrieved from the surgical instrument's memory is correct. At this point, the controller can then operate the surgical instrument according to the data uploaded from the memory. If the calculated checksum value is not equal to the stored checksum value, the controller may assume that at least one of the retrieved data is incorrect. In various cases, further to the above, the controller may then operate the surgical instrument, for example, under a default operating program, lock the firing trigger of the surgical instrument, and/or otherwise communicate the event to the user of the surgical instrument . In some cases, the controller may re-attempt to upload data from the surgical instrument's memory and re-perform the checks and calculations and comparisons described above. If the recalculated checksum value matches the stored checksum value, the controller may then operate the surgical instrument according to the data uploaded from memory. If the recalculated checksum value and the stored checksum value are not equal, further to the above, the controller may then, for example, operate the surgical instrument under a default operating program, lock the firing trigger of the surgical instrument, and/or Other means communicate the event to the user of the surgical instrument.

In embodiments where the parameters related to the end effector are stored in a memory of the end effector, as described above, checksum values may also be stored, for example, in memory in the end effector. In use, the controller of the surgical instrument has access to parameter data and stored checksum values. In various cases, further to the above, the end effector may emit one or more signals that communicate parameters and checksum values to the surgical instrument. As a result of the foregoing, stored checksum values and parameters may be transmitted together, and for purposes of discussion herein, a surgical instrument received by a surgical instrument may be referred to as a received checksum value. Once the parameter data has been received, the controller may calculate a checksum value from the parameter data (i.e., calculate a calculated checksum value) and compare the calculated checksum value with the received checksum value, similar to that described above. Compare. If the calculated checksum value is equal to the received checksum value, the controller may assume that all parameter data retrieved from the end effector is correct. At this point, the controller can then operate the surgical instrument according to the data uploaded from the end effector. If the calculated checksum value is not equal to the received checksum value, the controller may assume that at least one of the retrieved data is incorrect. In various cases, further to the above, the controller may then operate the surgical instrument, for example, under a default operating program, lock the firing trigger of the surgical instrument, and/or otherwise communicate the event to the user of the surgical instrument . Such events may be more frequent when parametric data is transmitted from the end effector to the surgical instrument via, for example, one or more wireless transmission systems. In any case, in some cases, the controller may re-attempt to upload data from the end effector and re-perform the checks and calculations and comparisons described above. If the recalculated checksum value matches the received checksum value, the controller may then operate the surgical instrument according to the data uploaded from the end effector. If the recalculated checksum value and the received checksum value are not equal, further to the above, the controller may then, for example, operate the surgical instrument under a default operating program, lock the firing trigger of the surgical instrument, and/or Other means communicate the event to the user of the surgical instrument. In each case, due to the above, the surgical instrument does not need to store any information about the end effector that is used to operate the surgical instrument when the end effector is utilized. In such cases, data regarding end effector parameters and checksum values used to confirm data integrity may be stored entirely on the end effector. The surgical instrument may include an operating program that requires only sufficient input from the end effector to use the end effector. Specific operating procedures for each end effector that may be used with the surgical instrument may not be required. A single operating program can be used with each end effector. As such, surgical instruments may not need to be updated to include, for example, operating procedures for additional end effectors and/or modified procedures for existing end effectors.

In addition to or instead of the wireless communication system described herein for identifying an end effector attached to a surgical instrument, turning now to FIGS. device. FIG. 153 shows a handle 11020 that includes a barcode reader 11022 that can be configured to scan the barcode 149 located on the end effector 11060 shown in FIGS. 151 , 152 and 154. and the barcode shown in Figure 150. Similar to other embodiments disclosed herein, end effector 11060 can include, for example, a shaft portion, anvil block 11062, and/or staple cartridge 11064, wherein one or more portions of end effector 11060 can include a barcode thereon . In some embodiments, the end effector 11060 can include a removable member 11063 positioned intermediate the anvil 11062 and the staple cartridge 11064, which can be removed before the end effector 11060 has been assembled to the surgical instrument or be removed later. In FIG. 151 , a barcode 11065 is shown positioned on the shaft portion of the end effector 11060 . In FIG. 152 , barcode 11065 is shown positioned on removable member 11063 . In various embodiments, the handle 11020 of the surgical instrument can include a barcode reader, such as barcode reader 11024, configured to read a barcode on the end effector. For example, referring primarily to FIG. 154 , the handle 11020 can include an internal barcode reader portion 11022 configured to read a barcode 11065 defined on the shaft of the end effector 11060 . In at least one such instance, the barcode reader portion 11022 can include a slot 11026 sized and configured to receive the shaft of the end effector 11060, wherein the barcode reader 11024 can be mounted in a defined Mounted within and/or relative to opening 11027 in slot 11026 such that barcode reader 11024 can read barcode 11065 . The reader will be aware that many barcode readers and barcode protocols are known and any suitable barcode may be used. In some cases, barcodes may include, for example, bi-directional information that allows the barcode to be read in two different directions. In some cases, barcodes may use multiple layers of information. In some cases, the barcode protocol may include preamble information followed by information that will identify the end effector and/or otherwise provide information to the surgical instrument to allow the surgical instrument to operate or utilize specific Operation program operation. In some cases, a barcode reader may emit one or more light beams that may contact the various peaks and valleys that make up the barcode. In some cases, the valley of the barcode may extend into and/or be defined within the shaft housing of the end effector. The emitted beam can be reflected back to a barcode reader where it can be interpreted. That is, barcode reader 11024 of handle 11020 is positioned and arranged within slot 11026 such that emitted and reflected light beams are confined, or at least substantially confined, within barcode reader portion 11022 . In this way, the barcode reader 11024 may not accidentally or inadvertently scan a different end effector that may be present in a surgical kit, ie, an end effector that is not an end effector that is about to be assembled into a surgical instrument.

In various cases, further to the above, the end effector may be passed through a barcode reader of the surgical instrument prior to assembly of the end effector to the surgical instrument. In various alternative embodiments, the surgical instrument can include a removable barcode reader that can be used to scan the barcode of the end effector after the end effector has been assembled to the surgical instrument . In any event, once the end effector has been identified, in at least some cases the controller has access to an operating program configured to enable use of the identified end effector. In a certain aspect, the barcode can include a bootloader. In other cases, as described elsewhere herein, the barcode may provide the controller with necessary information or parameters to use a common operating system. In some cases, a serial number may be utilized to identify each end effector such that any two end effectors may have two different barcodes on them even though they may be the same type of end effector. In such cases, the controller may be configured to deny use of an end effector that has been previously scanned by the surgical instrument. Such a system may, for example, prevent an at least partially spent end effector from being reused.

As noted above, the end effector may be configured to communicate with the surgical instrument via a wired connection and/or a wireless connection. In terms of wired connections, turning now to FIG. 115 , a proximal end of an end effector (e.g., proximal end 9969 of end effector 9960) can include a plurality of electrical contacts 9968 that 9968 may be arranged in electrical communication with a plurality of electrical contacts 9948 disposed on and/or within the distal end 9942 of the shaft 9940 of the surgical instrument. Referring primarily to FIG. 116 , each electrical contact 9968 can include a contact element 9967 positioned at least partially within the element cavity 9965 . Each electrical contact 9968 may also include a biasing member, such as a spring 9966 , positioned intermediate the contact element 9967 and the inner sidewall of the element cavity 9965 . The spring 9966 can be configured to bias the contact elements radially outward. A stop 9964 from which the contact element 9967 protrudes, which may be movably biased by a spring 9966 against the other inner side of the element cavity 9965 at least before the end effector 9960 is mounted to the shaft 9940 Wall joint. The interaction between the stop 9964 and the side walls of the element cavity 9965 can prevent outward movement of the contact element 9967. When the end effector 9960 is mounted to the shaft 9940, the shaft electrical contact 9948 can push the contact element 9967 of the electrical contact 9968 inwardly against the biasing force applied by the spring 9966, as shown in FIG. 116 . In various circumstances, each pair of contacts 9948 and 9968 can complete an electrical circuit or communication channel 9950 . Although three pairs of contacts are shown, any suitable number of contacts and/or communication channels may be used. In various embodiments, referring to FIG. 117 , the shaft contacts 10048 can each include a movable element 10047 and a bias spring 10046 configured to urge the movable element 10047 against a corresponding end External actuator contacts 10068. In certain embodiments, turning now to FIG. 118 , one or both of the end effector contact and the shaft contact may include a flexible portion. For example, the end effector can include flexible contacts 10168 that can resiliently engage corresponding shaft contacts 9948 .

As with the embodiments described above, in each case, the end effector may be mounted to the shaft along the longitudinal axis. In such cases, referring primarily to FIG. 115 , the proximal-most end effector contact 9968 will first make electrical contact with the distal-most shaft contact 9948 . The reader will appreciate that when these contacts come into engagement, the end effector 9960 is still not fully attached to the shaft 9940. While such engagement between these contacts may be temporary, i.e., before the end effector 9960 is seated more deeply within the shaft 9940, the surgical instrument controller may confuse or misinterpret messages from the end effector 9960. one or more signals. Such confusion may arise as the longitudinal array of end effector contacts 9968 progressively contacts the longitudinal array of shaft contacts 9948 before the end effector 9940 is fully deployed. In various embodiments, the controller of the surgical instrument can be configured to ignore the signal transmitted through the contacts until the proximal-most end effector contact 9968 engages the proximal-most shaft contact 9948 . Turning now to FIGS. 119 and 120 , one contact pair can be different from the other so that the controller can recognize when the pair of contacts has mated and therefore can recognize when the end effector has been fully seated. For example, the end effector and shaft of a surgical instrument may include a first pair of contacts 10248a, 10268a, a second pair of contacts 10248b, 10268b, and a third pair of contacts 10248c, 10268c, wherein the third pair of contacts may be different from The first pair of contacts and the second pair of contacts. When the first pair of contacts 10248a, 10268a have been mated, the contact element 10267a can be pushed inwardly so that the first connection portion 10263a of the contact element 10267a contacts the first path portion 9951a of the communication path 9950a and the contact element 10267a The second connection portion 10264a of the communication path 9950a contacts the second path portion 9952a of the communication path 9950a. In this position of the contact element 10267a, both the first path portion 9951a and the second path portion 9952a can transmit signals through the contact element 10267a. When the second pair of contacts 10248b, 10268b have been mated, the contact element 10267b can be pushed inwardly so that the first connection portion 10263b of the contact element 10267b contacts the first path portion 9951b of the communication path 9950b and the contact element 10267b The second connection portion 10264b contacts the second path portion 9952b of the communication path 9950b. In this position of the contact element 10267b, both the first path portion 9951b and the second path portion 9952b can transmit signals through the contact element 10267b. When the third pair of contacts 10248c, 10268c has been mated, the contact element 10267c can be pushed inwardly so that the first connection portion 10263c of the contact element 10467c does not contact the first path portion 9951c of the communication path 9950c, the contact element The second connection portion 10264c of 10267c does not contact the second path portion 9952c of the communication path 9950c and contacts the first path portion 9951c. In this position of the contact element 10267a, the first path portion 9951c can transmit a signal through the contact element 10267c. As a result of the foregoing, the first, second, and third sets may have specific connection configurations with their respective channel paths when the end effector is fully deployed, and the controller may be configured to enable this fully engaged configuration whether appropriate. For example, when the end effector is initially inserted into the shaft, the third contact 10264c may initially contact the first shaft contact 10248a. In this position, only two path sections (i.e., 9951a and 9952a) are able to carry signals from the end effector to the controller, whereby the controller can be configured to detect a voltage drop between the interconnects, the The pressure drop is different than the pressure drop that occurs when the end effector is fully seated to enable the five path segments (ie, 9951a, 9952a, 9951b, 9952b, and 9951c) to transmit signals. Similarly, the end effector may be inserted further into the shaft until the third contact element 10267c contacts the second shaft contact 10248b and the second contact element 10267b contacts the first shaft contact 10248a. In this position, only four path segments (i.e., 9951a, 9952a, 9951b, and 9952b) can carry signals from the end effector to the controller, whereby the controller can be configured to be able to detect A pressure drop that differs from the pressure drop that occurs when the end effector is fully seated to enable the five path segments (ie, 9951a, 9952a, 9951b, 9952b, and 9951c) to transmit signals.

In some cases, when the end effector is assembled to the elongate shaft of the surgical instrument, the operator may engage the drive system and/or articulation system of the end effector to facilitate, for example, closing, firing, and/or closing of the end effector. , and/or joint movement. The end effector may include a first jaw, a second jaw, and one or more sensors configured to detect a position of the first jaw relative to the second jaw. Referring now to FIGS. 121-124 , an end effector 10360 can include a first jaw or anvil 10362 and a second jaw or staple cartridge 10364 , wherein the anvil 10362 can move toward and away from the staple cartridge 10364 . Typically, the end effector 10360 is inserted into the patient's body through a trocar, where the end effector 10360 may not be readily visible, even with the aid of an endoscope. Accordingly, a user of the surgical instrument may not be able to readily assess the position of the anvil 10362 relative to the second jaw 10364 . To facilitate use of the end effector, end effector 10360 may include sensors for detecting the position of anvil 10362, as described above. In various circumstances, such sensors can be configured to detect a gap between the anvil 10362 and the staple cartridge 10364. Certain sensors can be configured to detect the rotational position of the anvil 10362 relative to the staple cartridge 10364. Sensors are disclosed in U.S. Patent Application Serial No. 13/800,025, filed March 13, 2013, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM and U.S. Patent Application Serial No. 13/, filed March 13, 2013, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM 800,067 in. Entire disclosure of U.S. Patent Application Serial No. 13/800,025, filed March 13, 2013, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, and U.S. Patent Application Serial No. 13/800,067, filed March 13, 2013, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM The contents are incorporated herein by reference. Regardless of the sensor used, the position of the anvil 10362 can be communicated to the user of the surgical instrument via the display. Such displays may be located on the end effector 10360 and/or the shaft (eg, shaft 10340 ) of the surgical instrument. When the monitor is on the end effector, the monitor can be viewed using, for example, an endoscope. In such cases, the monitor may be positioned on the end effector so that it is not obscured by the trocar that allows the end effector to enter the surgical suite. In other words, the display may be positioned so that it is distal relative to the distal end of the trocar during use. When the monitor is on the shaft, the monitor can be positioned on the shaft so that it is not obscured by the trocar. In other words, the display may be positioned so that it is proximal relative to the proximal end of the trocar during use. Referring to the embodiment shown in FIGS. 121-124 , the display 10390 is located on the axis 10340 .

With continued reference to FIG. 121 , the anvil 10362 of the end effector 10360 is shown in a fully open position. In this position of the anvil 10362, the firing member 10330 of the end effector 10360 is in the proximal position and has not been advanced distally. As will be described in more detail below, the firing member 10330 is advanced distally to move the anvil 10362 toward the staple cartridge 10364. The position of firing member 10330 shown in FIG. 121 may represent an unfired, proximal-most position of firing member 10300 . When the anvil 10362 is in its fully open position, referring primarily to FIG. 125, the anvil display 10390 may not be illuminated. The reader will appreciate that the anvil display 10390 can show the position of the anvil 10362 in one of several different positions. Anvil display 10390 happens to be capable of displaying five possible positions of anvil 10362; however, other embodiments are contemplated that may include anvil displays that use more than five indicators or fewer than five indicators. As the anvil 10362 moves from its open position to its closed position, the display 10390 can continuously show the position of the anvil 10362 with the indicators 10391-10395. Indicator 10391 shows anvil 10362 in a slightly closed position. Indicators 10392, 10393 and 10394 show anvil 10362 in a partially closed position. Indicator 10395 shows anvil 10362 in a fully closed or parallel position. Upon comparing FIGS. 121 and 122 , the reader will appreciate that the firing member 10330 has been advanced distally to at least partially close the anvil 10362 . When the anvil 10362 is in the position shown in FIG. 122 , the anvil position sensor can detect the new position of the anvil 10362 and the indicator 10391 of the anvil display 10390 can be illuminated, as shown in FIG. 126 . When comparing FIGS. 122 and 123 , the firing member 10330 has been advanced distally to further close, but not fully close, the anvil 10362 . When the anvil 10362 is in the position shown in FIG. 123 , the anvil position sensor can detect the new position of the anvil 10362 and the indicator 10393 can be illuminated, as shown in FIG. 127 . 122 and 123, the reader will appreciate that the anvil 10362 has been rotated, for example, about 10 degrees and that if the anvil 10362 has been rotated, for example, only about 5 degrees, the indicator 10392 of the anvil display 10390 will have been rotated is lit. When comparing FIGS. 123 and 124 , the firing member 10330 has been advanced distally to fully close the anvil 10362 . When the anvil 10362 is in the position shown in FIG. 124 , the anvil position sensor can detect the new position of the anvil 10362 and the indicator 10395 can be illuminated, as shown in FIG. 128 . 123 and 124, the reader will appreciate that the anvil 10362 has been rotated, for example, about 10 degrees and that if the anvil 10362 has been rotated, for example, only about 5 degrees, the indicator 10394 of the anvil display 10390 will have been rotated is lit.

Further to the above, the end effector and/or surgical instrument can include a controller that can be configured to control the anvil display 10390 . For example, when the end effector includes anvil display 10390, the controller can be positioned within the end effector. When the shaft of the surgical instrument includes the anvil display 10390 and/or any other portion of the surgical instrument includes the anvil display 10390, the surgical instrument may include a controller. In other cases, one of the end effector and surgical instrument may include anvil display 10390 while the other of the end effector and surgical instrument may include a controller. In any event, the anvil position sensor may be in signal communication with the controller. The controller can be configured to interpret one or more signals from the sensors to determine the position of the anvil 10362 . The controller can communicate with the anvil display 10390 to light the indicators 10391-10395, as described above. In various cases, each indicator 10391-10395 may comprise, for example, a light emitting diode. In such cases, each light emitting diode may be arranged in electrical communication with an output channel of the controller's microprocessor such that the controller may selectively illuminate the light emitting diode independently of the other light emitting diodes. In various circumstances, the controller may continuously evaluate the position of the anvil 10362 based on data from the anvil sensors, and utilize this data to continuously update the illuminated indicator. For example, when the anvil 10362 is closing or opening, the controller can track the position of the anvil 10362 and quickly display this information to the user of the surgical instrument via the indicators 10391-10395. Such events can provide real-time or near-real-time feedback to the user about the position of the anvil 10362. In other cases, the controller may wait to display the position of the anvil 10362 until, for example, after the anvil 10362 has stopped moving, or at least substantially stopped moving, for a period of time. The reader will appreciate that the indicators 10391-10395 may represent discrete positions of the anvil 10362; however, it may be the case that the anvil 10362 may only momentarily pass through each of these discrete positions, such as when it is closed. In various cases, the controller may utilize an algorithm in order to determine which indicator to illuminate. For example, the controller may apply an algorithm that determines which indicator more accurately represents the position of the anvil 10362 even though the anvil 10362 may not be aligned with any of the discrete positions that may be indicated by the indicator display 10390 . In various circumstances, the controller may illuminate two adjacent indicators in indicator display 10390 when anvil 10362 is positioned intermediate two discrete positions represented by the two adjacent indicators.

In various cases, further to the above, indicators 10391-10395 may each comprise light emitting diodes that emit light of the same color, or at least substantially the same color. In other cases, one or more of the indicators 10391-10395 may emit a different color than the other indicator 10391-10395. For example, indicator 10391 may be configured to emit yellow, while indicators 10392-10395 may be configured to emit green, for example. The reader will be aware, referring to FIG. 122 , that when the anvil 10362 is in the partially closed position shown in FIG. When the indicator 10391 associated with this position of the anvil 10362 is illuminated yellow, the user of the surgical instrument can be reminded to exercise caution before moving the end effector 10360 and/or continuing the firing process. In some cases, each of indicators 10361-10365 may be configured to emit more than one color each. For example, each indicator 10361-10365 may include a light emitting diode configured to emit green and red. In such cases, the indicators 10361-10365 may emit green when indicating this position of the anvil 10362, as described above, and alternatively, may emit red when there is an error with the end effector 10360 and/or the surgical instrument .

As described above, the anvil of the end effector is movable relative to the staple cartridge between an open position and a closed position, and the surgical instrument system can be configured to detect and communicate the movement of the anvil to the user . That is, embodiments are contemplated in which the staple cartridge is movable relative to the anvil. In at least one such embodiment, the anvil may be fixed or non-pivotable. When fixed or unable to pivot, the anvil can rigidly extend from a portion of the end effector frame; however, the portion of the end effector frame from which the anvil extends and the staple cartridge can be positioned relative to the end of the surgical instrument Another part or shaft of the actuator is articulated. Whether or not the end effector is articulateable, in such embodiments, the staple cartridge is pivotable relative to the anvil. The systems and methods described herein for detecting movement of an anvil may be adapted to detect movement of a staple cartridge. Additionally, the systems and methods described herein for displaying motion of an anvil may be adapted for displaying motion of a staple cartridge.

In various circumstances, the operator may desire to retract the drive member during the firing stroke. The surgical instrument disclosed in Zemlok '763 employs a retraction assembly that includes a manually actuated mechanical interface in conjunction with a drive tube activated by ratcheting a retraction lever mounted on the handle. Such configurations purportedly allow the surgeon to retract the firing rod and ultimately the loading unit drive member if the power source is interrupted or the motor or control system fails during firing. However, such retraction assemblies can be difficult to operate efficiently due to the fact that the motor and motor gearbox remain engaged during ratchet movement (actuation). Therefore, the retraction assembly of the device must be able to develop sufficient torque to rotate the gears in the gearbox and the motor shaft to allow the drive tube to be rotated manually. The creation of such forces can place excessive stress on the retraction assembly components, which can lead to catastrophic failure of the retraction assembly. The surgical instrument 10 shown in FIGS. 1-28 can be configured to have a unique and novel retraction assembly configuration whereby this and other problems can be avoided.

For example, surgical instrument 10 may include a retraction assembly 120 including a retraction base 124 having a top portion 126 and a bottom portion 128 . In various forms, retraction assembly 120 mechanically interfaces with drive tube 102 via drive gear 130 and retraction gear 132 . See Figure 5. Drive gear 130 is non-rotatably attached to drive tube 102 such that rotation of drive gear 130 imparts rotation to drive tube 102 . The drive gear 130 and the retract gear 132 may include bevel gears or the like to allow intermeshing engagement therebetween, as shown in FIG. 5 . The retract gear 132 may be coupled to a first spindle 134 ( FIGS. 4 and 5 ) that extends substantially perpendicular to and between the top portion 126 and the bottom portion 128 of the retract base 124 . The mandrel 134 may be supported for rotational travel about a mandrel axis “SA-SA” that is substantially perpendicular to the longitudinal axis “LA-LA” of the surgical instrument 10 . See Figure 5. In various forms, the retraction gear 132 may have a first spur gear 136 attached thereto. The first spur gear 136 interfaces with a second spur gear 138 which is operatively supported on a second spindle 137 which is arranged in a substantially vertical manner on the back of the shaft. The top portion 126 and the bottom portion 128 of the retractable base 124 are between and rotatable about a second shaft axis "SA'-SA'" defined thereby. The second spur gear 138 is supported for meshing engagement with a third spur gear 140 disposed on the first spindle 134 . The third spur gear 140 is attached to the first clutch portion 144 of the one-way clutch assembly 142 . The clutch assembly 142 also includes a second clutch portion 146 rotatably disposed on the first spindle 134 above the first clutch portion 144 . A spring (not shown) may be disposed between the first clutch portion 144 and the second clutch portion 146, thereby maintaining the first clutch portion 144 and the second clutch portion 146 in a raised "non-interlocking" orientation, as Figure 5 shows.

It should be understood that as the drive tube 102 rotates, the drive gear 130 will impart rotation to the first spur gear 136 , the second spur gear 138 and the third spur gear 140 as well as to the first clutch portion 144 and respective spindles 134 , 137 . Since the second clutch portion 146 is rotatable about the spindle 134 and is biased out of engagement with the first clutch portion 144 by a spring arrangement (not shown) disposed therebetween, the rotation of the first clutch portion 144 is not translated. to the second clutch section 146 . As can be seen in FIG. 5 , the first clutch portion 144 and the second clutch portion 146 include a plurality of interlocking teeth 148 each having a flat interlocking surface and a sloped sliding surface. As will be described in greater detail below, the second clutch portion 146 may be biased by the retract lever 150 into meshing engagement with the first clutch portion 144 . The sliding surfaces of the teeth 148 allow the interlocking surfaces to contact each other such that rotation of the second clutch part 146 causes the first clutch part 144 to rotate. Rotation of the first clutch portion 144 also causes the transfer gear to rotate, ultimately imparting a rotational motion to the drive tube 102 about the longitudinal tool axis LA-LA.

Referring now to FIG. 6 , retraction lever 150 may include an elongated handle portion 152 that includes a cam portion 154 . Cam portion 154 may include an opening that may accommodate a one-way needle clutch (not shown) that is supported for engagement with a fitting (not shown) that may be attached to first spindle 134 . The mechanical fit allows retraction lever 150 to rotate about first spindle 134 . Zemlok '763 also describes the operation of such one-way roller clutches and fitting components and is incorporated herein by reference in its entirety. In various forms, the retract lever 150 includes one or more cam members 156 each having a cam surface 158 thereon. In a first orientation, the retraction lever 150 is disposed along the lever pocket 14 of the housing 12, as shown in FIG. 1 . A spring disposed between the first clutch portion 144 and the second clutch portion 146 serves to bias the retract lever 150 against the top portion 126 of the retract mount 124 . As seen in FIG. 6 , the cam members 156 are disposed within corresponding cam slots or pockets 160 in the top portion 126 of the retract base 124 . The retract lever 150 is maintained in the first orientation by a return spring 162 mounted between the top portion 126 of the retract base 124 and the cam portion 154 of the retract lever 150 . Cam member 156 and cam slot 160 also prevent retraction lever 150 from rotating.

In use, when the retraction lever 150 is moved out of the lever recess 14 ( FIG. 1 ) in the housing 12 , the cam member 156 interfaces with the corresponding cam slot 160 against positioning in the first clutch portion 144 and the second clutch portion 146 . The biasing force of the spring in between biases the cam portion 154 of the retraction lever 150 in a downward direction. Such downward movement compresses the spring and urges the first clutch part 144 and the second clutch part 146 into interlocking engagement. Rotation of the cam portion 154 in a counterclockwise direction actuates the needle roller clutch that interfaces with the fitting and the first spindle 134 . Continued actuation of retract lever 150 rotates clutch assembly 142 which in turn rotates spur gears 136 , 138 , 140 as well as retract gear 132 and drive gear 130 . This in turn rotates the drive tube 102 about the longitudinal tool axis "LA-LA". Since the firing rod 104 is threadedly engaged with the drive tube 102 , rotation of the drive tube 102 in the manner described above causes the firing rod 104 to retract (proximally axially travel) into the drive tube 102 .

In operation, the motor 100 may be configured to rotate the drive tube 102 about the longitudinal tool axis "LA-LA" in a direction opposite to the retraction direction (eg, in a clockwise direction). Such rotation of the drive tube 102 causes the firing rod 104 to move axially in the distal direction "DD". This advancement of the firing rod 104 and the drive member 60 of the loading unit 20 may be referred to herein as a "firing" action. As seen in FIG. 5 , for example, gear assembly 170 is used to achieve the desired amount of drive torque to drive firing rod 104 in the distal direction “DD” to actuate loading unit 20 . Gear assembly 170 may include a gearbox housing 172 coupled to motor 100 . For example, gearbox housing 172 may be coupled to motor housing 101 by screws 103 or other mechanical fasteners and/or fastener configurations. Gear assembly 170 and motor 100 may be collectively referred to as a “drive unit”, generally designated 186 .

The gearbox housing 172 is rotatably supported in a motor holder portion 190 that is integrally formed or otherwise non-rotatably supported by the housing 12 . Such a configuration allows the drive unit 186 to rotate about the longitudinal tool axis “LA-LA” within the housing 12 but prevents its axial movement within the housing 12 . The motor 100 may be powered, for example, by a power source 200 and/or power system 2000 (Fig. 129) of the type described in more detail in Zemlok '763.

To facilitate the provision of electrical current to the drive unit 180 and more particularly to the motor 100, a unique contact configuration 210 may be used. For example, contact configuration 210 may include annular negative motor contact 212 and annular positive motor contact 114 supported on motor housing 101 , as seen in FIG. 4 . A fixed negative contact 216 may be supported within the housing 12 for sliding contact with the negative motor contact 112 . Similarly, fixed positive contact 218 may be supported for sliding contact with positive motor contact 214 as drive unit 180 rotates within housing 12 . Fixed negative and positive contacts 216 , 218 may include flexible spring-like contacts to facilitate assembly and adjustment of drive unit 186 within housing 12 . Stationary negative contact 216 may be electrically coupled to power source 200 via negative lead 220 and stationary positive contact 218 may be electrically coupled to power source 200 via positive lead 222 . Such a contact configuration allows electrical power to be provided from the power source 200 to the motor 100 while facilitating rotation of the drive unit 186 about the longitudinal tool axis "LA-LA" within the handle housing.

Referring to FIG. 5 , gear assembly 170 may include a planetary gear configuration operatively coupled to motor shaft 107 . In one configuration, for example, a ring gear 173 may be formed on an inner surface of the gearbox housing 172 . The main sun gear 171 may be coupled to the motor shaft 107 . The main sun gear 171 may be supported for meshing engagement with a plurality of first planet gears 175 supported on a first planet carrier 174 such that they are also in meshing engagement with the ring gear 173 . A first sun gear 176 may be formed on or otherwise attached to a first planet carrier 174 and may be supported for meshing engagement with a plurality of second planet gears 178 supported on a second planet carrier 177 . A second planet gear 178 may also be supported in meshing engagement with the ring gear 173 . The second sun gear 179 may be formed on or otherwise attached to the second planet carrier 177 and may be supported in meshing engagement with a plurality of third planet gears 181 . A third planetary gear 181 may be supported on the third planetary carrier 180 for meshing engagement with the ring gear 173 . The third sun gear 183 may be formed on or attached to the third planet carrier 180 and meshedly engaged with a plurality of fourth planet gears 187 which may be attached to the output shaft unit 184 , the output shaft unit 184 is rotatably supported in the gearbox housing 172 through a bearing 185 . A fourth planet gear 187 may also be supported in meshing engagement with the ring gear 173 .

FIG. 7 shows one configuration for rotatably supporting drive unit 186 within housing 12 . As seen in this figure, the motor mounting hub 192 of the motor holder 190 may include a gearbox housing segment 196 rotatably supported therein. In one configuration, for example, gear assembly 170 is rotatably supported in gearbox housing segment 196 via bearings 185 . Similarly, motor 100 is rotatably supported within motor mounting housing portion 13 by bearings 198 . Other methods of rotatably supporting drive unit 186 within housing 12 may also be used.

The output shaft unit 184 is operably coupled to a clutch 230 (FIG. 5) of the type and construction disclosed by Zemlok '763, which is incorporated herein by reference in its entirety. Additional details regarding the construction and operation of such clutches 230 are available from this publication. However, in alternative embodiments, clutch 230 may be replaced by a shaft-to-shaft coupling or sleeve configuration for facilitating direct coupling of output shaft unit 184 to drive tube 102 .

When the axially movable drive beam of the surgical instrument disclosed in Zemlok '763 gets stuck or power to the instrument is lost, the user has to use a retraction assembly to retract the drive beam back to its original position to facilitate Loading unit removal. Effective retraction, however, is difficult because the retraction system has to generate the required amount of sufficient torque to reverse the multiple gear configurations in the gear assembly. Accordingly, such retraction systems can be extremely difficult to operate effectively.

At least one surgical instrument embodiment disclosed herein employs a unique and novel releasable drive unit locking system, generally designated 240, to address this issue. As will be described in more detail below, for example, the drive unit 186 is prevented from rotating within the handle housing 12 when the releasable drive unit locking system 240 is in the "locked" position. When the surgical instrument is “fired,” the drive unit 186 remains in the locked position to facilitate the ultimate transfer of motor torque from the motor 100 through the gear assembly 170 to the drive tube 102 . When it is desired to actuate the retraction assembly 120, the drive unit locking system 240 is moved to an "unlocked" position to allow the drive unit 186 to rotate freely within the housing 12, thereby eliminating the need to generate sufficient retraction torque to reverse the gear assembly 170 Gear construction in . During operation of retraction assembly 120 , gear assembly 170 may remain operably coupled between motor 100 and drive tube 102 . In such embodiments, although the gear assembly 170 remains operably coupled to the motor 100 and drive tube 102, the free rotation of the drive unit 186 can reduce the pressure on the drive gear assembly 170 when the gear configuration is reversed to retract the drive tube 102. required torque. This reduction in required torque can improve the effectiveness of the retraction system.

As can be seen in FIG. 8 , for example, third spur gear 140 of retraction assembly 120 may include an unlocking cam 141 configured to actuate locking pawl assembly 250 of drive unit locking system 240 . One form of locking pawl assembly 250 is shown in FIGS. 9-11. As seen in FIG. 10 , for example, the locking pawl assembly 250 may include a pawl member 252 having a locking notch 254 formed therein. The locking notches 254 may be sized to allow free passage therethrough of a series of spaced first locking wedges 256 formed about the outer perimeter of the gearbox housing 172 . See eg FIGS. 12 and 13 . A pawl locking wedge 258 is formed on the locking pawl 252 for locking engagement with either of the first locking wedges 256, as will be described in more detail below. As also seen in FIGS. 8-11 , the locking pawl assembly 250 may also include a pawl guide rod 260 configured to be slidably received in the motor mounting hub 192 Inside passage 194. A pawl spring 262 is journalled on the pawl guide rod 260 and positioned between the pawl member 252 and the motor mounting hub 192 to bias the cam engaging portion 264 of the pawl member 252 to align with the third positive direction. Gear 140 engages.

One method of operating the retraction assembly 120 and drive unit locking system 240 will now be described with reference to FIGS. 8 , 13 and 14 . Figure 13 shows the drive unit locking system 240 in a locked position. As can be seen in this figure, pawl member 252 is biased into the distal locked position by pawl spring 262 . When in the locked position, the pawl locking wedges 258 on the pawl member 252 are in locking engagement with a corresponding one of the first locking wedges 256 on the gearbox housing 172 . When in this position, the retraction assembly 120 has not been activated and the gear assembly 170 is prevented from rotating on the housing 12 . Operation of motor 100 by depressing main power switch 80 ( FIG. 1 ) results in rotation of drive tube 102 and ultimately axial advancement of firing rod 104 , thereby driving drive beam 60 distally through loading unit 20 .

If, for example, drive beam 60 becomes lodged in tissue clamped in loading unit 20, or power to motor 100 is lost, or for some other reason motor 100 fails to reverse the rotation of drive tube 102 to eventually retract firing rod 104, A clinician may then use retraction assembly 120 to manually retract firing rod 104 and drive beam 60 . FIG. 8 shows retraction assembly 120 in an unactuated position (eg, when drive unit locking system 240 is in a locked position). To begin the manual retraction procedure, the clinician pulls the retraction lever 150 out of the lever pocket 14 in the handle housing 12 (in the "R" direction - see FIG. 6 ). Movement of the retract lever 150 in the “R” direction results in rotation of the cam portion 154 of the retract lever 150 within the retract base 124 . Such initial rotation of the retraction lever 150 in the "R" direction causes the unlocking cam 141 to engage the cam engaging portion 264 of the pawl member 252 to bias the pawl member 252 into the unlocked position, thereby allowing the drive unit 186 to move in the handle. It can freely rotate inside the external housing 12. The cam slot 160 in the retract base is configured and of sufficient length to facilitate such rotational travel of the cam portion 154 of the retract lever 150 without initial disengagement of the clutch assembly 142 . Accordingly, the cam slot 160 may be longer than the cam slot positioned in the previous retracted base configuration to facilitate unlocking of the drive unit assembly 186 prior to application of an actuation action to cause the drive tube 102 to rotate. For example, in at least one configuration, the cam slot 160 can be elongated to facilitate rotation of the retract lever 150 by about fifteen degrees. As the clinician continues to rotate the retraction lever 150 in the “R” direction, the cam engaging portion 264 will ride on the third spur gear 140 along the outer perimeter of the unlocking cam 141 . Continued rotation of the retract lever 150 in the "R" direction causes the cam member 156 on the cam portion 154 to engage the end of its corresponding cam slot 160 to bias the cam portion 154 in a downward direction. This downward movement compresses a spring positioned between the first clutch part 144 and the second clutch part 146 to bring the teeth 148 thereon into meshing engagement with each other. Continued rotation of the cam portion 154 in the counterclockwise direction actuates the needle clutch that interfaces with the accessory and the first spindle. Continued actuation of retract lever 150 rotates clutch assembly 142 which in turn rotates spur gears 136 , 138 , 140 as well as retract gear 132 and drive gear 130 . This in turn rotates the drive tube 102 and drives the firing rod 104 .

The retract lever 150 may be actuated a predetermined amount of travel until a portion of the retract lever 150 abuts a portion of the housing 12 . The retraction lever 150 is then returned to its first position by the return spring 162 . This action raises the cam portion 152 thereby allowing the second clutch portion 146 to also move up and disengage the first clutch portion 144 . The needle clutch may release the fitting, thereby allowing the retraction lever 150 to return to the first position without affecting the movement of the drive tube 102 . Once the retraction lever 150 is returned to the first position, the drive unit 186 remains in the locked position again. The ratcheting or rotation of retraction lever 150 may be repeated iteratively until firing rod 104 has returned to the desired position.

Because gearbox housing 172 is free to rotate during application of this rotational action, the amount of torque required to rotate drive tube 102 and the gears within gear assembly 170 is significantly reduced as compared to the torque required to operate previous retraction assemblies. Such configurations also advantageously serve to resist the transfer of torque generated by the retraction assembly to the motor shaft 107 while the gear assembly 170 remains drivingly coupled to the motor shaft 107 . In other words, gear assembly 170 may remain drivingly coupled between motor shaft 107 and drive tube 102 during operation of retraction assembly 120 . Such configurations differ from the retracted configurations disclosed, for example, in US Patent 7,959,050, which is incorporated herein by reference in its entirety, but result in physical disengagement or physical interruption of the transport portion during activation of the retracting system.

15-18 illustrate another surgical instrument 310 that is substantially similar to surgical instrument 10 described above, except for the differences described below. As can be seen in FIG. 16 , instrument 310 includes a gear assembly 470 including a gearbox housing 472 that may be coupled to motor 100 in the manner described above, for example. Gearbox assembly 470 and motor 100 may collectively be referred to as a “drive unit,” generally designated 486 . Gear assembly 470 may be identical to gear assembly 170 except for the differences described below.

In at least one construction, gearbox housing 472 is non-rotatably supported or may be integrally formed with motor holder portion 190 that is integrally formed or otherwise within housing 12 as described herein. attached in a non-rotatable manner. Since the drive unit 486 does not rotate in this configuration, it can be directly wired to a power source. For example, motor 100 may be powered in the manner described in Zemlok '763 or in other suitable manner. As seen in FIG. 16 , gear assembly 470 may include a planetary gear configuration operatively coupled to motor shaft 107 . In one configuration, for example, a stationary ring gear 473 may be formed on an inner surface of the gearbox housing 472 . The main sun gear 471 may be attached to the motor shaft 107 . The main sun gear 471 may be supported for meshing engagement with a plurality of first planet gears 475 supported on a first planet carrier 474 . The first planet gears 475 are also in meshing engagement with the ring gear 473 . A first sun gear 476 may be formed on a first planetary carrier 474 and meshingly engaged with a plurality of second planetary gears 478 supported on a second planetary carrier 477 . A second planetary gear 478 may also be supported in meshing engagement with the stationary ring gear 473 . The second sun gear 479 may be formed on or attached to the second planetary carrier 477 and may be supported for meshing engagement with a plurality of third planetary gears 481 supported on the third planetary carrier 480 . The third planetary gear 481 is in meshing engagement with the fixed ring gear 473 . The third sun gear 483 may be formed on or otherwise attached to the third planet carrier 480 . The third sun gear 483 may be supported to meshingly engage with a plurality of fourth planetary gears 487 which may be attached to an output shaft unit 484 rotatably via a bearing 185 Supported within the gearbox housing 472 . The plurality of fourth planetary gears 487 can be meshedly engaged with a lockable ring gear 485 rotatably mounted in the gearbox housing 472 . Gears 471 , 473 , 475 , 476 , 478 , 479 , 481 , and 483 may be collectively referred to herein as gear train assembly 460 .

A lockable ring gear 485 is rotatably mounted within an annular cavity 490 in the motor holder portion 190 (FIG. 16). Cavity 490 is sized to allow free rotation of lockable ring gear 485 therein about longitudinal tool axis "LA-LA". The lockable ring gear 485 may be mounted in the annular channel 490 and then held in place by a plug member 492 which is pressed or otherwise retained within the annular channel 490 .

Surgical instrument 310 may also include a drive unit locking system 540 including a movable shifting ring assembly 542 . In at least one form, the shift ring assembly 542 can include, for example, a shift ring 543 having at least one and preferably a plurality of locking members, such as in the form of pins 544 . Pin 544 protrudes from shift ring 543 and is configured for selective lockable engagement with lockable ring gear 485 . Each of the locking pins 544 is slidably received within a corresponding channel 546 in the plug member 492 . The shift ring 542 is supported for axial movement by an inversion link 550 attached to a clutch clamp 560 . As seen in FIG. 15 , the clutch clamp 560 may comprise a spring clamp that clamps around a portion of the outer perimeter of the third spur gear 140 . The clutch clamp 560 may have a lug 562 thereon that attaches to a shifter rod 564 . The shifter rod 564 may be somewhat flexible and pivotally coupled to the shifter ring 542 . During normal use (i.e., when the motor 100 is driving the firing rod 104), the locking pin 544 is in locking engagement with the lockable ring gear 475 to prevent the lockable ring gear 475 from rotating so that rotational torque is transmitted to the output shaft unit 484 and finally to the drive tube 102.

When the clinician desires to retract the firing rod 104 using the retraction assembly 120 , the retraction lever 150 is rotated in the "R" direction from the starting position shown in FIG. 15 . As the retraction lever 150 is rotated, the clutch clamp 560 rotates with the third spur gear 140, causing the shifter rod 564 to move the shifter ring 542 in the distal direction “DD”. When the shift ring 542 is moved in the distal direction “DD”, the locking pin 544 moves out of locking engagement with the lockable ring gear 485 to allow the lockable ring gear 485 to rotate relative to the gearbox housing 472 . The clinician continues to ratchet the retraction lever 150 to the end position shown in FIG. 18 . In at least one configuration, for example, retraction lever 150 needs to be rotated only about fifteen degrees to disengage locking pin 544 from lockable ring gear 485 . After the clinician releases the retraction lever 150, the return spring 162 will return the retraction lever 150 to the starting position and the clinician can repeat the process until the firing rod 104 is retracted to the desired position. Since lockable ring gear 485 is free to rotate within bearing housing 472 , rotation of drive tube 102 and output shaft unit 484 will not be resisted by other gear configurations in gear assembly 470 . As such, the amount of ratchet movement torque required to retract the firing rod 104 is reduced compared to a retracted configuration that remains operably engaged with the gear configuration in the gear assembly during retraction. Additionally, firing rod 104 may remain operatively engaged with gear assembly 470 despite the reduced torque required. In other words, firing rod 104 may remain operably coupled to motor 100 . When the shift ring 542 contacts the bearing 185 in the motor mounting hub 192 , the locking pin 544 lockingly engages the lockable ring gear 485 . The clutch clip 560 may be configured to slide relative to the third spur gear 140 after the shift ring contacts the bearing 185 or other portion of the motor mounting hub 192 . Accordingly, the drive unit locking system 540 serves to facilitate rotation of at least a portion of the drive unit within the handle housing during application of retraction motion to the drive tube 102 to reduce the amount of retraction torque required to retract the firing rod 104 .

Surgical instrument 610 in FIG. 19 is substantially the same as surgical instrument 310 except that clutch clamp 560 is attached to third spur gear 140 such that counter-rotating linkage 550 used in surgical instrument 310 is eliminated. As can be seen in FIG. 18 , for example, the shifter rod 564 is directly connected to the shifter ring 542 . Ratcheting of retraction lever 150 in the manner described above results in movement of shift ring 542 and in engagement and disengagement of locking pin 544 with lockable ring gear 485 .

20 and 21 illustrate another surgical instrument 610' that is substantially the same as surgical instrument 610 except for the following differences. In this configuration, for example, at least two "leaf-type" locking springs 620 and ring gear locking member 622 are supported on the gearbox housing 472' of the gear assembly 470'. As can be seen in Figure 20, each locking spring 620 and corresponding locking member 622 are supported within a slot 624 in the gearbox housing 472'. In this configuration, the locking pin 544' attached to the shift ring 542 is configured to contact and press the corresponding locking spring 620 inwardly to compress the corresponding ring gear locking member 622 into engagement with the lockable ring gear 485 locking engagement. When in this position (shown in FIG. 20 ), the lockable ring gear 485 is prevented from rotating relative to the gearbox housing 472'. When the shifter rod 564 pulls the shift ring 542 in the distal direction "DD", the locking pin 544' disengages its corresponding locking spring 620, which allows the spring 620 to flex to the starting position to allow the ring gear locking member 622 disengages lockable ring gear 485, thereby allowing it to rotate relative to gearbox housing 472'. Accordingly, when retraction assembly 120 is activated, lockable ring gear 485 is free to rotate relative to gearbox housing 472', thereby reducing the amount of retraction torque required to cause retraction of firing rod 104 in the proximal direction "PD". .

Figures 22-24 illustrate the use of selective manual firing if the distal portion or other component of the firing rod of an operably attached surgical instrument becomes jammed or the operating power for advancing the firing rod assembly is interrupted during operation. Another retraction assembly configuration that retracts the distal portion of the firing rod of the surgical instrument 710 . Except for the differences described below, surgical instrument 710 may be similar in design and operation to the surgical instruments described above and/or disclosed in Zemlok '763, which is incorporated herein by reference in its entirety.

As seen in FIGS. 22-24 , surgical instrument 710 includes a housing 712 that operably supports a firing rod assembly 720 . Housing 712 may, for example, operably support a motor and gear assembly (not shown) for imparting rotational motion to the drive tube that may cause axial movement of firing rod assembly 720 in various ways as described herein. In at least one configuration, the firing rod assembly 720 can include a proximal firing member or rod portion 722 that operably interfaces with the drive tube in various manners disclosed herein. In other surgical instrument configurations, the proximal firing rod portion 722 may operably interface with other drive configurations and systems configured to impart axial motion to the proximal firing rod portion 722 .

As further seen in FIGS. 22-24 , the firing rod assembly 720 may also include a distal firing member or rod portion 724 that is operably coupled to the loading mechanism in various ways as described herein. The proximal end of the axially movable drive beam 60 of the unit 20 . A retraction assembly 730 in the form of a retraction link assembly 732 is pivotally coupled between the proximal firing rod portion 722 and the distal firing rod portion 724 . In the illustrated construction, the retraction linkage assembly 732 includes an actuator link 734 having a link handle portion 736 that pins to the proximal firing rod portion 722 . The retraction linkage assembly 732 also includes a distal retraction link 738 that is pinned to the actuator link 734 and the distal firing rod portion 724, as shown. In the illustrated embodiment, housing 712 includes a distally extending articulation housing portion 714 that may also include a distally extending shaft housing segment 716 . Shaft housing segment 716 may serve to axially support retraction link assembly 732 as retraction link assembly 732 moves axially in the distal and proximal directions in response to axial movement of firing rod assembly 720 . To facilitate axial movement of the retraction linkage assembly 732 relative to the shaft housing segment 716, the actuator link 734 extends through a slot 718 formed in the shaft housing segment 716, as shown.

FIG. 22 shows the positions of the firing rod assembly 720 and the retraction assembly 730 prior to firing. 23 illustrates the positions of the firing rod assembly 720 and the retraction assembly 730 after firing in the distal direction "DD". If during firing, the clinician wishes to retract the drive beam 60 back to the starting position, the clinician can simply grasp the link handle portion 736 of the actuator link 734 and pivot in the "R" direction. 24, thereby pulling the distal firing rod portion 724 and drive beam 60 in the proximal "PD" direction. As shown in FIGS. 22 and 23 , during firing, the proximal end 725 of the distal firing rod portion 724 can be generally axially spaced apart from the distal end 735 of the proximal firing rod portion 734 and is designated “RD”. "the distance. For example, distance "RD" may remain constant during firing by the drive unit and normal retraction of firing rod assembly 720 . However, when the clinician activates the retraction assembly, the distance between the proximal end 725 of the distal firing rod portion 724 and the distal end 735 of the proximal firing rod portion 734 (distance "RD'") will be less than the distance "RD". Additionally, as can be seen in FIG. 22 , the distance between the starting position of the distal working head 62 of the drive beam 60 and the ending position of the distal working head 62 (i.e., after a full firing stroke) is represented by the distance "FD". . If desired, the distance "RD" may be large enough to allow the distal firing rod portion 724 to fully retract (i.e., move closer to the distal end 735 of the proximal firing rod portion 722) so that the working head 62 returns from the end position to its start position. In other words, the distal firing rod portion 724 is retractable a retraction distance at least equal to or greater than the firing distance "FD." In such configurations, for example, if the working head 65 is stuck or otherwise parked in its end position, activation of the retraction assembly can fully retract the drive beam 60 to return the distal working head 62 to its starting position. The starting position, wherein the distal working head 62 can allow the anvil 22 to pivot open and release tissue.

25-28 illustrate an alternative firing rod assembly 720' that can be selectively manually retracted. The firing bar assembly 720' as shown includes a proximal firing bar portion 722' that can operably interface with a drive tube in various ways as disclosed herein. In other surgical instrument configurations, the proximal firing rod portion 722' may operably interface with other drive configurations and systems configured to apply a control action to the proximal firing rod portion 722'. The firing rod assembly 720' can also include a distal firing rod portion 724' that is at least partially hollow and is operably coupled to a removable port of the loading unit 20 in various ways as described herein. The end of the drive beam 60 moves axially. For example, the distal firing rod portion 724' may have a channel 725 therein that is sized to allow the distal firing rod portion 724' to slide axially over the proximal firing rod portion 722' a retraction distance " RDD". The retraction distance may be equal to or greater than the firing distance "FD", allowing the retraction assembly 730 to retract the drive beam 60 a sufficient distance to move its working head 62 from the end position "EP" to the start position "SP". See Figure 25. The retraction assembly 730' can include a retraction latch 732'. The retracting latch 732' can include a latch handle 735 movable between a latched position (FIGS. 25 and 26) and an unlatched position (FIGS. 27 and 28). When in the latched position, the retraction latch 732' is attached to the distal firing rod portion 724' such that it is prevented from sliding axially on the proximal firing rod portion 722' and the distal firing rod portion 724'. When in this orientation, the proximal firing rod portion 722' moves substantially as a whole. Thus, when in the latched orientation, the firing rod assembly 720' can be fired in the distal direction "DD" to its end position "EP," as shown in FIG. 26 . If the drive beam 60 becomes stuck or power to the instrument is interrupted or lost (or for other reasons) during the firing stroke, the clinician can simply move the retracted latch handle 735 to the unlatched position ( FIG. 27 ) and then The retraction latch 732' is manually pulled in the proximal direction "PD," as shown in FIG. 28 .

The various retraction systems and configurations disclosed herein can address certain deficiencies often encountered with previous retraction configurations used to retract motor-powered members used by surgical end effectors. For example, the various retraction configurations disclosed herein may facilitate the manual application of retraction action to the drive member and/or associated drive configuration without the encounters typically provided by the gear/transmission configuration associated with the motor. resistance while allowing the gear/transmission configuration to remain "drivingly" or physically coupled to the motor.

Accordingly, at least one example includes a surgical instrument that can have a firing member assembly that can include a portion supported for selective axial movement in distal and proximal directions. The instrument may also include a drive unit including a motor having a motor shaft. The gear assembly is drivably coupled to the motor shaft and includes an output shaft assembly configured to interface with the firing member assembly such that the portion of the firing member assembly is driven along the distal end when the motor shaft is rotated in the first rotational direction. The lateral direction is axially driven and the portion of the firing member is driven axially in the proximal direction when the motor shaft is rotated in the second rotational direction. The surgical instrument may also include a retraction assembly that interfaces with the firing member assembly for manually applying further rotational motion to the firing member assembly in the second rotational direction when the motor is deactivated. The surgical instrument may also include a locking device that interfaces with the retraction assembly and the drive unit for preventing transmission of further rotational motion to the motor shaft while the gear assembly remains drivingly coupled to the motor shaft.

According to another example, a surgical instrument may include a drive unit for generating a firing motion and a retracting motion. The instrument may also include a surgical end effector configured to perform at least one surgical function in response to at least one of a firing motion and a retracting motion applied thereto. The surgical instrument may also include a firing member assembly that may include a proximal firing member portion that operably interfaces with the drive unit and is configured to operably receive rotational actuation therefrom sports. The firing member assembly may also include a distal firing member portion supported distally of the proximal firing member portion and configured to transmit a firing motion and a retracting motion to the surgical end effector. A retraction assembly is operably coupled to the proximal firing member portion and the distal firing member portion. The retraction assembly can be in an unactuated position (wherein the retraction assembly is capable of firing and retracting motion from the proximal firing member portion to the distal firing member portion) and an actuated position (wherein the distal firing member portion is relative to the proximal firing member portion). The side firing member partially moves axially) between selectively moving.

Another example surgical instrument may include a handle housing including an elongate shaft assembly operatively coupled thereto. An elongated shaft assembly may support an axially movable firing rod therein. A loading unit is operably coupled to the elongated shaft and configured to interface with the firing rod. A drive tube is rotatably supported within the handle housing and operatively interfaces with the firing rod. The surgical instrument may also include a motor having a motor shaft. A motor is operably supported within the handle housing and is operatively coupled to a power source. The gear assembly is drivably coupled to the motor shaft and includes an output shaft assembly configured to interface with the drive tube such that the drive tube drives the firing rod in a distal direction when the motor shaft is rotated in a first rotational direction and The drive tube drives the firing rod in the proximal direction when the motor shaft is rotated in the second rotational direction. The retraction assembly may interface with the drive tube for manually imparting further rotational motion thereto in the second rotational direction when the motor is deactivated. A locking device may interface with the retraction assembly and the gear assembly for preventing transmission of further rotational motion to the motor shaft while the motor assembly remains drivingly coupled to the motor shaft.

Referring again to FIGS. 1-3 , in various embodiments, the motor 100 of the surgical instrument 10 is operably coupled to a firing element (eg, firing element 60 ) and can drive the firing element 60 through the end effector during the firing stroke. or DLU 20. For example, during the firing stroke, firing element 60 may cut tissue and/or fire staples into tissue. The battery may provide electrical current to, for example, the motor 100 , and the electrical current provided to the motor 100 may be related to the torque produced by the motor 100 . Additionally, the torque generated by motor 100 may be related to the firing force applied by firing element 60 . The voltage on the motor may be related to, for example, the angular velocity of the motor 100 , which may be related to the velocity of the firing element 60 . Referring now to FIG. 63 , the motor can define a torque-voltage curve 5802 . In various embodiments, the torque-voltage curve 5802 may have a maximum torque T ₁ at an optimized voltage V. At voltages, eg, above and/or below the optimum voltage V, the torque produced by the motor may be less than the maximum torque T ₁ . For example, at a voltage of 1/2V, the torque-voltage curve 5802 may have, for example, a torque T ₂ that is less than T ₁ .

In various embodiments, a control system in signal communication with the motor can provide electrical current from the battery to the motor. In some embodiments, the control system may include, for example, a speed management control that may control the speed of the firing element. The control system may include, for example, a variable resistance circuit and/or a voltage regulation circuit that may control the current supplied to the motor and/or the voltage across the motor. In such embodiments, the control system may control the torque and/or angular velocity of the motor, and thus may control the firing force and/or speed of a firing element coupled to the motor. For example, a voltage regulation circuit may regulate the voltage on the motor to affect the speed of the firing element. Referring to Fig. 63, if the voltage regulation circuit drops the voltage from the ideal voltage V to 1/2V for example, the torque can be reduced to T2 which is less than the maximum torque T1 and the speed can be adjusted to speed S2 for example.

In various embodiments, the control system may include a pulse width modulation circuit, and the control system may provide current pulses to the motor. Referring primarily to Figures 64(a)-65(b), the current can be pulsed at a constant voltage. In various embodiments, the duty cycle of the pulses (ie, the duration of the pulses per interval or cycle) can affect the firing speed of the firing element 5804 . When the duty cycle is high (FIG. 64(a)), each pulse may be a longer portion of the interval and thus the motor may drive the firing element 5804, eg, at a faster speed S1. When the duty cycle is low (FIG. 64(b)), each pulse may be a shorter fraction of the interval and thus the motor may drive the firing element 5804, eg, at a slower speed S3. In various embodiments, a pulse width modulation circuit may provide current pulses to the motor at an optimum voltage V (FIG. 63) for the motor. In such embodiments, the speed of the firing element 5804 can be controlled without reducing the torque produced by the motor. For example, the motor may be operated, for example, at an optimized voltage V to produce a maximum torque _T1 , and the firing element 5804 may be driven at a reduced speed (e.g., speed _S3 ) and/or any suitable speed by varying the width of the voltage pulse. through the end effector.

In various embodiments, a battery may have a volt-ampere limit or a power threshold. In other words, a battery can provide a finite amount of energy per unit of time. The power threshold of a battery may be related to battery and/or circuit design. For example, thermal limitations of the battery and/or circuitry (eg, thermal capacity and/or wire insulation) may affect the power threshold. Additionally, the power threshold of the battery may limit the amount of current provided to the motor. In various embodiments, a motor utilizing speed management control (eg, pulse width modulation) may not require a maximum volt-ampere of the battery. For example, when the battery is providing a current pulse at a maximum or optimum voltage to drive the firing element with the desired speed and maximum or optimum torque, the remaining current may not be used to drive the firing element. In such embodiments, the residual current may be used to generate additional torque. 66(a)-66(c), the motor may include, for example, additional or auxiliary coil sets and residual current may be selectively directed to the additional coil sets to generate additional torque. In such embodiments, the motor may produce greater torque, eg, at lower speeds. In various embodiments, the control system may maximize the residual current provided to the auxiliary coil set, eg, based on the volt-ampere limit of the battery. Additionally, in some embodiments, the control system can optimize the torque produced by the motor during at least a portion of the firing stroke.

Still referring to FIGS. 66( a )-66( c ), the battery 6002 can selectively provide electrical current to the motor 6004 . The motor 6004 may include, for example, a primary coil set 6006 and an auxiliary coil set 6008 . In various embodiments, a control system 6020 in signal communication with the motor 6004 can selectively direct current to the primary coil set 6006 and/or the auxiliary coil set 6008 . For example, the control system 6020 may provide current to the primary coil set 6006 during a first operating state, and may provide current to, for example, the primary coil set 6006 and the auxiliary coil set 6008 during a second operation. In various embodiments, a switch such as switch 6010 is movable between an open position and a closed position to selectively provide current to, for example, auxiliary coil set 6008 . In various embodiments, the coil sets 6006, 6008 may be activated individually. Additionally, the control system 6020 may include a pulse width modulation circuit 6022 and the battery 6002 may provide current pulses to at least one of the coil sets 6006, 6008, for example. In various embodiments, the primary coil set 6006 may be coupled to a first circuit 6030 (FIG. 66(a)), and the second coil set may be coupled to a second circuit 6032 independent of the first circuit 6030 (FIG. 66(a) )). In other embodiments, the primary coil set 6006 and the auxiliary coil set 6008 may be arranged, for example, in parallel (FIG. 66(b)) or in series (FIG. 66(c)). In some embodiments, the motor 6004 may include, for example, at least one additional primary coil set and/or at least one additional auxiliary coil set.

In various embodiments, the motor can produce a first amount of torque during a first operating state and a second amount of torque during a second operating state. The second amount of torque may, for example, be greater than the first amount of torque. In addition, the additional torque generated by the auxiliary coil assembly 6006 during the second operating state can prevent and/or limit detent of the firing element during the firing row. For example, referring to Fig. 67, the motor can drive the firing element distally during a first operating state and can drive the firing element proximally during a second operating state. In various embodiments, the motor can generate greater torque when retracting the firing element than advancing the firing element. In such embodiments, retraction of the firing element may be improved. If the firing element is stuck, for example, the tissue is too thick and/or too hard for the firing element to cut and/or staple, then additional torque can be used, for example, to retract the firing element. Still referring to FIG. 66 , the torque produced by the motor may be gradually increased during the "soft" start phase 5902 of the firing stroke and/or may be gradually decreased during the "soft" detent phases 5904 , 5906 of the firing stroke. For example, when advancing the firing element, the motor can gradually or slowly increase the firing speed at the beginning of the firing stroke, and can gradually or slowly decrease the firing speed as the firing element completes the forward portion of the firing stroke. Additionally, in various embodiments, the motor can produce maximum torque and/or speed immediately or substantially immediately upon retraction of the firing element. The motor may, for example, use an additional coil set 6008 (FIGS. 65(a)-(c)) to maximize the torque generated at the onset of retraction.

Referring to Fig. 68, the control system can control the firing element to move at a slower speed during the trial segment 5912 of the firing stroke. For example, when advancing the firing element, the firing element initially moves at a slower speed to ensure proper selection and/or placement of the end effector for the target tissue. Additionally, as described in greater detail herein, the surgeon may engage an actuator, such as a switch or button, to, for example, actuate a motor and initiate opening and closing of the end effector jaws, movement of the firing element, and/or loading unit joint movement. Activating a trial segment (e.g., trial segment 5912 indicated in FIG. 68 ) when engaging the actuator at the beginning of a motor-driven action may allow the surgeon to "trial" the surgical action to ensure that the intended and/or proper surgical action has been performed. is activated. For example, in some embodiments, a first button can initiate motor-driven articulation in a first direction, and a second button can initiate motor-driven articulation in a second direction. When the surgical instrument is rotated and/or "upside down" orientation, the position of the first and second buttons can be rotated from the standard position or changed to "reverse", as viewed from the operator's perspective. If the first direction is the intended direction of articulation, it may be desirable to ensure that the loading unit articulates in the first direction during the test segment, ie the first button is actually actuated. Similarly, if the second direction is the intended direction of articulation, it may be desirable to ensure that the loading unit articulates in the second direction during the test segment, ie the second button is actuated. In certain embodiments, a trial segment during the initial portion of a surgical procedure may provide the clinician time to change and/or modify the surgical procedure if an unintended surgical procedure has been initiated. As described in more detail herein, a pulse width modulation circuit (eg, pulse width modulation circuit 6022 ) can implement a trial segment during an initial portion of a surgical maneuver.

As noted above, the motor controller may be configured to operate the motor 6004 using pulse width modulation. In each case, the motor controller may, for example, use the same pulse width modulation for the primary coil set 6006 and the auxiliary coil set 6008 . In other cases, the motor controller may use a first pulse width modulated signal for the primary coil set 6006 and a second or different pulse width modulated signal for the auxiliary coil set 6008 . In some cases, the motor controller may use a pulse width modulated signal for one of the coil sets 6006, 6008 but not the other. Additionally, the teachings described herein are applicable to motors with more than two coil sets. For example, a motor controller may utilize multiple pulse width modulated signals to operate multiple coil sets.

In various embodiments, the motor may be, for example, a brushed DC motor or a brushless DC motor. In some embodiments, the motor may be a stepper motor, eg, a hybrid stepper motor. A stepper motor can provide rotational control, making an encoder unnecessary. Elimination of the encoder may, for example, reduce the cost and/or complexity of the motor. Referring to Figures 69 and 70, the motor may be a simplified stepper motor. For example, the motor may include four electromagnetic poles spaced around the perimeter. Referring now to Figures 71-74(c), the motor may be a hybrid stepper motor. Hybrid stepper motors may include, for example, permanent magnets and electromagnets.

Existing surgical instrument configurations disclosed in eg Zemlok '763 and Zemlok '344 use two independent motors. A motor is used, for example, to advance the drive element distally through the loading unit, which results in closure of the anvil, cutting of tissue, and firing of staples from a staple cartridge supported in the loading unit. Another motor is used to articulate the loading unit about the articulation joint. Additional details for articulating the loading unit configuration are also disclosed in US Patent 7,431,188, the entire disclosure of which is incorporated herein by reference. The use of two motors in such devices can add complexity and add to the overall cost of the surgical instrument. For example, such configurations can double the number of retraction systems and other mechanisms that can fail during use. The surgical instrument 810 shown in FIGS. 29-31 utilizes a single motor that can be selectively used to fire and articulate a surgical end effector configured to At least one surgical procedure can be performed in response to a firing motion applied thereto.

In at least one form, for example, surgical instrument 810 may utilize many of the same components used in the various surgical instruments described in detail herein. For example, surgical instrument 810 includes housing 12 in which motor 100 is operably supported, and motor 100 is configured to generate a rotational actuation motion. The motor 100 is operatively coupled to a gear assembly 820 having associated therewith a selectively positionable drive coupling assembly 840 which will be described in greater detail below. Surgical instrument 810 may also include an articulation system, generally designated 859, that operably interfaces with the elongated shaft assembly for imparting articulation motion to the surgical end effector. In one form, for example, articulation system 859 may include an articulation actuation mechanism, generally designated 860, which may be substantially similar to Zemlok '763 and/or Or the articulation actuation mechanism disclosed in Zemlok '344 and/or US Pat. No. 7,431,188. For example, housing 12 may include a cylindrical portion 90 in which a rotatable member 92 is mounted. Rotatable member 92 can interface with the proximal end of the elongated shaft assembly to facilitate rotation of the elongated shaft assembly relative to housing 12 . The rotatable member 92 operably supports the articulation knob and slipper clutch configuration as disclosed in US Pat. No. 7,431,188. The primary articulation gear 94 of this configuration is indicated by dashed lines in FIGS. 29 and 30 . The main articulation gear 94 may be connected to the main shaft 95 by a slipping clutch as described in the aforementioned US Patent 7,431,188 such that rotation of the main articulation gear 94 will cause a corresponding rotation of the main shaft 95 . As described in more detail therein, the articulation knob can be used as an articulation position indicator. Main shaft 95 operably interfaces with J-channel member 96 , which interfaces with the proximal end of articulation link assembly 97 . In one form, articulation link assembly 97 may include a proximal articulation link 98 that interfaces with articulation link 70 ( FIG. 3 ) in loading unit 20 .

Articulation mechanism 860 may also include an articulation drive train arrangement 870 that operably interfaces with primary articulation gear 94 and drive coupling assembly 840 . As seen in FIGS. 29 and 30 , the articulation drive train configuration 870 may include an articulation drive shaft 872 attached to the output of the drive coupling assembly 840 as will be described in more detail below. stated. A first articulation drive gear 873 is attached to the articulation drive shaft and meshes with a sun gear race 875 on a second articulation transfer gear 874 rotatably supported on the rotatable member Within 92. Thus, rotation of the first articulation drive gear 873 results in rotation of the second central articulation transfer gear 874 . As further seen in FIGS. 29 and 30 , a "third" articulation shaft gear 877 is mounted to a second articulation shaft 876 with a "fourth" articulation worm gear 878 thereon. The third articulation shaft gear 877 is in meshing engagement with the second central articulation transfer gear 875 such that rotation of the first articulation drive gear 873 ultimately results in rotation of the third articulation shaft gear 877 and the second articulation shaft 876 . The fourth articulation worm gear 878 is in meshing engagement with the main articulation gear 94 such that rotation of the fourth articulation worm gear 878 causes rotation of the main articulation drive gear 94 and ultimately results in imparting articulation motion to the articulation link assembly 97 . As will be described in more detail below, articulation drive shaft 872 is rotated by motor 100 when drive coupling assembly 840 is in the articulation control orientation.

As seen in FIG. 31 , motor 100 is operably coupled to gear assembly 820 . Gear assembly 820 may include a gearbox housing 822 coupled to motor 100 . For example, gearbox housing 822 may be coupled to motor housing 101 by screws 103 or other mechanical fasteners and/or fastener configurations. Gear assembly 820 may include a planetary gear arrangement 821 operably coupled to motor shaft 107 . In one configuration, for example, ring gear 823 may be formed on an inner surface of gearbox housing 822 . The main sun gear 821 is coupled to the motor shaft 107 . The main sun gear 821 is in meshing engagement with a plurality of first planetary gears 825 supported on a first planetary carrier 824 such that they are also in meshing engagement with the ring gear 823 . A first sun gear 826 is formed on or otherwise attached to the first planetary carrier 824 and is in meshing engagement with a plurality of second planetary gears 828 supported on the second planetary carrier 827 . A second planet gear 828 is also supported in meshing engagement with the ring gear 823 . The second sun gear 829 is formed on or otherwise attached to the second planet carrier 827 and is in meshing engagement with a plurality of third planet gears 831 . The third planetary gear 831 is supported on the third planetary carrier 830 and is supported in meshing engagement with the ring gear 823 . A third sun gear 833 is formed on or is attached to a shaft extension 832 on the third planet carrier 830 and is in meshing engagement with a plurality of fourth planet gears 835 attached to a coupling gear comprising A fourth planet carrier 834 is rotatably supported on the shaft extension 832 . Additionally, thrust bearings 836 may be journaled on shaft extension 832 between fourth planet carrier 834 . The fourth planetary gear 835 meshes with the output shaft unit 850 , which is rotatably supported by the gearbox housing 822 . A second thrust bearing 836 may be supported between the fourth planetary gear and the output shaft unit 850 as seen in FIG. 30 . The fourth planet gear 835 is supported in meshing engagement with the inner gear race 854 .

In the illustrated embodiment, output shaft unit 850 is operably coupled to clutch 230 of the type and construction disclosed by Zemlok '763, which is incorporated herein by reference in its entirety. Additional details regarding the construction and operation of such clutches 230 are available from this publication. However, in alternative embodiments, clutch 230 may be replaced by a shaft-to-shaft coupling or sleeve configuration to facilitate direct coupling of output shaft unit 850 to drive tube 102 .

Referring again to FIG. 31 , primary articulation drive gear 837 is attached to articulation drive shaft 872 and is in meshing engagement with outer gear ring 838 on fourth planet carrier 834 . In various forms, the drive coupler assembly 840 may also include a coupler selector member 842 that is movably coupled to or otherwise movably coupled to the gearbox housing 822 or other portion of the housing 812 . Support athletically. In at least one configuration, a coupler selector member 842 may be formed with a first drive shaft retainer portion 844 and a first articulation shaft retainer portion 846 . The first drive shaft retainer portion 844 includes a grooved, roughened, etc. region configured to non-movably engage the second drive shaft retainer portion 845 on the output shaft unit 850 . Similarly, the first articulation shaft retainer portion 846 includes a grooved, roughened, etc. region configured to non-movably engage the second pin on the fourth planetary carrier 834 . Articulation shaft retainer portion 847 .

Operation of the coupler assembly 840 may be understood with reference to FIGS. 29 and 30 . As can be seen in FIG. 29 , the coupling selector member 842 is pivoted to an articulation position in which the first articulation shaft retainer portion 846 is immovably engaged with the second articulation shaft retainer portion 847 on the output shaft unit 850 join. When in this position, the output shaft unit 850 is prevented from rotating about the longitudinal axis LA-LA. Thus, when in this position, operation of the motor 100 will cause rotation of the third sun gear 833 which is in meshing engagement with the fourth planetary gears 835 . Rotation of the fourth planet gear 835 will result in rotation of the freely rotatable fourth planet gear carrier 834 . Such rotation of the fourth planet carrier 834 will also cause rotation of the main articulation gear 837 coupled to the articulation drive shaft 872 . Rotation of the articulation drive shaft 872 will cause the first articulation drive gear 873 to rotate and drive the second articulation transfer gear 874 . Rotation of the second articulation transfer gear 874 results in rotation of the third articulation transfer gear and the fourth articulation worm gear 878 . Rotation of the fourth articulation worm gear 878 will drive the main articulation gear 94, which will cause articulation motion to be applied to the articulation links 97, 70, ultimately causing rotation of the loading unit 20 about the articulation joint. Rotation of the motor drive shaft 107 in a first rotational direction will cause the loading unit to articulate in a first articulation direction, and rotation of the motor drive shaft 107 in the opposite rotational direction will cause the loading unit to articulate in a second articulation direction opposite to the first articulation direction. Joint movement in two joint movement directions.

Referring next to FIG. 30 , the coupling selector member 842 is pivoted to the driven or fired position, wherein the first drive shaft retainer portion 844 is immovable from the second drive shaft retainer portion 845 on the fourth planet carrier 834 join. When in this position, the fourth planet carrier 834 is prevented from rotating about the longitudinal axis "LA-LA". Thus, operation of the motor 100 will result in rotation of the third sun gear 833 when in this position. The third sun gear 833 meshes with the fourth planetary gear 835 supported on the fourth planetary gear carrier 834 . Since the fourth planetary gear carrier 834 is prevented from rotating due to the non-movable engagement between the first articulation shaft retainer portion 846 and the second articulation shaft retainer portion 847 on the fourth planetary gear carrier 834, the fourth planetary gear Rotation of 835 will result in rotation of output shaft unit 850 . The output shaft unit 850 may be coupled to the drive tube 102 through the clutch assembly 230 or through a direct coupling. Accordingly, rotation of the output shaft unit 850 results in rotation of the drive tube 102 . As noted above, rotation of the drive tube 102 results in axial movement of the firing rod (not shown in FIG. 31 ). Rotation of the motor drive shaft 107 in a first rotational direction will result in distal advancement of the firing rod, and rotation of the motor drive shaft 107 in the opposite direction will result in proximal movement of the firing rod. In various embodiments, closing of the jaws of the loading unit 20 (e.g., pivoting of the anvil assembly 22 relative to the carrier 24) may couple the motor 100 with the articulation system and/or the firing system of the surgical instrument 10 and/or separate. For example, closing of the anvil assembly 22 relative to the carrier 24 may decouple the motor 100 from the articulation system (eg, from the articulation drive shaft 872) and may couple the motor 100 to the firing system (eg, the output shaft unit 850). Additionally, opening of the anvil assembly 22 relative to the carrier 24 may decouple the motor 100 from the firing system and may couple the motor 100 to the articulation system. In such embodiments, the motor 100 may affect the articulation of the loading unit 20 when the loading unit 20 is open, and the motor 100 may affect the firing of the firing rod when the loading unit 20 is closed. Surgical instrument 10 may include, for example, sensors and/or selectors. In some embodiments, sensors may detect the closing of the loading unit 20 jaws. Additionally, a sensor may be in signal communication with a selector, such as coupler selector member 842 . The selector may couple and/or decouple the motor 100 from the articulation system and/or the firing system when the anvil assembly 22 is opened and/or closed, for example, relative to the carrier 24 . Various powered surgical instruments employing the various drive coupling configurations disclosed herein can represent a huge Improve.

For example, at least one surgical instrument includes an elongated shaft assembly defining a longitudinal tool axis. A surgical end effector is operably coupled to the elongated shaft assembly for selective articulation therewith. The surgical end effector may be configured to perform at least one surgical procedure in response to a firing motion applied thereto. The articulation system can operably interface with the elongated shaft assembly for applying articulation motion to the surgical end effector. The firing member assembly can operably interface with the elongate shaft assembly for applying a firing motion to the surgical end effector. The surgical instrument may also include a motor configured to generate a rotational actuation motion. The drive coupling assembly can interface with the motor and the articulation system such that when the drive coupling assembly is in the first configuration, operation of the motor will cause an actuation motion to be applied to the articulation system, thereby causing the surgical end effector to relative Articulation about the longitudinal tool axis, and when the drive coupling assembly is in the second configuration, operation of the motor will cause the actuation motion to be applied to the firing member assembly, thereby causing the firing member assembly to apply at least one firing motion to the surgical end effector.

Another example surgical instrument may include a handle having an elongated shaft assembly operably coupled thereto defining a longitudinal tool axis. A loading unit is operably coupled to the elongate shaft assembly and is configured to sever and staple tissue in response to a firing action applied thereto. The loading unit may be configured to be selectively articulable about the articulation joint relative to the longitudinal tool axis. The surgical instrument may also include an articulation system including an articulation link assembly supported by the elongated shaft assembly and configured to engage one of the elongated shaft assembly and the loading unit. The articulation joint portions in the latter are operable to interface. An articulation actuation mechanism may be supported by the handle and interface with the articulation link assembly to impart an articulation actuation motion thereto. The surgical instrument may also include a firing member assembly that operably interfaces with the loading unit to apply a firing motion thereto. A motor may be operably supported by the handle and configured to generate a rotational actuation motion. The drive coupler assembly may interface with the motor and the articulation actuation mechanism such that when the drive coupler assembly is in the first configuration, operation of the motor will cause an actuation motion to be applied to the articulation system, thereby causing the loading unit to move relative to the Articulation of the longitudinal tool axis, and operation of the motor when the drive coupling assembly is in the second configuration will cause the actuating motion to be applied to the firing member assembly, thereby causing the firing member assembly to apply at least one firing motion to the loading unit .

Another example surgical instrument may include an elongated shaft assembly defining a longitudinal tool axis. A surgical end effector is operably coupled to the elongated shaft assembly for selective articulation therewith. The surgical end effector may be configured to perform at least one surgical procedure in response to a firing motion applied thereto. The articulation system can operably interface with the elongated shaft assembly for applying articulation motion to the surgical end effector. The firing member assembly can operably interface with the elongate shaft assembly for applying a firing motion to the surgical end effector. The motor may be configured to generate a rotational actuation motion. The surgical instrument may also include means for selectively applying output motion from the motor to each of the articulation system and the firing member assembly.

In some motor-driven surgical instruments, the motor may provide tactile feedback to the operator of the surgical instrument. For example, the rotation of the motor may generate vibrating motion or noise, eg, depending on the direction and/or speed of the motor rotation. However, the various motors may produce very little noise, and thus tactile feedback to the surgeon may be limited and/or may not be understood by the surgeon. For example, various modifications and/or improvements in the motor and/or transmission design may reduce tactile noise produced by the motor and/or transmission design. In such embodiments, it may be advantageous to modify the motor and/or a gear assembly operatively coupled to the motor to produce artificial or intentional tactile feedback and/or other sensory feedback. In some embodiments, the surgical instrument can communicate feedback to the surgeon without causing the surgeon to look away from the operating position. For example, motors and/or gears can generate tactile and/or audible feedback to communicate with the surgeon. In such embodiments, the operator need not look at the display screen, for example, to ascertain the operating status or condition of the surgical instrument. As described in greater detail herein, the surgical instrument may communicate, for example, a rotational direction of the motor, which may correspond to, for example, the firing direction of the firing member and/or the articulation direction of the loading unit. Additionally or alternatively, the surgical instrument may, for example, transmit the velocity and/or position of the firing member during the firing stroke and/or may, for example, transmit the velocity and/or degree of articulation of the loading unit.

In various embodiments, a motor is operably coupled to the firing assembly and/or the articulation assembly, as described in greater detail herein. Referring now to FIG. 168 , a motor 7010 can drive a motor shaft 7014 that can engage a gear assembly 7020 , for example. In various embodiments, a key, such as key 7016 on motor shaft 7014 , can engage a portion of gear assembly 7020 . In certain embodiments, the gear assembly 7020 can include, for example, plates 7022, 7024 that can be configured to rotate or cycle with the motor shaft 7014 when engaged with the motor shaft 7014 by a key. For example, the first plate 7022 may include grooves (not shown). In addition, a first key (not shown) extending from the motor shaft 7014 can engage a groove in the first disc 7022 such that the first disc 7022 rotates clockwise when the motor shaft 7014 rotates clockwise (CW) and on the motor shaft. The 7014 turns counterclockwise when turned counterclockwise (CCW). In at least one embodiment, the first key can remain engaged with the groove in the first disc 7022 throughout operation of the surgical instrument and/or its motor.

In certain embodiments, the first disk 7022 may be balanced relative to its axis of rotation along the motor shaft 7014 . Still referring to FIG. 168 , a mass (eg, mass 7026 ) can extend from the first disk 7022 and can move the center of mass of the first disk 7022 away from the axis of rotation of the first disk 7022 . For example, the block 7026 can extend away from the motor shaft 7014 and/or away from the outer perimeter of the first disc 7022 . In other words, the mass 7026 can upset the balance of the first disk 7022 , causing the rotation of the first disk 7022 to be out of balance, and thus create a centrifugal force when the first disk 7022 rotates with the motor shaft 7014 . Thus, rotation of the first disc 7022 and mass 7026 can generate tactile feedback, eg, vibration or shaking of the surgical instrument housing and/or handle. Haptic feedback may correspond to an operating state or condition of the surgical instrument. Additionally, the tactile feedback produced by the rotation of the first disk 7022 and mass 7026 may depend on the rotational speed of the motor shaft 7014 . In such embodiments, the firing speed and/or articulation speed may also be communicated, for example, to the surgeon. For example, the first disk 7022 may generate haptic feedback with a higher frequency when the motor shaft 7014 rotates faster and haptic feedback with a lower frequency when the motor shaft 7014 rotates slower.

Similar to the first disk 7022 , in some embodiments, the second disk 7024 may be balanced relative to its axis of rotation along the motor shaft 7014 . Still referring to Fig. 168, however, a mass (eg, mass 7028) may extend from the second disk 7024 and may have its center of mass offset. For example, the block 7028 may extend away from the motor shaft 7014 and/or away from the outer perimeter of the second disc 7024 . In other words, the mass 7028 can upset the balance of the second disk 7024 , causing the rotation of the second disk 7024 to be out of balance, and thus create a centrifugal force when the second disk 7024 rotates with the motor shaft 7014 . Thus, rotation of the second disc 7024 and mass 7028 can generate tactile feedback, eg, vibration or shaking of the surgical instrument housing and/or handle. Haptic feedback may correspond to an operating state or condition of the surgical instrument. Additionally, the tactile feedback produced by the rotation of the second disk 7024 and mass 7028 may depend on the rotational speed of the motor shaft 7014 . In such embodiments, the firing speed and/or articulation speed may also be communicated, for example, to the surgeon. In various embodiments, the first tray 7022 and/or the second tray 7024 can include, for example, additional blocks similar to blocks 7026 and/or 7028, which can, for example, further assist the surgical instrument housing and/or Tactile response of the handle. Additionally, in some embodiments, motor shaft 7014 is operable to engage additional and/or different discs of gear assembly 7120 to selectively generate additional and/or different tactile feedback.

Still referring to FIG. 168 , the second disk 7024 can include an inner perimeter 7026 . In various embodiments, the second key 7016 can extend from the motor shaft 7014 and can operably engage the second plate 7024 via the inner perimeter 7030 . The inner perimeter 7030 can include, for example, a plurality of planar surfaces 7032 and a plurality of arcuate surfaces 7034 between adjacent planar surfaces 7032 . Each pair of planar surface 7032 and arcuate surface 7034 can define a groove that can be configured to receive second key 7016 . In some embodiments, the key 7016 can abut the planar surface 7032 and be secured and/or retained in the groove of the second disc 7024 when the key 7016 is rotated in the first direction. In such configurations, the second disk 7024 is rotatable with the motor shaft 7014 in the first direction. Additionally, in some embodiments, the key 7016 can be rotated through the arcuate surface 7034 and can be secured and/or retained by a groove in the inner perimeter 7030 when the key 7016 is rotated in a second direction opposite the first direction. Inside. In other words, the key 7016 is rotatable relative to the second disk 7024 . In such configurations, the motor shaft 7014 is rotatable in a second direction relative to the second disk 7024 . Thus, the key 7016 may only engage the second plate 7024 and cause the second plate 7024 to rotate when the motor shaft 7014 is rotated in the first direction. In some embodiments, the first direction may correspond to CW rotation, and in other embodiments, the first direction may correspond to CCW rotation.

As described herein, since the engagement of the second disc 7024 can depend on the direction of rotation of the motor shaft 7014, the second disc 7024 can only be used when the motor shaft 7014 is rotated in one direction (e.g., when the motor 7010 is driving the firing member in one direction). and/or when rotating the loading unit in one direction) rotation. For example, the second disc 7024 may only rotate, eg, when the motor 7010 retracts the firing member or rotates the loading unit clockwise. Such selective engagement of the second disc 7024 can affect the tactile feedback produced by the surgical instrument. In other words, different and/or greater tactile feedback may be generated based on selective engagement of the second disc 7024 . For example, in embodiments where the second disc 7024 rotates only when the motor 7010 rotates to retract the firing member, greater tactile feedback may be generated during retraction than during advancement of the firing member. During retraction, the second disk 7024 can also contribute to the generation of tactile feedback, which can result in a higher or greater sum of feedback forces. In such embodiments, the greater tactile feedback produced by the first disc 7022, the second disc 7024 may indicate to the surgeon that the firing member is being retracted by the motor 7010. In various embodiments, as described above, only the first disk 7022 is rotatable when the motor shaft 7014 is rotated in one direction, and both disks 7022, 7024 are rotatable when the motor shaft 7014 is rotated in the opposite direction. Thus, when the motor shaft 7014 is rotated in different directions, the disks 7022, 7024 can produce different feedbacks.

Referring now to FIG. 169 , in certain embodiments, a motor 7010 can drive a motor shaft 7014 that can engage a gear assembly 7120 . In various embodiments, a key, such as key 7016 on motor shaft 7014 , can engage gear assembly 7120 . Similar to gear assembly 7020 , gear assembly 7120 may include a plurality of discs, eg, a first disc 7122 and a second disc 7124 . The first disc 7122 and the second disc 7124 can be configured to rotate or cycle with the motor shaft 7014 when selectively engaged with the motor shaft 7014 by a key. For example, the first plate 7122 may include grooves (not shown). Additionally, a first key (not shown) extending from the motor shaft 7014 can engage a groove of the first plate 7122 such that the first plate 7122 rotates with the motor shaft 7014 . In some embodiments, the first key may not disengage from the groove of the first disc 7122 during use. The second disc 7124 can include, for example, an inner perimeter 7130 that is similar to the inner perimeter 7030 of the second disc 7024 . The inner perimeter 7130 can include a plurality of planar surfaces 7132 and a plurality of curved surfaces 7134 . As described herein with respect to FIG. 168 , key 7016 may selectively engage and disengage inner perimeter 7130 of second disc 7124 according to the direction of rotation of motor shaft 7014 . For example, key 7016 may engage second plate 7124 when motor shaft 7014 is rotated in a first direction, thereby causing second plate 7124 to rotate with motor shaft 7014 . Furthermore, when the motor shaft 7014 is rotated in the second direction, the key 7016 can remain disengaged from the second plate such that the key 7016 can rotate relative to the second plate 7024 within its inner perimeter 7130 .

In various embodiments, the first disc 7122 can include at least one pick 7126 and the second disc 7124 can also include at least one pick 7128 . As the disks 7122, 7124 rotate, the picks 7126, 7128 may strike elements of the audio feedback generator 7140. For example, picks 7126 , 7128 may strike clickers 7142 , 7144 of audio feedback generator 7140 . In various embodiments, the picks 7126 of the first disc 7122 can strike and deflect the first clicker 7142 as the first disc 7122 rotates, and the picks 7128 of the second disc 7124 can rotate as the second disc 7124 rotates. The second clicker 7144 is struck and deflected. The impact and deflection of the clickers 7142, 7144 may cause the clickers 7142, 7144 to resonate and generate an audible signal. In other words, rotation of the first and second disks 7122 can generate audio feedback. Additionally, the rotational speed of the rotating disks 7122, 7124 and/or the number and configuration of picks extending from the first disk 7122 and the second disk 7124 may affect the frequency of the audible signal. In such embodiments, the speed of the motor and the corresponding firing speed of the firing element and/or the articulation speed of the loading unit may, for example, be communicated to the surgeon.

Referring primarily to FIGS. 170 and 171 , in various embodiments, the geometry of the picks 7126 , 7128 can affect the audible signal produced by the audio feedback generator 7140 . For example, the picks 7126 , 7128 may each include a non-attenuating surface 7150 and an attenuating surface 7152 . The non-attenuating surface 7152 can include, for example, a flat surface and the attenuating surface 7152 can include, for example, a curved surface. In various embodiments, where the non-damping surface 7150 of the pick 7126 is positioned in front of the damping surface 7152 of the pick 7126 when rotated (FIG. 170), the resonance of the clicker 7142 can be suppressed by the rear end of the pick 7126. The decay surface 7152 decays and/or stops. For example, the arcuate geometry of the attenuation surface 7152 may contact the flexed clicker 7126 to prevent and/or limit vibration or resonance of the clicker 7126 . Conversely, in cases where the damping surface 7152 of the pick 7126 is positioned in front of the non-damping surface 7150 of the pick 7126 when rotated ( FIG. 171 ), the resonance of the clicker 7142 may not be damped by the non-damping surface 7150 of the pick 7126 . For example, the flat geometry of the non-attenuating surface 7150 can avoid and/or limit contact with the flex clicker 7126 such that resonance of the clicker 7126 is allowed and/or less restricted. In other words, the direction of rotation of the discs 7122, 1724 and associated picks 7126, 7128 can affect the audible feedback produced by the surgical instrument. Accordingly, the operator of the surgical instrument can be informed of its operating status during its use without causing the surgeon to look away from the surgical site. For example, the audio signal may be attenuated when the firing member is retracted and may not be attenuated when the firing member is advanced. In other embodiments, the audio signal may be attenuated when the firing member is advanced and may not be attenuated when the firing member is retracted. Also, in some embodiments, for example, an attenuated audible signal may correspond to loading unit articulation in one direction and an unattenuated audible signal may correspond to loading unit articulation in another direction. In various embodiments, at least one audio feedback generator may be used alone and/or may be used in conjunction with at least one haptic feedback system. Additionally, in some embodiments, at least one haptic feedback system may be used alone and/or may be used in conjunction with at least one audio feedback generator. Audio feedback and tactile feedback can communicate different operating states to the surgeon and/or can provide the surgeon with dual feedback about the same operating state, for example.

In various embodiments, the surgical instrument may generate feedback as the firing element approaches and/or reaches the end of the firing stroke and/or as the loading unit approaches and/or reaches the limit of articulation. In various embodiments, this feedback may be different from and/or in addition to the feedback generated throughout the firing stroke and/or as the loading unit articulates. Accordingly, the surgical instrument may notify the user, for example, that the firing stroke is nearing completion and/or has been completed and/or may notify the operator that the loading unit is nearing and/or has reached the limit of articulation.

Referring now to FIG. 172, the motor 7010 and motor shaft 7014 can be operatively engaged with a gear assembly 7120, as described in greater detail above. Additionally, the discs 7122, 7124 of the gear assembly 7120 can contact an audio feedback generator 7240, which can be similar to the audio feedback generator 7140, for example. For example, picks 7126, 7128 on discs 7122, 7124 may deflect clickers 7242, 7244 of audio feedback generator 7240, thereby causing clickers 7242, 7244 to resonate and produce audible feedback. Additionally, audio feedback generator 7240 may move or translate relative to gear assembly 7120 . As described in more detail below, the audio feedback generator 7240 is selectively movable into and/or out of engagement with the clickers 7242, 7244 on the discs 7122, 7124 to selectively generate an audible signal. In other embodiments, the motor, the gear assembly, and/or its disc are movable such that the picks of the disc are selectively moved into engagement and/or out of engagement with the clickers of the audio feedback generator to selectively generate an audible signal.

In various embodiments, the audio feedback generator 7240 can translate within the surgical instrument as the firing member moves during the firing stroke. For example, the audio feedback generator 7240 may be misaligned with the picks 7126, 7128 of the discs 7122, 7124 at the beginning of the firing stroke. Additionally, the audio feedback generator 7240 can be moved into and/or into alignment with the picks 7126, 7128 of the discs 7122, 7124 as the firing member moves distally and/or approaches the end of the firing stroke. In such embodiments, the audio feedback generator 7240 can generate audible feedback as the firing member approaches and/or reaches the end of the firing stroke. Referring to FIG. 173, for example, the feedback generator can generate feedback over a range of positions of the firing member near and/or reaching the end of the firing stroke, for example, to communicate the position of the firing member to the surgeon. In such embodiments, the surgical instrument may communicate the end of the firing stroke to the operator. For example, referring again to FIG. 172, at least one pick 7126, 7128 can be aligned with at least one clicker 7242, 7244 as the firing member approaches the distal end of the firing stroke. At this point, the surgical instrument can generate feedback to communicate the position of the firing member to the surgeon. When each pick 7126, 7128 is aligned with one of the clickers 7242, 7242, greater and/or different feedback may be communicated to the surgeon. Additionally, when the firing member is retracted, the at least one pick 7126, 7128 can again be out of alignment with the clickers 7242, 7244, such that reduced and/or different feedback is communicated to the surgeon. Accordingly, the feedback generator may communicate varying feedback to the operator based on the position of the firing member as the feedback generator moves through the firing stroke. Additionally, the gear assembly 7120 may include additional discs and/or picks that are movable into engagement and/or disengagement with the audio feedback generator 7240, and/or the audio feedback generator 7240 may include additional discs and/or picks that are movable into engagement with the picks and/or the audio feedback generator 7240. or an additional clicker that does not engage. In various embodiments, the audio feedback generator may communicate alternative and/or additional positions of the firing member to the surgeon. For example, the audio feedback generator may deliver audible feedback at midpoints and/or incremental points along the length of the firing and/or retraction paths.

Referring now to FIGS. 174 and 175, a movable feedback generator may also be used to communicate the loading unit's articulation limits to the surgeon. For example, the audio feedback generator 7240 shown in FIG. 172 may translate, for example, as the loading unit articulates. For example, the audio feedback generator 7240 may be out of alignment with the picks 7126, 7128 of the discs 7122, 7124 when the loading unit is in the non-articulating configuration. Additionally, the audio feedback generator 7240 may be moved into and/or into alignment with the picks 7126, 7128 of the discs 7122, 7124 as the loading unit articulates. In such embodiments, the audio feedback generator 7240 may generate audible feedback as the loading unit approaches and/or reaches the limit of joint motion. For example, referring again to FIGS. 174 and 175 , the feedback generator can generate feedback to communicate the position of the firing member to the surgeon over a range of positions of the firing member near and/or reaching the end of the firing stroke. In such embodiments, the surgical instrument may communicate the articulation limits to the operator. For example, referring again to FIG. 172, at least one pick 7126, 7128 may be aligned with at least one clicker 7242, 7244 when the loading unit is nearing its articulation limit (eg, near forty-five degrees). At this point, the surgical instrument can generate feedback to communicate the position of the firing member to the surgeon. Each pick 7126, 7128 can align with one of the clickers 7242, 7244 as the loading unit moves closer to and/or reaches the limit of articulation and can communicate greater and/or different feedback to the surgeon . In addition, when the loading unit articulates to return to the non-articulating, neutral position, at least one pick 7126, 7128 can again be out of alignment with the clickers 7242, 7244 such that reduced and/or different feedback is transmitted to the surgeon. Accordingly, the feedback generator may communicate varying feedback to the operator based on the configuration of the loading unit as the feedback generator moves through the firing stroke.

In various embodiments, it may be advantageous to protect certain components of the surgical instrument from fluid contact. For example, inadvertent contact with bodily fluids during use can damage the surgical instrument and can limit and/or shorten the life cycle of the surgical instrument. Additionally, it may be advantageous to protect certain components of the surgical instrument from fluid contact during sterilization. For example, inadvertent contact with sterilizing and/or cleaning fluids can damage the surgical instrument and can prevent and/or limit the reusability of the surgical instrument. In various embodiments, certain components of the surgical instrument may be sealed and/or protected from fluid contact. For example, electronics in surgical instruments can be sealed in epoxy for protection from fluids. Moving parts of the surgical instrument (eg, portions of the motor and/or gear assembly) may also be sealed and/or protected from fluid contact. Such seals can accommodate, for example, the rotation of various moving parts. Furthermore, in various embodiments, such seals may also facilitate heat transfer so that heat generated during operation of the surgical instrument is more efficiently dissipated.

Referring now to FIGS. 185 and 186 , in certain embodiments, the motor 7510 and/or the gear assembly 7520 can be sealed and/or protected from fluid during use and/or during sterilization processing. Motor 7510 may be similar to motor 100, for example, and gear assembly 7520 may be similar to gear assembly 170, for example. To seal and protect the motor 7510, a motor housing (eg, a rubber boot) may be positioned around the motor 7510 within the housing 12 (FIG. 1) of the surgical instrument 10 (FIG. 1). Such rubber boots can limit heat transfer to the motor 7510, and the motor 7510 can be prone to overheating. In other embodiments, referring again to FIGS. 185 and 186 , the motor housing can include a clamshell cover 7516 that can be positioned around the motor 7510 , for example. In various embodiments, the clamshell cover 7516 can include at least two portions that can be articulated and/or snapped together, for example. The clamshell cover 7516 may allow rotation of the motor 7510 and/or the motor shaft. Additionally, in certain embodiments, the clamshell cover 7516 can facilitate heat transfer from the motor 7510 held therein. A contact configuration 7512 ( FIG. 186 ) similar to contact configuration 210 may be used to provide electrical current to a motor 7510 , for example. The contact configuration 7512 can include, for example, a positive ring contact 7514a and a negative ring contact 7514b ( FIG. 186 ), which are operatively connected, for example, to a ring held by a clamshell cover 7516. Fixed positive and negative contacts 7518a, 7518b (FIG. 186). Additionally, the clamshell cover 7516 may include an annular seal or gasket 7519 that may, for example, abut the perimeter of the motor 7510 and seal the motor 7510 and contact arrangement 7512 within the clamshell cover 7516 . In certain embodiments, the clamshell cover 7516 can include a metallic material that can, for example, facilitate heat transfer to the motor 7510 and can prevent overheating and/or damage to the motor 7410 .

Still referring to FIGS. 185 and 186 , the gear assembly 7520 can also be sealed and/or protected from fluids during use and/or sterilization. For example, gasket 7522 may be positioned between the motor 7510 and the housing of gear assembly 7520 such that motor 7510 and gear assembly 7520 form a fluid-tight seal. Additionally, a sealing sleeve 7530 can be positioned around the housing of the gear assembly 7520 . The sealing sleeve 7530 can include a rim 7536 that can abut the clamshell cover 7516 and/or the motor 7510 to provide a fluid-tight seal therebetween. The sealing sleeve 7530 may also include an opening 7532 for the output shaft 7524 . For example, output shaft 7524 of gear assembly 7520 can extend through opening 7532 and fins 7534 can extend to output shaft 7524 to provide a fluid tight seal while allowing rotation of output shaft 7524 within opening 7532 . In various embodiments, the sealing sleeve 7530 and/or its rim 7536, gasket, and/or fins 7534 may comprise rubber and/or another suitable material for forming a fluid-tight seal. In various embodiments, a mounting bracket or motor retainer 7540 (similar to retainer 190 ), for example, can retain sealed gear assembly 7520 and motor 7510 within housing 12 ( FIG. 1 ) of surgical instrument 10 ( FIG. 1 ).

32-37 illustrate another surgical instrument 910 that can include many of the features of the other surgical instruments disclosed herein. In at least one form, the surgical instrument 910 can include an articulation actuation mechanism, generally designated 860, which can be substantially similar to Zemlok '763, Zemlok '344, except for the differences described below. and/or the articulation mechanism disclosed in US Pat. No. 7,431,188. In other configurations, the surgical instrument may include various forms of other articulation actuation mechanisms as described herein. As can be seen in Figure 32, the instrument 910 includes a housing 12 that may include a cylindrical mounting portion 90 on which a rotatable member 92 is mounted. Rotatable member 92 interfaces with the proximal end of elongated shaft assembly 16 to facilitate rotation of elongated shaft assembly 16 relative to housing 12 . Such configurations allow the surgeon to selectively rotate the elongated shaft assembly 16 and loading unit 20 (or other form of surgical end effector) coupled thereto about the longitudinal tool axis "LA-LA". Rotatable member 92 may be non-removably mounted on barrel portion 90 or it may be designed to be selectively detached therefrom.

As disclosed herein, depending on the type and/or configuration of the surgical end effector employed, it may be desirable to provide electrical current to the end effector. For example, end effectors may use sensors, lights, actuators, etc. that require electricity to activate. However, in such configurations, the ability to rotate the surgical end effector about the longitudinal tool axis "LA-LA" can be severely limited because power is delivered from the electrical power source through the elongated shaft to the surgical end effector or load The conductor system of the unit can wind up and be severely damaged - especially if the elongated shaft has been rotated more than one revolution. The various surgical instruments disclosed herein may utilize a conductor management system, generally designated 930, which avoids the problems described above.

Referring again to FIG. 32 , surgical instrument 910 may be powered by electrical power source 200 . The electrical power source may for example be of the type described in more detail by Zemlok '763. For example, electrical power source 200 may include a rechargeable battery (eg, lead-based, nickel-based, lithium-ion based, etc.). It is also contemplated that the electrical power source 200 may include at least one disposable battery. In at least one configuration, for example, the disposable battery can be from about 9 volts to about 30 volts. FIG. 32 shows an example in which the electrical power source 200 includes a plurality of battery cells 202 . The number of battery cells used may depend on the current load requirements of the instrument 910 . It is also contemplated that the source of electrical power may include an AC source that may be used in a surgical kit. For example, external power cords and plugs (not shown) may be used to deliver AC power from outlets in the surgical kit to various components, conductors, sensors, switches, circuits, etc. in the surgical instrument housing and/or end effector. In other applications, surgical instrument 910 may draw power from, for example, a robotic system to which it is attached or otherwise associated.

As further seen in FIG. 32 , conductor management system 930 may include a primary conductor member and wire 932 coupled or otherwise interfaced with electrical power source 200 for receiving power therefrom. The main conductor member 932 is coupled to a helix, reel, and/or windable conductor assembly 934 supported within the rotatable member 92 . In one configuration, for example, the helical conductor assembly 934 may be formed from or include a strip conductor 936 wound into a helical form in the manner shown, for example, in FIGS. 36 and 37 . For example, the helical conductor assembly 934 may be made from a helically wound conductor, which may have similar properties to a helically wound spring (eg, a torsion spring). In one form, for example, conductor 936 may be wound in successive turns or turns as shown in FIGS. 36 and 37 . In various configurations, conductor 936 may be wound for one or more full turns. For example, the conductor 936 shown in FIGS. 36 and 37 is configured for more than four full turns.

In various forms, the conductor 936 has a first end 938 that may be secured to the cylindrical portion 90 of the housing 12 , for example. Additionally, the conductor 936 also has a second end 940 attached to or otherwise supported by the rotatable member 92 for rotational travel therewith. Thus, when the rotatable member 92 is rotated about the barrel portion 90 in the first rotatable direction, the helically wound conductor 936 is wound into a tighter form. Conversely, the tightness of the helically wound conductor 936 may decrease when the rotatable member 92 is rotated in the second rotatable direction. In these configurations in which the rotatable member 92 is removably supported on the barrel portion 90 , the first end 938 of the helically wound conductor 936 is removably supported in a slot or other slot in the barrel portion 90 . Installed in cavity 942. See, eg, Figures 36 and 37. Additionally, main conductor member 932 may be detachably coupled to helical conductor assembly 934 via connector assembly 933 . In particular, a detachable connector assembly 933 may be used to couple the main conductor member 932 to the first end 938 of the helically wound conductor 936 to facilitate removal of the rotatable member 92 from the barrel portion 90 . In other configurations in which the rotatable portion 92 is not intended to be removed from the barrel portion, the first end 938 of the helically wound conductor 936 may be non-removably attached to the barrel portion 90 and the main conductor member 932 may be permanently attached. is permanently attached (eg, soldered) to the first end of the helically wound conductor 936.

Second end 940 of helically wound conductor 936 may be non-removably attached to rotatable member 92 by adhesive, mechanical retainer, snap feature, or the like. In an alternative construction, the second end 940 of the helically wound conductor 936 may be removably supported in a slot or other mounting feature provided in the rotatable member 92 to facilitate access from the rotatable portion 92 . The helically wound conductor 936 is disassembled. As seen in FIGS. 32 and 33 , the secondary shaft conductor member 944 is attached to the second end 940 of the helical cable assembly 934 . Auxiliary shaft conductor member 944 may be supported within rotatable member 92 and extend through hollow elongated shaft assembly 16 . For example, auxiliary shaft conductor member 944 may extend through elongate shaft assembly 16 to its distal end to interface with other conductors, sensors, powered components, etc. attached thereto that communicate with Surgical end effector, loading unit, etc. Thus, when the clinician rotates the rotatable member 92 relative to the housing 12, the helical conductor assembly 934, and more specifically, the helically wound conductor 936, will wind into a slightly tighter helix while facilitating the transfer of power from the power source 200. Applied to surgical end effectors, loading units, etc. If the clinician rotates the rotatable member 92 in the opposite direction relative to the housing 12, the helically wound cable 936 will unwind slightly while still facilitating the application of power from the power source 200 to the surgical end effector, loading unit, etc. Various components, sensors, etc.

As further seen in FIGS. 34 and 35 , conductor management system 930 may also include a rotation limiter assembly, generally designated 950 . In at least one construction, for example, the rotation limiter assembly 950 includes a limiter member 952 movably attached to the rotatable member 92 and configured to threadably engage the barrel 90 of the housing 12 The threaded part 99. The limiter 952 may include a pair of opposing tabs 954 located on each side of an axial fin portion 958 formed on the rotatable member 92 as shown in FIG. 33 . Such a configuration allows the limiter 952 to move axially within the rotatable member 92 as the rotatable member 92 rotates on the cylindrical portion 90 of the housing 12 . The opposite end 960 of the restrictor member 952 is configured to threadably engage the threaded portion 99 of the barrel 90 . The inwardly extending proximal stop wall 962 and the inwardly extending distal stop wall 964 of the rotatable member 92 serve to limit the travel that the limiter 942 can travel axially when the rotatable member 92 is rotated on the barrel 90 Distance "TD".

FIG. 33 shows the restrictor 952 in an approximately midway position between the proximal stop wall 952 and the distal stop wall 954 . When in this position, rotation of the rotatable member 92 relative to the barrel portion 90 in the first direction will cause the limiter to travel axially in the distal direction “DD” until the limiter 952 contacts the distal stop wall 964, As shown in Figure 34. Likewise, rotation of the rotatable member 92 in the opposite direction relative to the barrel portion 90 causes the limiter 952 to travel axially in the proximal direction “PD” until it contacts the proximal stop wall 962 of the rotatable member 92 . This configuration thereby limits the number of complete rotations the rotatable member 92 can make about the barrel portion 90 to avoid accidental damage to the helical conductor assembly 934 . For example, the limiter assembly 950 may allow a clinician to rotate the elongated shaft assembly, and more specifically, the rotatable member 92 about the barrel portion 90 for at least one full turn but no more than, for example, three full turns in either direction. However, the number of revolutions, or more specifically, the amount of rotatable travel of the rotatable member 92 on the barrel 90 can be adjusted by adjusting the magnitude of the travel distance "TD".

FIG. 33 shows the restrictor 952 in a "neutral" or "central" position, where the restrictor is centrally disposed between the distal stop wall 954 and the proximal stop wall 952 . In at least one form, biasing member 980 can be used to bias limiter 952 to a neutral position when elongated shaft assembly 16 and rotatable member 92 are in corresponding neutral positions. As the clinician applies rotational motion to rotatable portion 92, elongate shaft assembly 16 will rotate in the manner described above. However, when the applied rotational motion to rotatable member 92 and elongated shaft assembly 16 is interrupted, biasing member 980 will return limiter 952 to the neutral position.

For example, at least one surgical instrument may include a housing that may include a rotatable member supported on a mounting portion of the housing for rotation thereabout over a rotational range. An elongated shaft assembly defining a longitudinal tool axis is operatively coupled to the rotatable member for rotational travel therewith about the longitudinal tool axis. The surgical instrument may also include an electrical power source and include a conductor management system. The conductor management system may include a reeled conductor assembly that may be supported in the rotatable member and may include a first conductor end and a second conductor end, the first conductor end being secured to the mounting portion of the housing, The second conductor end is fixed to the rotatable member for rotation therewith over a range of rotation. The conductor management system may also include a primary conductor that may be supported within the housing and configured to transmit power from the electrical power source to the spool conductor assembly. A shaft conductor may be coupled to the spool conductor assembly for transmitting electrical power to the distal end of the elongated shaft assembly.

Another example surgical instrument may include a housing that may include a rotatable member supported on a mounting portion of the housing. The surgical instrument may also include an elongate shaft assembly defining a longitudinal tool axis and operably coupled to the rotatable member for rotational travel therewith about the longitudinal tool axis. The surgical instrument may also include an electrical power source and means for transmitting power from the electrical power source via a conductor extending through the elongate shaft assembly. The surgical instrument may also include means for limiting the amount of rotational travel of the rotatable member about the mounting portion to a range of rotational travel that includes at least one full revolution around the mounting portion and no more than three full turn.

As described herein, an end effector can be attached to a surgical instrument. Also as described herein, a surgical instrument can include a firing drive configured to fire staples from an end effector that includes a staple cartridge. Turning now to the exemplary embodiment shown in FIG. 94, for example, a surgical instrument 9000 can include a handle 9010 that includes a housing, a grip portion 9012, a firing actuator 9014, and a motor positioned within the housing. . The surgical instrument 9000 can also include a shaft 9040 having a firing rod 9020 that can be advanced distally and/or retracted proximally by a motor. In some cases, the end effector can include a distal portion that is articulateable about an articulation joint relative to the proximal portion. In other cases, the end effector may not have an articulation joint. The surgical instrument may also include an articulation drive configured to articulate at least a portion of the end effector. Referring again to the exemplary embodiment shown in FIG. 94, for example, a surgical instrument 9000 can include an articulation actuator 9070 that can be configured to drive a distal portion of an end effector about an articulation joint. The end effector shown in FIG. 94 (ie, end effector 9060 ) happens not to be an articulable end effector; however, an articulable end effector may be used with surgical instrument 9000 . If a non-articulating end effector, such as end effector 9060, is used with surgical instrument 9000, operation of articulation actuator 9070 may not affect operation of end effector 9060.

Further to the above, the end effector may include a drive system corresponding to a drive system of a surgical instrument. For example, end effector 9060 can include a firing member that can be operably engaged with firing rod 9020 of surgical instrument 9000 when end effector 9060 is assembled to the surgical instrument. Similarly, the end effector may include an articulation drive that is operably engageable with an articulation rod of the surgical instrument when the end effector is assembled to the surgical instrument. In addition, end effector 9060 can include, for example, a proximal connection portion 9069 that can be mounted to a distal connection portion of shaft 9040 of surgical instrument 9000 when end effector 9060 is attached to surgical instrument 9000 9042. In various situations, proper assembly of the end effector's connection portion, drive system, and articulation system with the surgical instrument may be required before the end effector can be properly used.

Referring again to 94 , the handle 9010 can include a firing trigger 9014 that, when actuated by a user of the surgical instrument 9000 , can be configured to operate a motor in the handle 9010 . In various cases, handle 9010 can include a control that can be configured to detect actuation of firing trigger 9014 . In some cases, actuation of the firing trigger 9014 may close an electrical circuit in signal communication with the controller. In such cases, the controller can be configured to then operate the motor to advance the firing rod 9020 distally and move the jaws 9062 of the end effector 9060 towards the jaws 9064 . In some cases, handle 9010 can include at least one sensor capable of detecting a force applied to firing trigger 9014 and/or an angle of motion of firing trigger 9014 . The one or more sensors may be in signal communication with the controller, where the controller may be configured to adjust the speed of the motor based on the one or more input signals from the sensors. The handle 9010 may include a safety switch 9015 which may need to be depressed before the controller will operate the motor in response to input from the firing trigger 9014 . In various cases, the safety switch 9015 can be in signal communication with a controller, wherein the controller can electronically lock out use of the motor until the safety switch 9015 is depressed. The handle 9010 may also include a retraction actuator 9074 which, when actuated, may cause the motor to operate in the opposite direction to retract the firing battery 9020 and allow the jaws 9062 to move away from the jaws 9064 . In various circumstances, actuation of retraction actuator 9074 may close an electrical circuit in signal communication with the controller. In some cases, the safety switch 9015 may need to be depressed before the controller will operate the motor in its opposite direction in response to input from the retract actuator 9074 .

Before and/or during use of surgical instrument 9000, surgical instrument 9000 and/or certain systems of surgical instrument 9000 may be disabled, ineffective, and/or defective. In some instances, such deficiencies and/or ways to address them may not be apparent to a user of the surgical instrument, which may lead to user failure. Additionally, such uncertainty can increase the time required to resolve defects or "bugs." Surgical instrument 9000 improves on the above situation. Referring again to FIG. 94 , the controller of the surgical instrument 9000 can be configured to detect an error of the surgical instrument 9000 and communicate the error to a user of the surgical instrument 9000 via one or more indicators. Surgical instrument 9000 may include one or more indicators that, when activated by the controller, may indicate the nature of the error and otherwise draw the user's attention to surgical instrument 9000 that is defective in some respect system. For example, surgical instrument 9000 may include end effector indicator 9086 configured to, for example, indicate that an end effector has not been assembled to shaft 9040 of surgical instrument 9010 . In various circumstances, surgical instrument 9000 can include sensors that can be configured to detect when the end effector has been assembled to shaft 9040 and/or correspondingly be able to detect when the end effector has not been assembled to shaft 9040. Shaft 9040. The sensor can be in signal communication with the controller such that the controller can receive a signal from the sensor and ascertain whether the end effector has been assembled to the shaft 9040. If the controller ascertains that the end effector has not been assembled to the shaft 9040, the controller may actuate the end effector indicator 9086. In various instances, end effector indicator 9086 may comprise a light, such as a red light. In some cases, end effector indicator 9086 may comprise a light emitting diode, such as a red light emitting diode. In addition to, or instead of, the above, surgical instrument 9000 may include a sensor in signal communication with a controller that may be configured to detect when an end effector attached to shaft 9040 has been previously used. For example, such sensors may be configured to detect that at least some of the staples stored within the end effector have been fired and/or may be configured to detect that a staple firing member within the end effector has previously been advanced. In such a case, the controller may actuate the end effector indicator 9086. Thus, activation of end effector indicator 9086 may signal to a user of surgical instrument 9000 that there is some error related to the end effector and that such error should or must be addressed before operating surgical instrument 9000 . The reader will appreciate from FIG. 94 that the end effector indicator 9086 is adjacent the distal end of the shaft 9040 and may be positioned on or near the distal connecting portion 9042 of the shaft 9040 in various cases. In various circumstances, an end effector indicator 9086 can be positioned on the end effector 9060 . In any event, when the end effector indicator 9086 is illuminated, due to the above, the user of the surgical instrument 9000 can quickly ascertain that there is an error and that the error is in some way related to the end effector. Illumination of the end effector indicator 9086 may indicate to the user that the end effector may not be fully assembled to the shaft 9040 and/or that the end effector may need to be replaced.

In addition to or instead of end effector indicator 9086, the surgical instrument may include one or more indicators. For example, surgical instrument 9000 can include a firing trigger indicator 9081 . Firing trigger indicator 9081 can be in signal communication with a controller of surgical instrument 9000 such that when the controller detects an error, eg, related to a firing drive of surgical instrument 9000 , the controller can activate firing trigger indicator 9081 . As shown in FIG. 94 , a firing trigger indicator 9081 can be positioned adjacent to the firing trigger 9014 . In this case, a user of the surgical instrument 9000, upon observing the actuation of the firing trigger indicator 9081, can infer that an error has occurred related to the firing drive and can begin diagnosing the source of the error. In some cases, the controller may activate the firing trigger indicator 9081, for example, when the battery of the surgical instrument 9000 has been defective in some way. For example, if the voltage of the battery is below a desired level, the battery, for example, may not be able to operate the motor in the desired manner and the firing trigger indicator 9081 may indicate that the battery needs to be replaced. In various circumstances, when the controller illuminates an indicator (e.g., end effector indicator 9086 and/or firing trigger indicator 9081), the controller may currently cause one or more operating systems of the surgical instrument 9000 to disable operate. For example, when the end effector indicator 9086 and/or the firing trigger indicator 9081 are illuminated, for example, the controller can be configured to operably disengage the firing trigger 9014 from the motor such that the firing trigger 9014 Actuation does not operate the motor. Such operative disengagement of the firing trigger 9014 from the motor may also indicate to the user of the surgical instrument 9000 that the surgical instrument may have experienced an error and that the user should look at the indicators of the surgical instrument 9000 to ascertain the nature of the error.

Referring again to the exemplary embodiment of FIG. 94 , the surgical instrument 9000 can include a retraction actuator indicator 9085 positioned adjacent the retraction actuator 9074 . Similar to that described above, the retract actuator indicator 9085 can be in signal communication with the controller, wherein the controller can illuminate the retract actuator if the controller detects an error, for example, related to the retract drive Indicator 9085. In various circumstances, if the safety switch 9015 is not depressed prior to actuating the retract actuator 9074, the controller may illuminate the retract actuator indicator 9085. In such cases, the retract actuator indicator 9085 can be used as a reminder that the safety switch 9015 is depressed. In some cases, surgical instrument 9000 can include safety switch indicator 9082 positioned adjacent safety switch 9015 . In some instances, the controller of surgical instrument 9000 may illuminate safety switch indicator 9082 when the user actuates retraction actuator 9074 prior to actuating safety switch 9015 . The safety switch indicator 9082 can be in signal communication with the controller, wherein the controller can illuminate the safety switch indicator 9082 if the controller detects, for example, that the firing system cannot be switched between a firing mode and a retracting mode. Surgical instrument 9000 can include articulation actuator indicator 9084 positioned adjacent articulation actuator 9070 . Similar to that described above, the articulation actuator indicator 9084 can be in signal communication with the controller, wherein the controller can illuminate the articulation actuator if the controller detects an error, for example, related to the articulation drive Indicator 9084. Surgical instrument 9000 can include shaft indicator 9083 positioned adjacent a shaft connection configured to enable attachment of shaft 9040 to handle 9010 . Similar to that described above, the shaft indicator 9083 can be in signal communication with the controller, wherein the controller can illuminate the shaft indicator 9083 if the controller detects an error, eg, related to the shaft 9040 .

Turning now to FIG. 95 , a surgical instrument 9100 can include a handle 9110 having an array of indicators 9190 configured to be capable and operable to indicate to a user of the surgical instrument 9100 that there may be a connection with the surgical instrument 9100 and/or or one or more errors related to the end effector to which it is attached. The array of indicators 9190 may be arranged in any suitable manner. In various instances, the array of indicators 9190 can be arranged, for example, in the shape or approximate shape of the surgical instrument 9100 and/or an end effector attached thereto. In at least one instance, an exterior surface of handle 9110 can include, for example, a representation of surgical instrument 9100 and/or an end effector attached to the surgical instrument. The array of indicators 9190 can be arranged relative to the contours of the surgical instrument and the end effector in a manner configured to communicate that a surgical instrument is experiencing an error, has experienced an error, and/or may require evaluation to resolve the error 9100 and/or part of the end effector. For example, the outline may be divided to show end effector 9060 , shaft 9040 , handle 9010 , firing trigger 9014 , safety switch 9015 , reverse actuator 9074 , and/or articulation actuator 9070 . In various cases, for example, end effector indicator 9192 can be positioned near the depiction of end effector 9060, shaft indicator 9193 can be positioned near the depiction of shaft 9040, and firing trigger indicator 9191 can be positioned Adjacent to the illustration of firing trigger 9014, safety switch indicator 9195 can be positioned adjacent to the illustration of safety switch 9015, reverse actuator indicator 9196 can be positioned adjacent to the illustration of reverse actuator 9074, and/or Alternatively, the articulation actuator indicator 9194 may be positioned near the representation of the articulation actuator 9070 . In various cases, each of indicators 9191, 9192, 9193, 9194, 9195, and/or 9196 may comprise a light emitting diode. In some cases, each LED may include a red LED that may be illuminated by the controller to indicate the presence of an error. In various cases, the controller can be configured to pulse the illumination of the light emitting diodes, which can reduce the time it takes for the user to realize that the indicator has been illuminated. In some cases, each indicator may include a light emitting diode that can emit more than one color. In some cases, each such light emitting diode may be configured to selectively emit red and green colors, for example. If no error is detected with respect to the surgical instrument 9100 and/or the relevant portion of the end effector to which it is attached, the controller can be configured to illuminate the light emitting diode with a green color, or alternatively, if an error with the associated portion of the end effector is detected In the event of an error related to the surgical instrument 9100 and/or the relevant portion of the end effector to which it is attached, the controller may be configured to illuminate the LED in red.

In some cases, as described in more detail further below, the controller of surgical instrument 9000 may lock one or more of the actuators of the surgical instrument, such as when the controller illuminates an indicator associated with the actuator , such as firing trigger 9014, retraction actuator 9074, and/or articulation actuator 9070. For example, the controller can lock the firing trigger 9014 when the firing trigger indicator 9081 is illuminated, the retract actuator 9074 can be locked when the retract actuator indicator 9085 is illuminated, and/or can be activated when the joint is illuminated. Articulation actuator 9070 is locked when motion actuator indicator 9084 is moved. The handle 9010 of the surgical instrument 9000 can include, for example, a firing trigger lock that can be configured to selectively "lock" the firing trigger 9014 and prevent the firing trigger 9014 from being actuated. A firing trigger lock can prevent the firing trigger 9014 from being actuated sufficiently to operate the motor of the surgical instrument. In at least one such condition, the firing trigger 9014 can be prevented from closing the firing trigger switch. In some cases, the controller of the surgical instrument 9000 may be configured to enable it to electronically lock the firing trigger 9014 in addition to actuating the firing trigger lock, ie, prevent battery power from being provided to the motor. In such cases, the electronic and mechanical locks may be redundant; however, the mechanical lock may provide feedback to the user of the surgical instrument 9000 that the firing drive has been operatively deactivated. The controller of the surgical instrument 9000 may also provide feedback, such as through the firing trigger indicator 9081, as described above. In this manner, tactile and/or visual feedback may be provided to a user of surgical instrument 9000 that an error has occurred. In some cases, tactile feedback may prompt a user of surgical instrument 9000 to begin searching for visual feedback. For example, a user may attempt to actuate the firing trigger 9014, and when the firing trigger 9014 cannot be actuated, the user may then view a lighted indicator of the instrument. In any event, once the error has been resolved, the controller can unlock the firing trigger 9014 by deactivating the firing trigger lock.

Turning now to FIG. 100 , surgical instrument 9000 can include a firing trigger lock 9390 that can be configured to lock firing trigger 9014 . The firing trigger lock 9390 is movable between a locked state shown in FIGS. 100 , 101 , and 103 and an unlocked state shown in FIG. 102 . When the end effector is not assembled to the shaft 9040 of the surgical instrument 9000, the firing trigger lock 9390 can be biased into its locked state. In this locked state, the firing trigger lock 9330 can prevent, or at least substantially prevent, actuation of the firing trigger 9014. More specifically, the firing trigger lock 9390 can include a shaft bracket 9391, a pinion 9392, and a handle bracket 9393, and a biasing member (such as a spring) that can be configured to bias the shaft bracket 9391 to the proximal position and bias the handle bracket 9393 to the downward position. The proximal position of the shaft support 9391 and the downward position of the handle support 9393 are shown in FIG. 101 . Referring primarily to FIG. 101 , the handle bracket 9393 can include a hole 9396 and the firing trigger 9014 can include a protrusion 9395 that does not align with the hole 9396 when the handle bracket is in its down position. More specifically, the firing trigger 9014 may comprise a rocker switch having a fulcrum 9397, wherein rocking of the firing trigger 9014 will cause at least one protrusion extending from the firing trigger 9014 when the handle bracket 9393 is in its down position. 9395 abuts handle bracket 9393 and prevents firing trigger 9014 from being fully actuated.

Further to the above, when the end effector is attached to the shaft 9040, the firing trigger lock 9390 is movable between its locked configuration and its unlocked configuration. In the unlocked configuration of the firing trigger lock 9390, referring primarily to FIG. 102, the handle bracket 9393 can be in its upward position. In the upward position of handle bracket 9393 , aperture 9396 defined in handle bracket 9393 is aligned with protrusion 9395 extending from firing trigger 9014 . In such cases, the firing trigger 9014 may be shaken to actuate the firing trigger 9014. More specifically, protrusion 9395 may pass through aperture 9396 to allow rocking of firing trigger 9014 about fulcrum 9397 . Thus, movement of the handle bracket 9393 between its downward and upward positions locks and unlocks the firing trigger 9014, respectively, as described above. Various mechanisms may be used to move the handle bracket 9393 between its downward position and its upward position. In at least one such embodiment, referring again to FIG. 100 , the shaft 9040 can include a firing lock actuator 9399 that can be directed toward Proximal displacement. A shaft bracket 9391 can be mounted and/or can extend proximally from the firing lock actuator 9399 and can include teeth 9391a defined thereon. Teeth 9391a can be meshedly engaged with teeth 9392a defined on pinion gear 9392 such that pinion gear 9392 can rotate about an axis when firing lock actuator 9399 and shaft bracket 9391 are displaced proximally. Correspondingly, the handle bracket 9393 can include bracket teeth 9393a defined thereon that also meshingly engage the pinion teeth 9392a such that when the shaft bracket 9391 is driven proximally, the handle bracket 9393 can move from Its down position is driven to its up position, thereby unlocking the firing trigger 9014. To return the handle bracket 9393 to its down position, the shaft bracket 9391 can be moved distally, causing the pinion gear 9392 to rotate in the opposite direction. In various circumstances, the shaft bracket 9391 can be moved distally as a result of detachment of the end effector from the shaft 9040 .

Turning now to FIGS. 96-97 , the handle 9010 can include a trigger lock 9290 , for example. The trigger lock 9290 can include a housing 9291, a deployable locking pin 9292, a retainer 9293, and a biasing member 9294 configured to enable the locking pin 9294 in the undeployed position shown in FIGS. 96 and 98 . position and the deployed position shown in FIGS. 97 and 99 . In various cases, retainer 9293 may be constructed of a temperature sensitive material that is affected by heat. In at least one such case, the temperature-sensitive material can be configured, for example, to be able to move between a solid and a fluid (e.g., a liquid, a suspension, and/or a gas) and/or, for example, between a solid material and a semi-solid material. change. When the temperature sensitive material transitions, or at least partially transitions, between solid and liquid, the retainer 9293 can release the locking pin 9294 to lock the firing trigger of the handle 9010 and/or any other suitable trigger. In various cases, the locking pin 9294 can slide rearwardly and/or otherwise engage the firing trigger when deployed. The handle may, for example, include any suitable number of trigger locks 9290, etc., to selectively lock any suitable number of triggers and/or buttons. The reader will be aware that flip-flop lock 9290 may not be resettable. In such cases, actuated trigger lock 9290 can permanently lock the firing trigger, such as the handle, so that the instrument can no longer be used. Permanent locking of the firing trigger of the instrument and/or any other trigger may mean that the instrument cannot be used again in any way, whereas in other cases the permanent locking may not be easily reset and may require the instrument is sent to, for example, a qualified technician or agency, who can evaluate whether the device should be serviced and reused or whether the device should be discarded. When the thermally sensitive material of the holder 9293 has at least partially transformed into a fluid, the skilled person may assume that the device was exposed to a temperature that exceeds the transition temperature of the thermally sensitive material. In various cases, for example, the transition temperature of the thermally sensitive material may be the temperature at which the solid material eg melts, evaporates, and/or sublimes. In any event, the thermally sensitive material and transition temperature of the retainer 9293 may be selected such that release of the locking pin 9294 may indicate that the surgical instrument has been exposed to a temperature above a specified or threshold temperature. In various circumstances, surgical instruments can be damaged if they are exposed to excessive temperatures. For example, surgical instruments include, for example, solid state electronics that can be damaged when exposed to such excessive temperatures. In such cases, the threshold temperature of the instrument and the transition temperature of the holder 9293 may be equal or at least substantially equal, wherein it may therefore be assumed that the instrument has not been exposed to temperatures exceeding the threshold temperature when the trigger lock 9290 has not been actuated , and correspondingly, the instrument has been exposed to a temperature that exceeds a threshold temperature when the trigger lock 9290 has been actuated, and thus the surgical instrument may have been damaged or may at least need to be evaluated as to whether it has been damaged.

Further to the above, when a surgical instrument is sterilized, the surgical instrument may be exposed to temperatures above a threshold temperature and/or transition temperature. Many sterilization processes are known, several of which include the step of exposing the surgical instrument to heat. In addition to or instead of trigger lock 3290, the surgical instrument can include at least one temperature sensor that can assess the temperature to which the surgical instrument is exposed. In various instances, the temperature sensor can be in signal communication with a controller of the surgical instrument and thus can be configured to evaluate whether the surgical instrument has been exposed to a temperature that exceeds a threshold temperature. In at least one such case, the controller may include a microprocessor and an algorithm capable of evaluating signals received from the temperature sensor. If the controller determines that a threshold temperature has been reached and/or has been exceeded, the controller may permanently prevent the instrument from being operated. In other words, the controller can apply an electronic lock to the surgical instrument. Similar to the above, permanent locking of an instrument may mean that the instrument cannot be used again anyway, while in other cases the permanent locking may not be easily reset and may require the instrument to be sent To, for example, a qualified technician or agency who can evaluate whether the device should be serviced and reused or whether the device should be discarded. The reader will be aware that a power source may be required to operate the surgical instrument's controllers and/or sensors while the surgical instrument is being sterilized. Several embodiments of the surgical instrument include a removable battery or power source that is removed prior to sterilizing the surgical instrument, wherein in such cases the removable battery may be sterilized and/or reprocessed separately. The reader will be aware that once the removable power source has been removed from these previous instruments, the controller and/or sensor may not have sufficient power to monitor the temperature of the surgical instrument. Embodiments of the surgical instruments disclosed herein may include a battery or power source that is not removed from the surgical instrument for reprocessing. Such batteries may be referred to as permanent batteries because they provide power to the controller and/or temperature sensor while the instrument is being sterilized. In various cases, devices that include permanent batteries may also include removable and/or rechargeable batteries. In any event, the device may have sufficient power to detect and record the temperature to which the device is subjected. In at least one instance, the controller of the instrument may include a memory chip configured to store temperature readings in, for example, a temperature register. In various cases, the controller may record readings from the sensors intermittently (ie, at an appropriate sampling rate). In some cases, the controller may be configured such that when it registers a temperature reading above a certain temperature (even if below a threshold temperature), the controller may increase the sampling rate. Correspondingly, the controller may be configured such that when it subsequently records a temperature reading below a certain temperature, the controller may reduce the sampling rate, eg return to its initial sampling rate.

Turning now to Figure 99A, the algorithm for the controller is shown. In some cases, this algorithm may include, for example, a start-up procedure for the surgical instrument when it is used for the first time after it has been subjected to a sterilization process. The priming procedure may begin after the device has been switched on. The instrument may automatically open when the end effector is assembled to the instrument. In at least one such instance, assembly of the end effector with the surgical instrument may close a switch in signal communication with the controller. In addition to or instead of the above, the instrument may be activated when, for example, a button and/or switch on the handle is depressed. In any event, the controller can then evaluate the temperature readings stored in the memory chip, as described above. For example, the controller may evaluate whether any of the stored temperature readings are equal to or greater than a threshold temperature. If the controller determines that all stored temperature readings are below the threshold temperature, the controller may continue with its normal start-up procedure. If the controller determines that one or more stored temperature readings equals or exceeds the threshold temperature, the controller may continue with an alternative routine. In at least one instance, the controller may permanently disable the instrument, such as by implementing an electronic lockout and/or a mechanical lockout, as described elsewhere herein. In certain other circumstances, the controller may allow the instrument to be used even though the controller has determined that one or more stored temperature readings equal or exceed the threshold temperature. The controller may store this determination in its memory and/or indicate to the user via a display (eg a light emitting diode) that the threshold temperature has previously been exceeded and then continue with its normal start-up procedure. In various cases, the controller may take the threshold temperature as an absolute maximum, ie, a single temperature reading at or above the threshold temperature is sufficient to trigger an alternative activation procedure or permanently lock out the instrument. In other cases, for example, the controller may be configured to assess whether a pattern of temperature readings at or above a threshold temperature is sufficient to trigger an alternative activation procedure or to permanently lock out the device, since both time and temperature can be an indicator of whether the device Considerations that have been implicated in the sterilization process.

Turning now to 104-109, a surgical instrument, such as surgical instrument 9000, can include a handle 9410 that includes a firing trigger lockout system 9490. The handle 9410 is similar to the handle 9110 in many respects, and these aspects are not repeated herein for the sake of brevity. Similar to that described above, the firing trigger locking system 9490 can be configured to lock and unlock the firing trigger 9414 . Also similar to those described above, the firing trigger locking system 9490 can be biased to a locked state (as shown in FIGS. 104-107 ) when the end effector is not assembled to the shaft 9040 of the surgical instrument, and When fully assembled to shaft 9040 it moves to the unlocked state (as shown in Figures 108 and 109). Referring further to the above, referring primarily to FIGS. 108 and 109 , when the end effector is assembled to the shaft 9040 , the end effector can push the sensing member 9499 proximally. A sensing member 9499 can extend through the shaft 9040 from a distal end of the shaft 9040 to a proximal end thereof. In use, when the end effector is assembled to the shaft 9040, the end effector can abut the distal end of the sensing member 9499 and urge the sensing member 9499 proximally, as described above. As shown in FIGS. 108 and 109 , when the sensing member 9499 is pushed proximally, the sensing member 9499 can contact the swing arm 9486 of the firing trigger lockout system 9490 and rotate the swing arm 9486 upwardly. The swing arm 9486 can include an end pivotally mounted to the handle housing via a pin 9487 configured to allow the swing arm 9486 to rotate about an axis. The swing arm 9486 may also include a cam follower portion 9488 that may be contacted by a sensing member 9499 . In use, the sensing member 9499 can move the swing arm 9486 between a downward position and an upward position to move the firing trigger locking system 9490 between a locked position and an unlocked position, respectively. The firing trigger locking system 9490 can also include a locking pin 9485 mounted to the swing arm 9486 that can be pulled upward when the swing arm 9486 is rotated upward, and correspondingly can be pulled when the swing arm 9486 is rotated downward. Push down. The locking pin 9485 can include an upper end pivotally mounted to the swing arm 9486 and a lower end extending through an aperture 9483 defined in the firing trigger 9481 when the locking pin 9485 is in its downward position. In various circumstances, an aperture 9483 can be defined in an arm 9482 extending from the firing trigger 9414 . When the locking pin 9485 is positioned within the aperture 9483, the firing trigger 9414 cannot pivot about its fulcrum 9484, and thus the firing trigger 9414 cannot be actuated by the user. When the locking pin 9485 is in its upward position, the locking pin 9485 cannot be positioned within the aperture 9483, and thus the firing trigger 9414 can be actuated by the user. When the end effector is detached from the shaft 9040, the sensing member 9499 is movable from its proximal position to its distal position. In other words, if there is no end effector attached to the shaft 9040, a biasing member, such as a spring 9489, can bias the swing arm 9486 downward, and thus the firing trigger locking system 9490, to its locked state. Additionally, when the end effector is not assembled to the shaft 9040, the spring 9489 can apply a biasing force to the sensing member 9499 via the arm 9482 and urge the sensing member 9499 distally.

Further to the above, operation of sensing member 9499 and firing trigger lockout system 9490 may be used to communicate with a user of the surgical instrument. For example, when the end effector is not assembled to the shaft 9040, the sensing member 9499 is biased distally and the firing trigger 9414 will be locked, wherein if the user attempts to actuate the firing trigger 9414, the user will quickly It is recognized that errors can exist in the firing system of surgical instruments. In this example, the user will quickly realize that the end effector needs to be assembled to the shaft 9040 in order to use the surgical instrument. In various circumstances, if the end effector (albeit attached to the shaft 9040) has been used, the firing trigger may be locked. In at least one such case, the end effector can include a firing member that, if positioned in its proximal-most position when the end effector is assembled to the shaft 9040, can push the sensing member proximally; However, if this firing member has been at least partially advanced when the end effector is assembled to the shaft 9040, the sensing member cannot be pushed proximally and thus the firing trigger can remain locked. Also, such a firing trigger lockout can communicate to the user that there is a problem with the firing drive; ie, in this case, the end effector has been used. If there is no such tactile lock, the user will experience a situation where they are able to depress the actuator but the surgical instrument does not respond to the depressed actuator, potentially causing user confusion.

As noted above, assembly of a previously unfired end effector to shaft 9040 may push the sensing member proximally to unlock the firing trigger. In various circumstances, the sensing member and firing trigger locking system can be configured to enable the firing trigger not to be unlocked until the end effector is fully assembled to the shaft 9040 . If the end effector is only partially assembled to 9040, the sensing member may not be displaced enough to unlock the firing trigger. Also, such a firing trigger lockout can communicate to the user that there is a problem with the firing drive; ie, the end effector has not been fully assembled to the shaft 9040 in this instance.

As described herein, an end effector can be assembled to a surgical instrument that can include a controller configured to recognize the end effector. In some cases, the controller may be configured to evaluate the identity of the end effector when the controller is activated. In some cases, turning now to FIG. 176, the controller may be activated when the battery is inserted into the handle. In addition to, or instead of, the above, the controller may be configured to evaluate the status of the surgical instrument when the controller is activated. For example, the controller may be configured to evaluate the position of the closure member of the closure system, the firing member of the firing system, and/or the articulation member of the articulation system. In some cases, surgical instruments may include absolute position sensors to detect the position of the firing member. Such sensors are disclosed in US Patent Application Serial No. 13/803,097, filed March 14, 2013, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, the entire disclosure of which is incorporated herein by reference. In some cases, a surgical instrument may include an end-of-stroke register. Such end-of-trip registers may include mechanical switches, counters, and/or flip-flops; and/or electronic switches, counters, and/or flip-flops including data stored in non-volatile memory. In such embodiments, the controller may estimate whether a previous firing stroke has been completed. Such embodiments may be beneficial in a variety of circumstances. For example, the controller may be accidentally disconnected or otherwise lost power during a surgical procedure, and when the controller is restarted, the controller cannot estimate whether the instrument is initializing for the first time or whether the instrument is in the middle of a previous firing stroke. End-of-stroke registers can help the controller distinguish between these two situations. Additionally, an end-of-stroke register that is not lost or reset by a loss or interruption of power to the instrument may allow the controller to estimate whether the surgical instrument has lost power during the firing stroke. If the controller determines that the previous firing stroke has not been completed, the controller may be configured to: one, allow power to be supplied to the motor to complete the firing stroke, and/or, two, allow power to be supplied to the motor to cause the firing member, The closure member and/or articulation member retracts to its original or unactuated position. In various cases, the controller may provide the user of the surgical instrument with the option of continuing the firing stroke or returning the mechanical and/or electronic systems of the instrument to their original or non-actuated positions. In such embodiments, the surgical instrument cannot automatically return these systems to their original or non-actuated positions. In any event, once the surgical instrument is in its home or unactuated state, the previously fired end effector can be detached from the surgical instrument and/or the unfired end effector can be assembled to the surgical instrument. In various cases, the surgical instrument may subsequently identify, or at least attempt to identify, an unfired end effector, as described herein.

Turning now to Fig. 177, the controller of the surgical instrument may perform a diagnostic check of the instrument and/or battery. For example, upon controller activation, the surgical instrument may evaluate whether the surgical instrument has been exposed to a temperature that exceeds the surgical instrument's threshold temperature, as described herein. Additionally, for example, the surgical instrument may evaluate the battery's available power, voltage, and/or current, also as described herein. If the instrument fails one or more of these diagnostic tests, the controller may not provide power to the motor, physically lock the instrument, and/or indicate such failure to the user of the surgical instrument. In such cases, the instrument may record such failures in its memory so that the test data may assist a technician in evaluating the instrument at a later time. Assuming the device passes these diagnostic tests, the device may also record test data related to passing the diagnostic tests, similar to that described above. In any event, the instrument may then proceed to assess whether the instrument is in an initial or unactuated state and evaluate the identity of the end effector. As described herein, procedures for identifying end effectors are disclosed. Also disclosed herein is a procedure for evaluating whether a "smart" end effector or a "dumb" end effector is attached to a surgical instrument. In various cases, a "smart" end effector can be an end effector that can provide parameters and/or at least a portion of an operating program to a surgical instrument as part of the identification process. A "smart" end effector may be an end effector that seeks to recognize the manner in which a surgical instrument uses the end effector. In some cases, a "dumb" end effector is one that does not in any way identify the manner in which it will be used with the surgical instrument. An exemplary operating procedure according to the above is outlined in FIG. 178 .

As described herein, batteries can be used to power surgical instruments. In various cases, the surgical instrument and/or battery can be configured to enable an evaluation of whether the battery can provide sufficient power to the surgical instrument to perform one or more functions. In some cases, a surgical instrument and/or battery may be configured to indicate to a user of the surgical instrument that the battery has sufficient power to perform one or more functions. Figure 179 shows a circuit capable of indicating the voltage of a battery. Such circuits may be present in surgical instruments and/or batteries. In either case, the circuitry may include indicators that may indicate the charge, voltage, and/or power that may be provided by the battery. For example, the circuit may include three indicators including: a first indicator configured to indicate that the battery includes at least a first voltage, a second indicator configured to indicate that the battery includes at least a second voltage indicator, and a third indicator configured to indicate that the battery includes at least a third voltage. As shown in FIG. 179, the circuit 12100 may include a first indicator circuit 12110, a second indicator circuit 12120, and a third indicator circuit 12130 arranged in parallel with each other. When switch 12101 is closed, a potential from the battery can be applied across indicator circuits 12110 , 12120 , and 12130 . The first indicator circuit 12110 may include a Zener diode 12111 , a light emitting diode 12112 , and a resistor R1 12113 . Similarly, the second indicator circuit 12120 may include a Zener diode 12121 , a light emitting diode 12122 , and a resistor R2 12123 , and the third indicator circuit 12130 may include a Zener diode 12131 , a light emitting diode 12132 , and a resistor R3 12133 . Zener diodes 12111, 12121, and 12131 may each have a different breakdown voltage. For example, the first Zener diode 12111 may have a breakdown voltage of eg 11.5V, the second Zener diode 12121 may have a breakdown voltage of eg 10V, and the third Zener diode 12131 may have a breakdown voltage of eg 8V. In such embodiments, LEDs 12112, 12122, and 12132 will be illuminated if the voltage of the battery is greater than or equal to 11.5V. Illumination of all LEDs may indicate to the user of the surgical instrument that the battery has a full charge and/or has at least sufficient charge to perform any functions required by the surgical instrument. If the voltage of the battery is greater than or equal to 10V, but less than 11.5V, LEDs 12112 and 12122 will be illuminated; however, LED 12132 will not be illuminated. Illumination of LEDs 12112 and 12122 and non-illumination of LED 12132 may indicate to the user of the surgical instrument that the battery has less than a full charge but at least sufficient charge to perform whatever functions the surgical instrument requires. If the voltage of the battery is greater than or equal to 8V, but less than 10V, LED 12112 will be illuminated; however, LEDs 12122 and 12132 will not be illuminated. Illumination of LED 12112 and non-illumination of LEDs 12122 and 12132 may indicate to the user of the surgical instrument that the battery is approaching the end of its charge and may or may not have sufficient charge to perform certain functions required by the surgical instrument. This display of the LED may indicate that the battery may need to be replaced. If the voltage of the battery is less than 8V, any of the LEDs 12112, 12122, and 12132 will not be lit. This display of the LED may indicate that the battery is not available to reliably perform any function of the surgical instrument. Although circuit 12100 uses three indicator circuits 12110, 12120, and 12130, the circuit may include more than three indicator circuits including Zener diodes with different breakdown voltages. Such embodiments may, for example, provide a finer level indication of the voltage of the battery. Other embodiments using only two indicator circuits are conceivable.

In various cases, the battery may include circuitry configured to indicate that the battery is charged and/or has sufficient charge to allow it to be used with the surgical instrument. In some cases, a surgical instrument may include circuitry configured to indicate that a battery attached to the surgical instrument is charged and/or has sufficient charge to allow it to be used with the surgical instrument. In either case, turning now to FIG. 180, the circuit 12200 may include a microprocessor 12201 including one or more gates in communication with a battery, which may be, for example, a 9V Battery. The circuit 12200 may also include a capacitor 12202 , for example a 10 microfarad capacitor, which may receive power from a circuit including a diode 12203 and a resistor 12204 . Circuit 12200 may also include LED 12205 and resistor 12206 in the discharge path of capacitor 12202. Such a circuit can cause the LED 12205 to pulse intermittently, provided the battery can provide sufficient power to the circuit 12200. In such cases, the user can recognize the pulsating LED 12205 and will know that the battery has at least some power (even if not enough power) to use with the surgical instrument. If the user does not recognize the LED 12205 as pulsating, the user may assume that the battery lacks sufficient power to be used.

In various cases, as described herein and referring to FIG. 284 , batteries and/or surgical instruments configured to be used with batteries may include diagnostic circuitry configured to assess the power, voltage, and/or current. Turning now to FIG. 184 , a battery diagnostic circuit 12300 is disclosed. Such circuitry may be configured to enable evaluation of the battery before it has been used with the surgical instrument, during its use with the surgical instrument, and/or after it has been used with the surgical instrument. In various cases, the battery can be used more than once, and in various cases, the battery can be rechargeable or non-rechargeable. Battery usage and information obtained during diagnostic evaluation of the battery may be stored in the battery and/or in a memory chip in the surgical instrument. Fig. 183 shows an information table 12400 representing types of information recordable on a memory chip. For example, the number of uses may be recorded. For each use, for example, the maximum voltage and/or maximum current at which the battery is charged or recharged may be recorded. For each use, for example, the current capacity experienced during use, the current used in mA, the current used in Ah, and/or the minimum voltage may be recorded. For each use, for example, the time the battery was charged, the time the battery was used, the temperature of the battery while charging, and/or the temperature of the battery while in use may be recorded. These are just some examples of information that may be stored. In various circumstances, the surgical instrument and/or technician may use such information to assess, for example, the battery's previous performance and/or the battery's suitability for further use.

In various cases, turning now to FIG. 182, batteries and surgical instruments used with batteries may include circuitry for shutting down the batteries once their charge drops below a minimum charge level. In some cases, lithium-ion battery cells can have thermal accidents if used below a minimum charge level, and a cut-off circuit that prevents the battery from being used below that minimum charge level can prevent such thermal accidents from occurring.

In various cases, turning now to FIG. 181 , a surgical instrument may include a controller configured to perform a diagnostic check of the instrument and/or batteries assembled thereto. For example, the controller may include a clock and a memory chip configured to evaluate and record when the instrument and/or battery have been used. In some cases, the controller may be configured to disable the device and/or battery if it has been too long since the device and/or battery was last used. In some cases, the device and/or battery may include one or more sensors that may be configured to assess various states of the device and/or battery, such as temperature, humidity, and/or or the duration of exposure of the device and/or battery to this temperature and/or humidity. The controller may be configured to be able to assess whether the sensor is operating correctly, and if not, the controller may disable the instrument and/or the battery. The controller may also be configured to be able to assess the number of times the device and/or battery has been used, and disable the device and/or battery if usage exceeds a certain amount. The controller can also be configured to evaluate the power available from the battery, as described herein, and disable the device and/or the battery if the available power is insufficient.

As described herein, surgical instruments may include various sensors for collecting feedback and/or other instrument status information. Additionally, surgical instruments may include sensory indicators for providing feedback and/or instrument status information to a user. In some cases, endoscopes may be used in conjunction with surgical instruments to provide additional feedback and/or instrument status information to the user. As described herein, for example, the endoscope and surgical instrument may be in signal communication with a display that may display feedback from sensors of the endoscope and/or from the surgical instrument. Referring now to FIGS. 75-93, the endoscope 5018 (FIG. 93) can be in signal communication with the display 5002 (FIG. 75). In some embodiments, display 5002 may include, for example, a heads-up display (HUD) and/or a video monitor. Additionally, display 5002 may be, for example, a plasma screen, an LCD screen, or an electroluminescent screen. In various embodiments, the display 5002 can play a first layer of information 5010 that can include, for example, video feedback. The video feed can be an image feed of the surgical site as viewed by the endoscope 5018 ( FIG. 93 ), for example, and can show at least a portion of the surgical instrument 5020 as viewed by the endoscope 5018 , for example.

In various embodiments, the display 5002 may include a touch screen 5004 . Referring primarily to FIG. 75 , a user can interact with touch screen 5004 to interact with display 5002 and surgical instrument 5020 . For example, touchscreen 5004 can be in communication with display 5002, and input to touchscreen 5004 can adjust and/or modify information shown on display 5002. In such embodiments, a user may communicate with the display 5002 without additional input from the display, such as a keyboard and/or a computer mouse. In other words, no additional input tools and/or components may be required to adjust and/or modify the information shown on display 5002 . Additionally, in various embodiments, touch screen 5004 can be easily cleaned and/or sterilized. For example, touch screen 5004 can include a flat surface that can be easily wiped clean in a surgical suite and/or operating room. Additionally or alternatively, touchscreen 5004 may communicate directly and/or indirectly with surgical instrument 5020 such that input to touchscreen 5004 provides input to surgical instrument 5020 . A user may be, for example, a surgeon, operator, and/or assistant.

In various embodiments, the touch screen 5004 can be positioned on at least a portion of the display 5002 and removably secured to the display 5002, for example. For example, touch screen 5004 can be compatible with multiple displays and can be releasably attached and detached from at least one display. Additionally, in some embodiments, touchscreen 5004 can be a stand-alone display that can operate independently of display 5002 . For example, a detachable LCD screen can include touch screen 5004 and the detachable LCD screen can be superimposed on at least a portion of display 5002 . In other embodiments, touch screen 5004 may be integrated into display 5002 . Touch screen 5004 may use, for example, resistive technology, capacitive technology, ultrasound beam technology, and/or near-field imaging technology.

Referring primarily to FIG. 93 , in various embodiments, the feedback controller 5016 can be in signal communication with the surgical instrument 5020 , the endoscope 5018 , and/or the display 5002 . In certain embodiments, a wired and/or wireless connection 5017 between the feedback controller 5016 and the endoscope 5018 may provide video feedback from the endoscope 5018 to the feedback controller 5016. Additionally, a wired and/or wireless connection 5019 between feedback controller 5016 and surgical instrument 5020 and/or a microcontroller of surgical instrument 5020 may provide feedback data measured and/or detected by surgical instrument 5020 to feedback controller 5016 . For example, various sensors are described herein and in Zemlock '263 and Zemlock '344, the entire disclosure of which is incorporated herein by reference in its entirety, and various sensors may detect feedback and/or instrument status information. Additionally, wired and/or wireless connection 5015 between feedback controller 5016 and display 5002 may provide feedback data from surgical instrument 5020 and/or video feedback from endoscope 5018 to display 5002 . In at least one embodiment, video feedback can be shown in a first information layer 5010 on display 5002 and feedback data can be shown in a second information layer 5012 on display 5004 . In embodiments where a detachable LCD display including touch screen 5004 is positioned on display 5002, a wired and/or wireless connection between feedback controller 5016 and the detachable LCD display may, for example, provide feedback data to the detachable LCD display. LCD display and/or feedback data may be provided from the LCD display to the feedback controller 5010.

Referring primarily to FIG. 76, the display 5002 can play a first layer of information 5010, which can include, for example, video feedback from an endoscope 5018 (FIG. 93). In various circumstances, video feedback 5010 may include a graphical representation of surgical instrument 5020 acting on tissue T. In various embodiments, surgical instrument 5020 can be similar to, for example, surgical instrument 10 ( FIG. 1 ), and a disposable loading unit (DLU) and/or end effector 5022 coupled to the surgical instrument can be similar to, for example, loading unit 20 (figure 2). DLU 5022 of surgical instrument 5020 is articulated relative to tissue T, grasps and/or clamps tissue T between a pair of jaws, staples tissue T, and/or cuts tissue T with a cutting element, as described herein stated. Additionally, an endoscope 5018, which may be positioned at and/or near the surgical site, may view the DLU 5022 and may transmit video feedback and/or recordings to the feedback controller 5016 (FIG. 93). In various embodiments, video feedback in first information layer 5010 on display 5002 may provide an operator of surgical instrument 5020 with live visual feedback of the surgical site.

Referring primarily to FIG. 77 , the display 5002 can display a second information layer 5012 . Additionally, the user may select, move, resize, minimize, expand, modify, and/or otherwise manipulate the second information layer 5012 . For example, a user may manipulate the second information layer 5012 by interacting with the touch screen 5004 . Second layer of information 5012 may include feedback data from surgical instrument 5020 and/or controls for controlling surgical instrument 5020 as described herein. In various embodiments, the second information layer 5012 can include a control panel 5030 and the touch screen 5004 can be used to select and/or use features of the control panel 5030 . Control panel 5030 may be folded, resized, moved, and/or otherwise manipulated through touch screen 5004 . For example, the user can minimize or collapse the control panel 5030 by selecting the minimize/maximize icon 5032 and can maximize or expand the control panel 5030 by selecting the minimize/maximize icon 5032 again. In addition, a user may move control panel 5030 on display 5002 , for example, by “dragging and dropping” control panel 5030 across display 5002 . In addition, the user may adjust the size of the control panel 5030 relative to the display 5002 by “zooming in” and/or “zooming out” multiple points of contact on the touch screen 5004 . Those of ordinary skill in the art will appreciate that the second information layer 5012 and/or the control panel 5030 thereof may be modified and/or manipulated using various conventional and/or intuitive touches such as the touch screen 5004 .

Still referring to FIG. 77, the control panel 5030 may include a plurality of menus, categories, and/or categories. For example, control panel 5030 may include instrument feedback menu 5036 , display menu 5060 , and/or instrument controller menu 5070 . The user can use the control panel 5030 to select menus and/or switch the operation state of the touch screen 5004 . For example, when a user selects the instrument controller menu 5070 of the control panel 5030, the touch screen 5004 may communicate instructions and/or controls to the instrument controller 5016 (FIG. 93) and/or the microcontroller. In such embodiments, the touchscreen 5004 is operable in an instrument control state, as described herein. Additionally, when display menu 5060 is selected from control panel 5030 , the user can modify settings related to second information layer 5012 and/or display 5002 . In such embodiments, the touch screen 5004 may operate in a setting modification state. Additionally or alternatively, the user may modify the feedback data contained in the second information layer 5012 when the instrument feedback menu 5036 is selected. In such embodiments, the touch screen 5004 is operable in a feedback-regulated state. In various embodiments, control panel 5030 may include additional and/or fewer menus, categories, and/or categories. In addition, various menus, categories, and/or categories of the control panel 5030 may be modified, for example, according to user preferences. Menus, categories, and/or categories may be displayed in the second information layer 5012 through text and/or symbols. In various embodiments, categories under each menu 5036 , 5060 , 5070 may optionally be shown in the second information layer 5012 . For example, categories under each menu 5036, 5060, 5070 may be selectively displayed in the second information layer 5012 only when the corresponding overlying menu 5036, 5060, 5070 is selected by the user. In other embodiments, the user may, for example, manually minimize and/or maximize the categories and/or subcategories corresponding to each menu 5036, 5060, and/or 5070.

Still referring to FIG. 77 , instrument feedback menu 5036 may include a number of feedback categories and may relate to feedback data being measured and/or detected by surgical instrument 5020 ( FIG. 93 ) during a surgical procedure. As described herein, the surgical instrument 5020 can detect and/or measure, for example, the position of the movable jaws between the open and closed orientations, the thickness of the clamped tissue, the clamping force on the clamped tissue, the position of the DLU 5022 Articulation, and/or position, velocity, and/or force of a firing element. Additionally, a feedback controller 5016 ( FIG. 93 ) in signal communication with the surgical instrument 5020 can provide sensed feedback to the display 5002 , which can provide the feedback in the second information layer 5012 . As described herein, the selection, setting, and/or form of feedback data displayed in the second information layer 5012 can be modified, for example, based on user input to the touchscreen 5004 .

In various embodiments, the display menu 5060 of the control panel 5030 can relate to multiple categories, eg, unit system 5062 and/or data schema 5064 . In some embodiments, the user may select the unit system category 5062 to switch between unit systems (eg, between metric units and US customary units). In addition, the user may select, for example, data mode category 5064 to switch between types of numerical representations of feedback data (FIGS. 79-81) and/or types of graphical representations of feedback data (FIGS. 82-83). Numerical representations of feedback data may be displayed, for example, as numerical values and/or percentages. Additionally, graphical representations of feedback data may be displayed, for example, as a function of time (FIG. 82) and/or distance (FIG. 83). As described herein, the user can select the instrument controller menu 5070 from the control panel 5030 to enter commands for the surgical instrument 5020 (FIG. microcontroller to perform.

Referring now to FIG. 78 , the second information layer 5012 can cover at least a portion of the first information layer 5010 on the display 5002 . Additionally, the touch screen 5004 may allow the user to manipulate the second information layer 5012 relative to the visual feedback in the underlying first information layer 5010 on the display 5002 . For example, a user may operate touchscreen 5004 to select, manipulate, reformat, resize, and/or otherwise modify information displayed in second information layer 5012 . In certain embodiments, a user may use touch screen 5004 to manipulate second information layer 5012 relative to surgical instrument 5020 in first information layer 5010 shown on display 5002 . A user may select, for example, menus, categories, and/or categories of their control panel 5030, and the second information layer 5012 and/or control panel 5030 may be adjusted to reflect the user's selection. In various embodiments, the user may select a category from the instrument feedback category 5036 corresponding to a particular feature or feature of the surgical instrument 5020 shown in the first layer of information 5010 . Feedback corresponding to a user-selected category may move relative to a particular feature of surgical instrument 5020 , position itself, and/or “snap” into a position on display 5002 . For example, the selected feedback may be moved to a location proximate to and/or overlaying a particular feature of the surgical instrument 5020 shown in the first layer of information 5010 .

Referring to FIGS. 79 and 80 , if the user selects the knife progress category 5040 , for example, from the instrument feedback menu 5036 , sensory data and/or information related to knife progress may be displayed relative to the DLU in the first information layer 5010 , for example. 5022 to move and/or "snap" into position in the second information layer 5012. Additionally, after the user selects a desired category from the instrument feedback menu 5036, the control panel 5030 may be collapsed and/or minimized. Feedback data 5052 related to knife progress can be shown on the display 5002 in the vicinity of the detected knife of the DLU 5022 shown in the first information layer 5010 and, for example, as the knife translates and/or moves through the DLU 5022, when the knife approaches the firing stroke. Movement between a first position (FIG. 79) at the beginning of the knife and a second position (FIG. 80) of the knife near the distal end of the firing stroke. For example, when the knife has translated a distance Xmm, the data 5052 related to knife progress can be positioned in a first position (FIG. 79), and when the knife has translated a distance Ymm, the data 5052 related to knife progress can be positioned in a second position. location (Figure 80). In such embodiments, the operator can track the progress of the knife during the firing stroke by viewing the feedback data 5052 on the screen 5002 . For example, when the knife of the DLU 5022 cannot be viewed, for example, by the end effector jaws 5024 and/or the tissue T, the operator can base the change value of the feedback data 5052 and/or the feedback data 5052 on the underlying first layer of information. The moving position of the DLU 5022 shown at 5010 to track and/or approximate the position of the knife in the DLU 5020. Additionally, display 5002 may incorporate numerical representations of knife progress as well as graphical and/or symbolic representations of knife progress. For example, a symbol 5054 (eg, an arrow) may move and/or extend relative to the DLU 5022 shown on the first layer of information 5010 below, for example, to show the progress of the knife through the DLU 5022 . Still referring to FIGS. 79 and 80 , when the knife is advanced distally, for example, from a position near the beginning of the firing stroke ( FIG. 79 ) to a position near the distal end of the firing stroke ( FIG. 80 ), symbol 5054 may For example extending distally.

In various embodiments, the user may select one or more different categories of feedback data from the instrument feedback menu 5036 and the different categories of feedback data may be displayed in the second information layer 5012 on the display 5002 . In such embodiments, when the user selects a different category of feedback data from the instrument feedback menu 5036, the numerical and/or symbolic representation of the feedback data may be shifted to appropriate location on the display 5002. For example, if the user selects the jaw position category 5038 from the instrument feedback menu 5036, feedback data related to the position of the movable jaws between the open position and the clamped position may be displayed in the second information layer 5012, for example, And can be moved to a position near the movable jaw 5024 of the surgical instrument 5020 on the display 5002. Additionally, if the knife speed category 5042 is selected, feedback data 5058 (FIG. 82) related to knife speed can be displayed in the second information layer 5012 and can be moved to a location near the knife in the DLU 5022 on the display 5002, This is similar to numerical data 5052 and/or symbols 5054 described above. For example, if the user selects the tissue thickness category 5044 , feedback data related to the detected tissue thickness can be displayed in the second information layer 5012 and can be moved to a location near the measured tissue T on the display 5002 . Additionally, in at least one embodiment, the second information layer 5012 can include a scale and/or scale that can display the detected tissue thickness. The user can move the scale via the touch screen 5004, eg, relative to the underlying tissue T shown in the first information layer 5010, which can facilitate the user's understanding of tissue thickness variations. For example, if the user selects the end effector articulation category 5046, feedback data 5252 ( FIGS. 84-88 ) related to the articulation of the DLU 5022 can be displayed in the second information layer 5012 and can be moved to the display 5002 Position near the articulation joint 5026 ( FIGS. 84 and 85 ) of the DLU 5022 on the upper body. For example, if the user selects the percussion force category 5048, then feedback data related to the percussion force applied by the knife to the tissue can be displayed in the second information layer 5012 and can be located in the DLU 5022 on the display 5002. near the knife. Additionally, feedback data related to the firing force exerted by the knife may move within the second information layer 5012 as the knife moves relative to the DLU 5022, for example, during the firing stroke. Additionally, if the clamping force category 5050 is selected, feedback data 5158 (FIG. 83) related to clamping force on tissue T may be shown in the second information layer 5012, and may be shown below in the first information layer 5010. moving around the DLU5022. In such embodiments, for example, the clamping force related feedback data 5158 may show changes in clamping pressure along the length and/or width of the DLU 5022 during clamping and/or throughout the firing stroke.

In various embodiments, the feedback shown by the second layer of information 5012 may move with corresponding features of the surgical instrument 5020 in the first layer of information 5010 . For example, DLU 5022 may move around display 5002 as DLU 5022 is maneuvered around a surgical site. In such embodiments, feedback related to DLU 5022 (eg, jaw position data and/or articulation data) may move with DLU 5022, for example. Movement of the associated feedback may ensure that the feedback remains in the operator's field of view without requiring the operator to look away from the corresponding feature of the surgical instrument 5020 shown on the first information layer 5010 on the display 5002 . Furthermore, the movement of the relevant feedback can ensure that the feedback does not block features of the surgical instrument 5020 shown in the first information layer 5010 that the operator wishes to view on the display 5002 .

In some embodiments, the user can select multiple feedback categories to view on the display 5002 at the same time. Additionally, selected feedback can be automatically arranged on the display 5002 to display relevant data in the second information layer 5012 in a non-overlapping arrangement. In other words, for example, feedback displayed in the second information layer 5012 may not overlap other feedback displayed in the second information layer 5012; however, such feedback may overlap with the first information layer 5010 displayed on the display 5002 The video feed overlaps. In various embodiments, when the feedback data moves and/or "snaps" into place on the screen relative to the surgical instrument 5020 shown in the underlying first layer of information 5010, the user can click the feedback data " Drag and drop" to other locations in the second information layer 5012 to replace the default location.

Referring now to FIG. 81 , a symbolic representation 5056 of knife progress (e.g., a cross, a bull's-eye, and/or a graphical representation of the knife and/or knife edge) can be moved to a second information layer that overlaps the knife position shown in the first information layer 5010. Location in layer 5012. In some embodiments, even when the knife is not visible on the display 5002 (e.g., if the knife was previously blocked), the symbolic representation 5056 of the knife can move and/or follow the detection of the knife in the DLU 5022 on the screen 5002 Location. For example, near the beginning of the firing stroke, symbolic representation 5056 may be in a first position relative to DLU 5022, and near the end of the firing stroke, symbolic representation 5056 may be moved to a second position relative to DLU 5022.

In various embodiments, feedback selected by the user via touchscreen 5004 may “snap” into corners, edges, and/or other predetermined locations on display 5002 . For example, still referring to FIG. 81 , numerical data 5052 related to knife progress can be moved to a corner of display 5002 . Additionally or alternatively, a user may interact with touch screen 5004 to move digital data 5052 to a different location on touch screen 5004 . Based on the location of the underlying surgical instrument 5020 in the first information layer 5010, the user can move the digital data 5052 to a position in the second information layer 5012 such that the corresponding and/or specific features of the DLU 5022 are not replaced by the digital data. 5052 blocking and/or hindering. Additionally or alternatively, the user can move the digital data 5052 to a location near the corresponding feature structure of the DLU 5022 so that the user can easily view the corresponding DLU 5022 feature structure and the digital data 5052 at the same time.

Referring to FIGS. 84 and 85 , a symbolic representation 5254 ( FIG. 85 ) of feedback data from the feedback controller 5016 ( FIG. 93 ) may be included in the second information layer 5012 . For example, a symbolic representation 5254 of the articulation of the DLU 5022 (e.g., opening angle and/or anti-arc) can be shown in the second information layer 5012 and can be moved to the display 5002 with the surgical instrument shown in the first information layer 5010 Articulation joints 5026 of 5020 proximate and/or overlap locations. For example, an arc of alignment may extend between axis A defined by the non-articulating DLU 5022 (FIG. 84) and axis A' defined by the articulating DLU 5022 (FIG. 85). In some embodiments, the symbolic representation 5254 of the articulation angle is visible in the second information layer 5012 even when the articulation joint 5026 is not visible on the screen. For example, if the articulation joint 5026 is not positioned within the field of view of the endoscope and/or is obstructed or obstructed, the symbolic representation of the articulation angle 5254 can provide the user with a visual indication of the articulation. In various embodiments, symbolic representation 5252 may adjust and/or change as DLU 5022 moves and/or articulates. For example, symbolic representation 5254 may be an arrow arc or line that may move from an initial position and/or a non-articulation position (FIG. 84) of DLU 5022 toward an articulation position (FIG. 85) of DLU 5022 (eg, by Instrument 5020 detects) extension. Furthermore, in various embodiments, the symbolic representation 5254 may "snap" into a position relative to the DLU 5022 shown on the first layer of information such that the symbolic representation 5254 overlaps and/or aligns with the DLU 5022 . For example, referring primarily to FIG. 85 , the articulation angle symbolic representation 5254 can be moved to and/or near the articulation joint 5026 shown on the first information layer 5010 on the display 5002 and can be moved between initial and/or non-articulation joints. There is an elongation between the axis A defined by the DLU 5022 in the kinematic position and the axis A' defined by the DLU 5022 when the DLU 5022 is articulated.

Additionally, in various embodiments, digital data 5252 related to the articulation of the DLU 5022 may be displayed in the second information layer 5012 on the display 5002 . Additionally, data 5252 may change as DLU 5022 articulates. For example, the second information layer 5012 may show articulation of X° before articulation of DLU 5022 ( FIG. 84 ), and may show articulation of Y° after articulation of DLU 5022 ( FIG. 85 ). In various embodiments, feedback data 5252 related to articulation of the DLU 5022 may be displayed in the second information layer 5012, for example, at and/or near the articulation joint 5026 of the surgical instrument 5020 shown in the first information layer 5010 . A user may, for example, utilize the touchscreen 5004 to move, resize, minimize, and/or otherwise manipulate the articulation data displayed in the second information layer 5012 relative to the video feedback displayed in the first information layer 5010 5252. Additionally or alternatively, a user may interact with touch screen 5004 to move symbolic representation 5254 and/or numerical data 5252 to different locations on touch screen 5004 . Based on the location of the underlying surgical instrument 5020 in the first information layer 5010, the user can move the digital data 5252 to a location in the second information layer 5012 such that certain features of the DLU 5022 are not blocked by the digital data 5252 and/or or hinder. Additionally or alternatively, the user can move the digital data 5252 to a position near the corresponding feature structure of the DLU 5022 so that the user can easily view the corresponding DLU 5022 feature structure and the digital data 5252 at the same time.

Referring now to FIG. 82 , a graphical representation may be selected from display menu 5060 of control panel 5030 , for example, via touch screen 5004 . In such embodiments, a graphical representation of feedback 5058 may be displayed in second information layer 5012 on display 5002 . A user may select a graphical representation to view measured and/or sensed data from surgical instrument 5020 and/or its controller versus time and/or space. For example, a user may desire to observe the velocity of the firing element throughout the firing stroke, and thus may select the knife speed category 5042 (FIG. 78) from the instrument feedback menu 5036 (FIG. 78). In such embodiments, the graphical representation 5058 of knife velocity may continue to acquire data points and grow, for example, during the firing stroke. In various embodiments, the graphical representation 5058 may show a "soft" start period 5057 and/or a "soft" detent period 5059 of the knife upon completion of the firing stroke. Additionally, graphical representation 5058 may be positioned on display 5002 such that the velocity of the knife at a particular location along the length of end effector jaw 5024 corresponds to the velocity of end effector jaw 5022 shown in first layer of information 5010. A specific location for the length. For example, graphical representation 5058 may begin at and/or near the beginning of a knife path through DLU 5022 as shown in first layer of information 5010, and may end at, for example, a knife path through DLU 5022 as shown in first layer of information 5010. At and/or near the end of the toolpath. Additionally, as described herein, graphical representation 5058 may "snap" into place on the screen, and the user may utilize touch screen 5004 to move and/or resize graphical representation 5058 as desired. In certain embodiments, a numerical representation of the firing rate may be shown in the second information layer 5012 along with the graphical representation 5058 .

Referring now to FIG. 83 , in various embodiments, the user may desire to observe the gripping force applied to the tissue T along the length and/or width of the end effector jaws 5024 and, accordingly, may obtain feedback from the instrument feedback menu 5036 (FIG. 78) Select the Clamping Force category 5050 (FIG. 78). In such embodiments, a graphical representation 5158 of clamping force may be shown in the second information layer 5012 . In some embodiments, the graphical representation 5158 may be arranged in the second information layer 5012 relative to the clamped tissue shown in the first information layer 5010 . For example, the graphical representation 5158 can begin at and/or near the proximal end of the jaw 5024 shown in the first layer of information 5010 and can end, for example, at the distal end of the jaw 5024 shown in the first layer of information 5010 at and/or nearby. Additionally, graphical representation 5158 may “snap” into place on the screen, and a user may move and/or resize graphical representation 5158 , eg, using touch screen 5004 , as described herein. In certain embodiments, the graphical representation may change during use to reflect changes in clamping pressure, for example, during the firing stroke.

86-88, in various embodiments, a user may interact with touch screen 5004 to input controls and/or instructions to surgical instrument 5020 via instrument controller 5016 and/or microcontroller. For example, a user may input controls that involve articulating the DLU 5022 , gripping the end effector jaws 5024 , advancing and/or retracting a cutting element, and/or firing staples from the DLU 5022 . In various embodiments, a user may select instrument controller category 5070 from control panel 5030 via touch screen 5004 to activate an instrument control state such that the user may control surgical instrument 5020 via touch screen 5004 . When touchscreen 5004 is activated for instrument control, a user may interact with touchscreen 5004 to control surgical instrument 5020 . For example, a user may interact with control buttons and/or icons in second information layer 5012 and/or may interact with a location on touch screen 5004 that corresponds to underlying surgical instrument 5020 to enter instructions into surgical instrument 5020, for example.

For example, referring to FIG. 86, a user may interact with the touch screen 5004 to indicate a desired direction and degree of articulation of the DLU 5022, for example. In certain embodiments, a user may drag a contact point on touch screen 5004 from at and/near DLU 5022 toward a desired articulation position of end effector 5002 . Referring to FIG. 86 , the user may trace a line or arc 5352 from at and/or near the DLU 5022 shown in the first layer of information 5010 to the desired articulation position of the DLU 5022 . For example, arc 5352 can extend from and/or approximately from axis A defined by DLU 5022, and arc 5352 can extend to axis A' defined by a desired articulation position of DLU 5022. Furthermore, arc 5352 may extend, for example, in the direction indicated by arrow 5354 . In some embodiments, the arc 5352 may not appear in the second information layer 5010 when a user inputs a desired articulation via the touchscreen 5004 . In various embodiments, the touch screen 5004 can communicate the desired articulation angle to the instrument controller 5016 (FIG. 93) and/or microcontroller, which can effectuate the articulation of the DLU 5022 to the desired articulation angle. Referring now to FIG. 88 , instrument controller 5016 ( FIG. 93 ) and/or a microcontroller may effectuate articulation of DLU 5022 to axis A', eg, based on user input via touch screen 5004.

Referring primarily to FIG. 87 , in various embodiments, a user may interact with control buttons, schematics, and/or icons in the first information layer 5012 to input instructions to the surgical instrument 5020 . For example, first information layer 5012 may include symbols or icons 5356 , and icons 5356 may be moved and/or manipulated by a user to enable articulation of DLU 5022 . In various embodiments, icon 5356 may include, for example, a schematic diagram of DLU 5022 . Additionally, the user can drag the icon 5356 into an articulation orientation and/or a rotational orientation to enable articulation of the DLU 5022 . In various embodiments, the lines and/or arcs 5358 may indicate the direction and/or degree of articulation desired by the user. For example, arc 5358 may extend from the non-articulated orientation of icon 5356 to the articulated orientation of icon 5356′. Articulation icon 5356' may correspond to a desired articulation of DLU 5022, for example. Referring now to FIG. 88, the instrument controller 5016 and/or the microcontroller may effectuate articulation of the DLU 5022 to axis A', for example based on user input via the touch screen 5004. For example, the DLU 5022 can be articulated to an open angle defined by arc 5358, which is between non-articulation icon 5356 and articulation icon 5356' shown in FIG. 87 .

Referring primarily to FIGS. 89 and 90 , in various embodiments, a user can interact with the touchscreen 5004 to input commands to the surgical instrument 5020 related to the closure of the jaws 5024 . In certain embodiments, the user can drag a point of contact on the touch screen 5004 from at and/or near the movable jaw 5024 toward a closed orientation of the movable jaw 5024 to initiate the closing of the jaw 5024 . For example, the user may trace a line or arc 5362 from at and/or near the movable jaw 5024 shown in the first information layer 5010 to the desired closure orientation of the movable jaw 5024 (FIG. 89). In various embodiments, the touch screen 5004 can communicate the closing action to the instrument controller 5016 and/or microcontroller, which can effectuate the closing of the movable jaws 5024 . In certain embodiments, the arc 5362 traced by the user on the touch screen 5004 can extend from or approximately from the axis A defined by the movable jaw 5024, and the arc 5362 can extend to the desired grip by the movable jaw 5024. Hold the axis A' defined by the orientation (FIG. 90). Furthermore, arc 5362 may extend, for example, in the direction indicated by arrow 5364 . Referring now to FIG. 90, the instrument controller 5016 and/or microcontroller can effectuate the closing of the movable jaw 5024 to the axis A', eg, based on user input via the touch screen 5004.

Referring now to FIGS. 91 and 92 , in various embodiments, a user may interact with control buttons and/or icons in the first information layer 5012 to input instructions to the surgical instrument 5020 . For example, the first information layer 5012 can include a control interface 5072 that can include, for example, buttons 5074, 5075, 5076, 5077, 5078 for inputting instructions to the instrument controller 5016 and/or microcontroller. Buttons for inputting commands to the instrument controller 5016 (FIG. 93) and/or the microcontroller may involve, for example, articulating the DLU 5022, closing and/or clamping the jaws 5024, firing and/or retracting the cutting Components, and/or eject nails from the DLU 5022. A user may interact with touch screen 5004 to select buttons from control interface 5072 . Referring primarily to FIG. 91 , the control interface 5072 can include a stop/retract button 5474 , a pause button 5475 , a start button 5476 , an acceleration button 5477 , and/or a deceleration button 5478 , for example. The user can, for example, contact start button 5476 to initiate the firing stroke and/or advance the firing element, contact pause button 5475 to pause the firing stroke, and/or contact stop/retract button 5474 to stop the firing stroke and retract the firing element. Additionally, a user may interact with control interface 5072 to adjust the velocity of the firing element throughout the firing stroke. For example, the user may contact the accelerator button 5477 to increase the velocity of the firing element, and the user may contact the deceleration button 5478 to decrease the velocity of the firing element. The user may, for example, increase the velocity of the firing element after and/or during a "soft" start phase of the firing stroke, and/or may decrease the velocity of the firing element, eg, during a "soft" detent phase of the firing stroke reaching the end of the firing stroke. In other embodiments, the control interface 5072 may include buttons and/or controls for modifying the closure of the jaws 5024 and/or the articulation of the DLU 5022, for example. In various embodiments, the control interface 5072 can "snap" into the second information layer 5012 when the instrument controller 5070 menu is selected from the control panel 5030 and/or when the user otherwise selects an instrument control state. a certain location. A user may move, adjust and/or manipulate control interface 5072 , for example, relative to first information layer 5010 and/or display 5002 .

In various embodiments, referring to FIG. 92 , the second information layer 5012 can include, for example, a progress bar 5480 that can indicate the location of the firing element in the DLU 5022 . The progress bar 5480 can extend between the proximal end 5482 and the distal end 5488 and can define the proximal-most and distal-most positions of the firing element during the firing stroke. In various embodiments, the position of the firing element can be indicated, for example, along the progress bar 5480 . In some embodiments, the user can use the controls in the control interface 5072 to adjust the firing stroke. For example, a user may interact with control interface 5072 to initiate and/or terminate a “soft” start phase and/or a “soft” detent phase of the firing stroke based on the indicated position of the firing element along progress bar 5480 . Additionally, the progress bar 5480 may include measurement markers and/or guides 5484, 5486 that may be set to, for example, a "soft" start and/or "soft start" on the progress bar 5480. ” The position at which the detent phase can begin and/or end. The guides 5484, 5486 can provide visual cues to the user during the firing stroke to initiate and/or terminate a "soft" start cycle with the accelerator button 5077, and/or to initiate and/or terminate a "soft" stop with the deceleration button 5078, for example. moving stage. In various embodiments, the positions of the guides 5484, 5486 can be preset by the user.

Still referring to FIG. 92 , in various embodiments, the instrument controller 5016 and/or the microcontroller can automatically implement the velocity change of the firing element based on the position of the guide markers 5484 , 5486 along the progress bar 5480 . In addition, the user may interact with the touch screen 5004 to move and/or adjust the progress bar 5480 and thereby modify the "soft" start and/or "soft" stop phases of the firing stroke. For example, a "soft" start and/or "soft" stop phase may be set at a predetermined location along the progress bar 5480 between the proximal end 5482 and the distal end 5488 . In some embodiments, a user may interact with the touch screen 5004 to move and/or adjust the position of the guides 5484 , 5486 along the length of the progress bar 5480 . For example, the user can position the guides 5484, 5486 between various positions on the progress bar 5480 by dragging and releasing the guides 5484, 5486 to lengthen and/or shorten the "soft" start of the firing stroke and/or or "soft" stopping phase. In some embodiments, the user can interact with the touch screen 5004 to move and/or adjust the position of the distal end 5488 of the progress bar 5480 to lengthen and/or shorten the firing stroke. For example, a user, for example, can drag the distal end 5488 proximally to shorten the firing stroke and/or can drag the distal end 5488 distally to lengthen the firing stroke. In various embodiments, the instrument controller 5016 and/or the microcontroller can adjust the speed and/or firing of the firing element, for example, based on the modified position of the guides 5484, 5486 and/or the distal end 5488 along the progress bar 5480 stroke length.

In various embodiments, surgical instrument 10 may include at least one deactivation mechanism. As described in more detail herein, such deactivation mechanisms can deter the end user from tampering with the surgical instrument. For example, referring now to FIG. 134, a power source 2500 is shown. Power source 2500 may be used to provide power to a surgical instrument (e.g., surgical instrument 10 (see FIG. 1)), and is similar in many respects to other power sources described elsewhere in this document (e.g., power source 200 (see FIG. 1) ) and other types of power sources described in more detail in Zemlok '763, which is incorporated herein by reference in its entirety. To protect power source 2500 from tampering, power source 2500 may be configured to become inoperable or deactivated if it is tampered with. For example, power source 2500 may become inactive, such as by ceasing to receive, store, and/or transmit energy. Deterring tampering may ensure proper operation of power source 2500 during use with surgical instrument 10 .

Referring to FIGS. 134 and 135 , the power source 2500 can include an outer housing 2502 that can enclose various components of the power source 2500 , such as a battery pack 2510 . Housing 2502 may include a first housing 2504 and a second housing 2506 detachably coupled to first housing 2504, as shown in FIG. 135 . In some cases, housing 2504 and housing 2056 may be formed from a thermoplastic material (eg, polycarbonate). Alternatively, other materials with suitable properties may be used. Additionally, housing 2504 and housing 2506 may be coupled to each other by one or more fastening techniques (eg, adhesives, welding, interlocking structures, and/or screws). In one example, housing 2504 and housing 2506 may be secured together via a snap-fit type engagement. In another example, housing 2504 and housing 2506 may be secured together by fastening members 2508, as shown in FIG. 135 .

135-137, the power source 2500 can include a disabling mechanism 2512 that can render the power source 2500 inoperable if the power source 2500 is compromised. For example, disabling mechanism 2512 may render power source 2500 inoperable if housing 2502 has been tampered with. As shown in FIGS. 135-137, the deactivation mechanism 2512 may include an electrical circuit 2514, which may include a disconnectable portion 2516 (see FIG. 136). In some examples, the breakable portion 2516 can be constructed of a conductive material that can be easily broken. As shown in FIG. 136, a circuit 2514 can be coupled to the battery pack 2510 and can allow current to flow provided the disconnectable portion 2516 remains intact. As shown in FIG. 137, opening breakable portion 2516 may interrupt electrical circuit 2514, thereby terminating current flow therethrough. Further to the above, as shown in FIG. 135 , the electrical circuit 2514 can be positioned such that the breakable portion 2516 can break when the first housing 2504 and the second housing 2506 are separated from each other, which can make repairs without effort In the event of a break in circuit 2514 , power source 2500 cannot receive, store, and/or provide power to surgical instrument 10 .

Referring to FIG. 135 , the power source 2500 may include one or more battery cells, depending on the current load requirements of the instrument 10 . In various aspects, power source 2500 can include a battery pack, such as battery pack 2510, which can include a plurality of battery cells that can be connected in series with one another. Power source 2500 may be replaceable. In some aspects, power source 2500 can include a rechargeable battery (eg, lead-based, nickel-based, lithium-ion based, etc.). The battery cells may be, for example, 3 volt lithium cells, such as CR123A cells, although in other embodiments, different types of cells (including cells with different voltage levels and/or different chemistries) may be used. The user may disconnect and remove the depleted power source 2500 from the surgical instrument 10 and connect the charged power source 2500 in its place. The depleted power source 2500 can then be recharged and reused. It is also contemplated that power source 2500 may include at least one disposable battery. In various aspects, the primary battery can be from about 9 volts to about 30 volts. The user can disconnect and remove the depleted disposable power source 2500 and connect a new disposable power source 2500 to power the surgical instrument 10 .

As noted above, the power source 2500 may include a rechargeable battery cell and may be removably disposed within, for example, the handle portion 14 of the housing 12 (see FIG. 1 ). In such cases, power source 2500 may be charged using a charger dock, which may include a power source for charging power source 2500 . If power source 2500 has been tampered with, as described above, a disabling mechanism (eg, disabling mechanism 2512 ) can be used to prevent power source 2500 from being recharged by the charger dock. For example, circuit 2514 may be coupled to battery pack 2510 and can be coupled to a charger dock to allow the charger dock to recharge battery pack 2510 . As mentioned above, when the first housing 2504 is separated from the second housing 2506, the disconnectable portion 2516 (see FIG. 135 ) can be disconnected, thereby interrupting the current flow through the circuit 2514, which can prevent the charger base from being connected to the The battery pack 2510 is recharged. This may be beneficial in deterring an end user from tampering with power source 2500 , since tampering with power source 2500 may render it incapable of recharging for subsequent use in conjunction with surgical instrument 10 .

Referring now to FIGS. 138-141, the power source 2500 can include a data storage unit, such as a memory 2552, that can store data including information about the power source 2500, such as total available power, number of uses, and/or performance. Additionally, memory 2552 may store data regarding surgical instrument 10, including various information regarding the operation of surgical instrument 10 during a surgical procedure (e.g., various sensor readings, number of shots, number of cartridges used) and/or or information about treating patients. Memory 2552 may include any device for storing software, including but not limited to ROM (Read Only Memory), RAM (Random Access Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), and/or other computer readable media.

Further to the above, referring again to FIGS. 138-141 , the power source 2500 may include a data access portal, eg, an I/O interface 2550 , to access data stored in the memory 2552 . For example, I/O interface 2550 allows data stored in memory 2552 of power source 2500 to be downloaded to an external computer device for evaluation and analysis. In some cases, I/O interface 2550 can be a wired interface and is operably coupled to disabling mechanism 2512, which can include a breakable connection that can be severed to prevent Data transfer through I/O interface 2550. Similar to the breakable portion 2516 of the deactivation mechanism 2512, the breakable connection of the deactivation mechanism 2554 can be positioned so that it can be broken when the housing 2502 is broken (e.g., between the first housing 2504 and the second housing 2504). 2506 when separated from each other) are cut off.

Further to the above, as shown in FIGS. 139-141, the I/O interface 2550 can include a connector 2555 that can be configured to receive a corresponding connector 2556 from an external computer device, for example to allow data Transfer between the memory 2552 and the computer device. Additionally, the connector 2554 can be protected by a cover (e.g., a pivoting cover 2559) that can be configured to be in a locked position (see FIG. 139) with the connector 2554 unexposed. Movement between an unlocked position (see FIG. 140 ) in which connector 2554 is exposed to receive a corresponding connector 2556 . In one example, pivot cover 2559 may be secured to housing 2502 using screws 2558 . Other means for recoverably covering coupler 2556 are contemplated by this disclosure. Further to the above, in some examples, connectors 2554 and 2556 can include a key and lock type engagement, where connectors 2554 and 2556 can include, for example, unique complementary geometries, thereby preventing connector 2554 from accepting other connections device in order to prevent or at least limit unauthorized access to data stored in memory 2552. In some examples, connector 2554 may be positioned within housing 2502 , as shown in FIG. 141 , to further limit unauthorized access to data stored in memory 2552 . In such cases, connector 2554 may be accessed by separating first housing 2504 and second housing 2506 of housing 2502 . However, as described in greater detail above, disabling mechanism 2512 may render power source 2500 inoperable if housing 2502 is ruptured, which may further discourage attempts to expose connector 2554 to access data stored in memory 2552 .

Referring to FIG. 142 , a power source 2500 can include a processor 2560 that can manage data stored in memory 2552 . To protect such data from unauthorized access, processor 2560 may be coupled to a breach sensing mechanism 2562 . For example, processor 2560 may be coupled to circuit 2514 and may be configured to detect breakage of breakable portion 2516 . In one example, breach sensing mechanism 2562 may include one or more sensors configured to detect a breach in housing 2502 . In any event, when a breach is detected, processor 2560 may be programmed to prevent unauthorized access to data stored in memory 2552, for example, by deleting or encrypting the data.

143-145, a surgical instrument 2600 is shown. Surgical instrument 2600 is similar in many respects to surgical instrument 10 (see FIG. 1 ) and/or surgical instrument 2100 (see FIG. 146 ). For example, surgical instrument 2600 may include a housing assembly 2602 that is similar to housing assembly 2102 of surgical instrument 2100 and/or housing 12 of surgical instrument 10 . Additionally, surgical instrument 2600 can include a power source 2500' that can be used to provide power to surgical instrument 2600 and is similar in many respects to other power sources described elsewhere in this document (e.g., power source 2500 (see 134)) and other types of power sources described in more detail in Zemlok '763, which is hereby incorporated by reference in its entirety. Additionally, as shown in FIG. 143, the power source 2500' can include a charge level indicator 2660 that can be configured to provide feedback to the user regarding the charge level of the power source 2500'. Feedback may be in the form of sound and/or light, for example. The power source 2500' may include one or more light emitting diodes (LEDs). Processor 2560 may, for example, be programmed to control LEDs to provide feedback to the user regarding the charge level of power source 2500', which may be measured by, for example, a fuel gauge.

143-145, the power source 2500' can include a first LED 2662 and a second LED 2664. Processor 2560 may be coupled to LEDs 2662 and 2664 and may be programmed to illuminate both LEDs 2662 and 2664 upon receiving a signal from the fuel gauge that the power source is fully charged. Additionally, processor 2560 may be programmed to turn off both LED 2662 and LED 2664 upon receiving a signal from the fuel gauge that the power source is depleted. Additionally, the processor 2560 may be programmed to illuminate only the first LED 2662 and not the second LED 2664 upon receiving a signal from the fuel gauge that the power source has sufficient charge for only one complete operation of the surgical instrument 2600 . Other means for alerting the user of the charge level of the power source 2500' are contemplated by the present disclosure.

In certain embodiments, for example, various components of surgical instrument 10 may be reusable and various components may be replaceable. Additionally, surgical instrument 10 may be at least partially assembled, disassembled, and/or reassembled. For example, surgical instrument 10 may be at least partially disassembled and reassembled, eg, with reusable and replacement components. Additionally, surgical instrument 10 may be at least partially disassembled during a surgical procedure for cleaning, disinfection, and/or reprocessing. Subsequently, surgical instrument 10 may be reassembled, for example. As described in greater detail herein, various features, components, and/or systems of surgical instrument 10 may facilitate its disassembly and assembly. For example, referring now to FIGS. 146-148 , a surgical instrument 2100 is shown. Surgical instrument 2100 is similar in many respects to surgical instrument 10 (see FIG. 1 ). For example, surgical instrument 2100 may include a housing assembly 2102 similar to housing 12 of surgical instrument 10 . Additionally, housing assembly 2102 may include a number of detachable components 2103 that can be removably secured to housing body 2104 , such as working assembly 2106 . Other components of housing assembly 2102 can be removably secured to housing body 2104 . For example, the housing assembly 2102 can include a replaceable power source 2108 that can be removably secured to the handle portion 2110 of the housing body 2104 . Power source 2108 is similar in many respects to other power sources described elsewhere in this document, eg, power source 200 (see FIG. 1 ).

Referring again to Fig. 147, housing assembly 2102 or some or all of its components may be reusable. In other words, housing assembly 2102, or some or all of its components, may be used in multiple surgical procedures between which cleaning, disinfection, and/or reprocessing of housing assembly 2102 may be required. The ability to reversibly disassemble housing assembly 2102 or remove some or all of its components (e.g., working assembly 2106) in a simple and repeatable manner can simplify the steps of cleaning, disinfecting, and/or reprocessing housing assembly 2012 and / Or can reduce costs.

147, the housing assembly 2102 can be disassembled following a surgical procedure, and the disassembled components of the housing assembly 2102 (e.g., housing body 2104, working assembly 2106, and/or power source 2110) can be cleaned individually or in combination with other components. , sterilized, and/or reprocessed, depending on the characteristics of each component and internal parts. In some examples, housing body 2104 may be disposable. In other words, the housing assembly 2102 can be disassembled after surgery and the housing body 2104 can be replaced with a new housing body 2104 . However, the remaining components may be cleaned, sterilized, and/or reprocessed before being attached to a new housing body 2104 . The reader will appreciate that other components of housing assembly 2102 may also be disposable and replaceable with new similar components.

Referring again to FIGS. 146-148, the housing body 2104 can be configured to allow the housing assembly 2102 to be assembled and disassembled in a simple, predictable, and repeatable manner. For example, the housing body 2104 can include a first cover portion 2112 (see FIG. 147 ) and a second cover portion 2114 (see FIG. 146 ) that is releasably attachable to the first cover portion 2112 . In one example, cover portions 2112 and 2114 may include a snap-fit type engagement. Cover portions 2112 and 2114 may be adapted for mating engagement with each other. In one example, the cover portion 2112 can include a plurality of female members 2116 (see FIG. 147 ), which can be cylindrical in shape and configured to enable the cover portion 2112 and cover portion 2114 to A corresponding male member (not shown) provided on the cover portion 2114 is received in a snap fit engagement.

Further to the above, the working assembly 2106 can be nested within the first housing portion 2112 . As shown in FIG. 147 , second cover portion 2114 may be removed to expose working assembly 2106 nested within first cover portion 2112 to allow a user to remove working assembly 2106 from housing body 2104 . As shown in FIG. 147, working assembly 2106 can include a motor 2118 that can generate a rotational motion to act on an end effector (eg, the cartridge/anvil portion of loading unit 20 shown in FIG. 2). Motor 2118 is similar in many respects to other motors described elsewhere in this document, eg, motor 100 (see FIG. 1 ). In addition, working assembly 2106 may also include transmission assembly 2120, which can be operably coupled to motor 2118 and which is similar in many respects to other transmission assemblies described elsewhere in this document, for example, gear assembly 170 (see FIG. 5). In addition, working assembly 2106 can also include firing member assembly 2122 that can convert rotational motion generated by motor 2118 into axial motion that can be transmitted by firing rod 2124 to the end effector. Firing member assembly 2122 is similar in many respects to other drive assemblies described elsewhere in this document, eg, firing member assembly 82 .

Referring to FIGS. 147 and 148 , the first housing portion 2112 can include a plurality of compartments designed and spaced to receive the working assembly 2106 . For example, as shown in FIG. 147 , cover portion 2112 may include a motor nesting compartment 2126 partitioned to accommodate motor 2118 . In some examples, motor nesting compartment 2126 may be designed to fit motor 2118 in a specific arrangement to ensure precise assembly. Additionally, the motor nest compartment 2126 may include assembly instructions, which may, for example, be molded into the walls of the motor nest compartment 2126 to ensure proper assembly. For example, the side walls of the motor nest compartment 2126 may be configured to snugly receive the motor 2118 . Additionally, the sides may be configured asymmetrically in at least some respects to receive the motor 2118 in only one direction (ie, the correct orientation).

Similarly, as shown in FIG. 147 , the housing portion 2112 can include a transport assembly nesting compartment 2128 that can be partitioned to accommodate the transport assembly 2120 . Additionally, in certain examples, transport assembly nesting compartment 2128 is designed to fit transport assembly 2120 in a specific arrangement to ensure precise assembly. For example, the side walls of the transport assembly nesting compartment 2128 can be configured to snugly receive the transport assembly 2120 . Additionally, the sides may be configured asymmetrically in at least some aspects to receive the transfer assembly 2120 in only one orientation (ie, the correct orientation). Additionally, the transport assembly nesting compartment 2128 may include assembly instructions, which may, for example, be molded into the walls of the transport assembly nesting compartment 2128 to ensure proper assembly. Similarly, as shown in FIG. 147 , the cover portion 2112 can include a firing member nesting compartment 2130 that can be partitioned to accommodate the firing member assembly 2122 . Additionally, in certain examples, firing member assembly nesting compartment 2130 is designed to fit firing member assembly 2122 in a specific arrangement to ensure precise assembly. For example, the side walls of firing member assembly nested compartment 2130 may be configured to snugly receive firing member assembly 2122 . Additionally, the sides may be asymmetrically configured in at least some aspects to receive firing member assembly 2122 in only one direction (ie, the correct orientation). Additionally, the firing member assembly nesting compartment 2130 may include assembly instructions that may, for example, be molded into the walls of the firing member assembly nesting compartment 2130 to ensure proper assembly. The reader will appreciate that other components of the working assembly 2106 may also be provided in uniquely designed containment compartments within the hood portion 2112 . The reader will also be aware that the electrical contacts of the working assembly 2106 may also be embedded within compartments of the cover portion 2112 so that, when properly assembled, there is contact between the working assembly 2106, other components of the housing assembly 2102 (e.g., the power source 2108), and Electrical connections are established between and/or other components of surgical instrument 2100 .

Further to the above, the working assembly 2106 can be detachably coupled to the firing rod 2124, as shown in FIG. Disassembly and reassembly of the working assembly 2106 is simplified. In one example, as shown in FIG. 147 , the firing member assembly 2122 can include a hollow tubular distal portion 2132 that can include a distal opening that can be configured, for example, in a snap-fit fashion. Engaged to receive and releasably lock to the proximal portion 2134 of the firing rod 2124.

Referring again to FIGS. 147 and 148 , other components of the housing assembly 2102 may nest in dedicated compartments in the housing portion 2112 in a manner similar to the working assembly 2106 . For example, cover portion 2112 may include a power source nesting compartment 2136 that may be partitioned to accommodate power source 2108 . Additionally, in some examples, power source nesting compartments 2136 may be designed to fit power sources 2108 in a specific arrangement to ensure precise assembly. For example, the side walls of power source nesting compartment 2136 may be configured to snugly receive power source 2108 . Additionally, the sides may be configured asymmetrically in at least some respects to receive the power source 2108 in only one direction (ie, the correct orientation). Additionally, the power source nesting compartment 2136 may include assembly instructions, which may, for example, be molded into the walls of the power source nesting compartment 2136 to ensure proper assembly.

Further to the above, as shown in FIGS. 147 and 148, certain user input mechanisms (e.g., firing button 2138 and/or closing switch 2140) are also detachable from housing body 2104, which may include Firing button nesting compartment 2142 spaced to accommodate firing button 2138 and/or closing switch nesting compartment 2144 spaced to accommodate closing switch 2140 . Additionally, in some examples, the firing button nesting compartment 2142 may be designed to fit the firing button 2138 in a specific arrangement to ensure precise assembly. For example, the side walls of the firing button nesting compartment 2142 may be configured to snugly receive the firing button 2138 . Additionally, the sides may be configured asymmetrically in at least some aspects to receive the firing button 2138 in only one orientation (ie, the correct orientation). Similarly, the closure switch nesting compartment 2144 can be designed to fit the closure switch 2140 in a specific arrangement to ensure precise assembly. For example, the side walls of the closure switch nesting compartment 2144 may be configured to snugly receive the closure switch 2140 . Additionally, the sides may be configured asymmetrically in at least some aspects to receive the closure switch 2140 in only one orientation (ie, the correct orientation). Additionally, the firing button nesting compartment 2142 and/or the closing switch nesting compartment 2144 may include assembly instructions, which may, for example, be molded into the firing button nesting compartment 2142 and/or the closing switch nesting compartment 2144 wall to ensure proper assembly.

Referring again to FIG. 147 and FIG. 148 , in addition to the nesting compartments, the cover portion 2112 may include securing mechanisms to secure some or all of the removable components 2103 in the housing assembly 2102 in their respective compartments, thereby securing the removable components 2103 remain nested in their respective compartments. Such a securing mechanism may include a securing member movable between an unlocked configuration (see FIG. 148 ) and a locked configuration (see FIG. 147 ) to lock the removable part 2103 of the housing assembly 2102 into its position. Corresponding compartments in cover portion 2112. The reader will appreciate that single or multiple securing members may be used to secure the one or more removable components 2103 to the cover portion 2112. Additionally, the securing mechanism may also include a safety feature that may prevent movement of the securing member to the locked configuration in the event of improper assembly to ensure proper assembly of the detachable component 2103 of the housing assembly 2102 . As shown in the exemplary embodiment in FIG. 147, working assembly 2106 may be secured to cover portion 2112 by several securing members (eg, motor securing member 2148, transport assembly securing member 2150, and/or firing member assembly securing member 2152). In some examples, as shown in FIG. 147 , power source securing member 2154 , firing button securing member 2156 , and closing switch securing member 2158 may be used to secure power source 2108 , firing button 2138 , and closing switch 2140 , respectively.

The securing member can be clamped to the removable part 2103 by moving from an unlocked configuration (see Fig. 148) to a locked configuration (see Fig. 147). For example, the motor securing member 2148 can be clamped to the motor 2118 by moving from an unlocked configuration (see FIG. 148 ) to a locked configuration (see FIG. 147 ). In some examples, some or all of the detachable components 2103 can include tracks configured to receive the securing member when the securing member is moved from the unlocked configuration to the locked configuration. The rails can be positioned such that they can only be aligned to receive the moving stationary member when the removable part 2103 is properly nested within the corresponding compartment in the cover portion 2112. For example, if the motor 2118 is not properly nested in the motor nesting compartment 2126, the motor securing member 2148 may not be properly aligned with its track, and thus when the motor securing member 2148 moves from the unlocked configuration to the locked configuration , the motor securing member 2148 may not enter the track and may abut against the outer wall of the motor 2118, for example. In some examples, the motor securing member 2148 can be positioned such that if a user attempts to assemble the housing portions 2112 and 2114 when the motor securing member 2148 is not in the locked configuration, it can prevent the first housing portion 2112 from connecting with the second housing. Portions 2114 are matingly engaged. This configuration may prompt the user to recheck that the assembled components of the housing assembly 2102 are properly assembled.

Similar to motor securing member 2148, transport assembly securing member 2150 may be received in a dedicated track on transport assembly 2120, and transport assembly securing member 2150 may be positioned such that it only nests properly within transport assembly 2120. Compartment 2128 is only aligned with its corresponding rail when in compartment 2128. Additionally, firing member assembly securing member 2152 may be received, for example, in a dedicated track on firing member assembly 2122, and firing member assembly securing member 2152 may be positioned such that it only nests when firing member assembly 2122 is properly nested within firing member assembly. Only when in the cover compartment 2130 is it aligned with its corresponding track. Also similar to motor securing member 2148, transmission assembly securing member 2150 and/or firing member assembly securing member 2152 may be positioned such that if used when transport assembly securing member 2150 and/or firing member assembly securing member 2152 is not in the locked configuration Either of them may prevent the mating engagement of the first cover part 2112 with the second cover part 2114 if the other attempts to assemble the cover parts 2112 and 2114. As noted above, some of the detachable components 2103 can be detached, reattached together as an assembly to the cover member 2112, and can be secured by a plurality of securing members. For example, working assembly 2106 may be secured to housing portion 2112 by motor securing member 2148, transport assembly securing member 2150, and/or firing member assembly securing member 2152, as shown in FIG. 147 . Such a configuration can provide an additional degree of assurance of proper assembly, because incorrect assembly of any one component in the working assembly 2106 can prevent its corresponding securing member from reaching the locked configuration, such that if the user fails to reach the locked configuration with at least one of the securing members Attempting to assemble cover portions 2112 and 2114 while in the locked configuration, mating engagement of first cover portion 2112 with second cover portion 2114 may be prevented.

Referring again to FIGS. 147 and 148 , some or all of the securing members can be pivotally attached to the first cover portion 2112 and move relative to the first cover portion 2112 from an unlocked configuration (see FIG. 148 ) to a locked configuration. type (see Figure 147), and vice versa. In some examples, second cover portion 2114 may include a protruding securing member (not shown) that engages when cover portions 2112 and 2114 are aligned for mating engagement during assembly of housing assembly 2102 . The securing member is configured to be receivable within a corresponding receiving member (not shown) in the detachable part 2103 nested in the first cover portion 2112 . The protruding securing member ensures that the detachable part 2103 remains secured in the first housing portion 2112 . Furthermore, if a user attempts to assemble the cover portions 2112 and 2114 when the protruding securing members are not properly aligned with their corresponding receiving members, for example due to incorrect assembly of the detachable component 2103, the protruding securing members may prevent the first cover portion from 2112 matingly engages second cover portion 2114, which may prompt the user to recheck the assembly of detachable components 2103 of housing assembly 2102 for proper assembly. The reader will appreciate that the positions of the protruding securing members and their corresponding receiving members can be reversed so that the protruding securing members can protrude from the removable part 2103 and be receivable in corresponding receiving members on the second cover portion 2114 . In any case, the protruding securing member and its corresponding receiving member are releasably attachable to each other, for example in a snap-fit type engagement. Other engagement mechanisms are contemplated by this disclosure.

Further to the above, some or all of the removable components 2103 may include camming surfaces configured to enable movement of the fixed member of the first cover portion 2112 from an unlocked configuration (see FIG. 148 ) to a locked configuration. configuration (see Figure 147) to receive these securing members. Cam surfaces may be provided on the outer surfaces of some or all of the removable parts 2103 and may allow corresponding securing members to apply pressure to the removable parts 2103 in the locked configuration. For example, motor 2118 may include a cam surface along its track. As the motor securing member 2148 moves from the unlocked configuration (see FIG. 148 ) to the locked configuration (see FIG. 147 ), the motor securing member 2148 can travel along a cam surface on the motor 2118, which can allow the motor securing member 2148 to move incrementally Pressure is applied to the motor 2118 with maximum pressure, for example, in the locked configuration. Pressure applied to the motor 2118 may help secure the motor in the motor nest compartment 2126 .

As noted above, the end effector can include a firing member that can be advanced distally to staple and/or cut tissue. Referring now to FIG. 155 , an end effector 11260 can include a first jaw having an anvil 11262 and a second jaw having a staple cartridge 11264 . End effector 11260 may also include: one, a housing and/or frame 11261 extending proximally from anvil 11262 and staple cartridge 11264; and two, a firing mechanism movable relative to housing 11261, anvil 11262, and cartridge 11264 Build 11266. End effector 11260 may also include articulation joint 11230 configured to allow articulation of anvil 11262 and cartridge 11264 via articulation drive 11268 . In use, the end effector 11260 can be assembled to the shaft 11240 of the surgical instrument, for example such that: one, the end effector housing 11261 is coupled to the shaft housing 11241 configured to support the end effector housing 11261; The effector firing member 11266 is coupled to the shaft firing actuator 11246 configured to advance and retract the end effector firing member 11266; and/or third, the end effector articulation drive 11268 is coupled to the and shaft articulation actuator 11248 that retracts end effector articulation drive 11268 . In use, the firing member 11266 can be advanced distally to move the anvil 11262 from an open position in which tissue can be positioned intermediate the anvil 11262 and the cartridge 11264 to a closed position in which the anvil 11262 compresses tissue against the cartridge 11264. In various instances, the firing member 11266 can include a first engagement member configured to engage the first jaw and a second engagement member configured to engage the second jaw when the firing member 11266 is advanced distally, Such that the anvil block 11262 can be pivoted toward the staple cartridge 11264 by engaging the member. In order to reopen the end effector and allow the anvil 11262 to return to its open position, the firing member 11266 must be fully retracted. In various circumstances, the firing member 11266 can become stuck in the at least partially fired position, and thus the anvil 11262 cannot be reopened, thereby making removal of the surgical instrument from the surgical site difficult.

Turning now to FIGS. 156-161 , an end effector (eg, end effector 11360 ) can include a firing member that can allow the anvil 11262 of the end effector 11360 to be reopened even if the end effector The firing member of 11360 is stuck in the at least partially fired position. More specifically, end effector 11360 can include firing member 11366 that includes detachable portions 11366a and 11366b that can be configured, under various circumstances, to allow anvil 11262 and the relative movement between the bin 11264. Referring primarily to FIGS. 157 and 158 , when the lock 11390 is in the locked state, the detachable portions 11366 a and 11366 b can be held together by the lock 11390 as shown in FIG. 158 . Accordingly, when the lock 11390 is in the unlocked state, the detachable portions 11366a and 11366b are movable relative to each other. The detachable portion 11366a of the firing member 11366 can include a first lateral portion 11363a, a second lateral portion 11367a, and a cutting member portion 11365a positioned intermediate the lateral portions 11363a and 11367a. In various cases, lateral portions 11363a and 11367a can be retained to cutting member portion 11365a via one or more pins (not shown in FIGS. 157 and 158 ) extending through apertures 11396a defined therein. The detachable portion 11366b of the firing member 11366 can include a first lateral portion 11363b, a second lateral portion 11367b, and a cutting member portion 11365b positioned intermediate the lateral portions 11363b and 11367b. In various cases, lateral portions 11363b and 11367b can be retained to cutting member portion 11365b via at least one retaining member (not shown in FIGS. 157 and 158 ) that engages feet 11396 extending therefrom. The reader will appreciate that the aforementioned retaining pins hold together the various components of the detachable portion 11363a, while the aforementioned retaining members hold together the various components of the detachable portion 11363b. The reader will also be aware that the lock 11390 holds the separable parts 11363a and 11363b together when in its locked position. In various cases, referring primarily to FIG. 158, the lock 11390 can include a first locking member 11397a and a second locking member 11397b configured to engage a first locking portion of the first cutting member portion 11365a 11361a, the second locking member 11397b is configured to engage a second locking portion 11361b of a second cutting member portion 11365b. The first locking portion 11361a and the second locking portion 11361b can be configured to cooperatively and releasably hold the cutting member portions 11365a and 11365b together. In various cases, the locking portions 11397a, 11397b can hold the cutting member portions 11365a and 11365b together such that the respective cutting surfaces 11395a and 11395b of the cutting member portions 11365a and 11365b form a continuous, or at least substantially continuous, cutting surface. Referring again to FIG. 158, locking portions 11397a, 11397b of lock 11390 can be configured to cooperatively engage and retain keys 11361a and 11361b of cutting member portions 11365a and 11365b, respectively. In various cases, the locking portions 11397a, 11397b can define a notch 11398 therebetween configured to receive the keys 11361a and 11361b when the lock 11390 is in its locked position. When lock 11390 is pulled proximally, locking portions 11397a and 11397b can disengage keys 11361a and 11361b. At this point, lock 11390 may no longer hold cutting member portions 11365a and 11365b together. In this case, therefore, the detachable portions 11366a and 11366b are movable relative to each other. For example, detachable portion 11366a can move with jaws 11262 as jaws 11262 reopen, and correspondingly, detachable portion 11366b can remain with cartridge 11264. As described above, when the firing member 11366 is stuck, eg, in an at least partially fired position, the lock 11390 can be pulled proximally to unlock the detachable portions 11366a and 11366b.

As described above, the lock 11390 can be pulled proximally to unlock the detachable portions 11366a and 11366b of the firing member 11366 . Turning now to FIG. 159 , the lock 11390 can be pulled proximally and/or pushed distally by the locking rod 11391 . Locking rod 11391 can be positioned within end effector 11360 and can include a proximal end 11392 and a distal end 11393 . The distal end 11393 of the locking rod 11391 can be engaged with the lock 11390 . More specifically, in at least one embodiment, the distal end 11393 can include a protrusion extending therefrom that can be slidably positioned within an elongated slot 11399 defined in the lock 11390 . To pull the lock 11390 proximally, the locking rod 11391 can be pulled proximally until the protrusion contacts the proximal end 11394 of the elongated slot 11399 , wherein the motion of the locking rod 11391 can be transferred to the lock 11390 . Correspondingly, the protrusion can be configured to contact the distal end 11395 of the elongated slot 11399 to push the lock 11390 distally. The reader will appreciate, referring again to FIG. 156 , that the firing member 11366 can include one or more longitudinal slots 11369 defined therein that can be configured to allow the locking rod to protrude therethrough. Extend and engage lock 11390, as described above.

Referring further to the above, referring primarily to FIGS. 156 and 160 , the proximal end 11392 of the locking rod 11391 can include an attachment portion configured to be engageable by the locking actuator 11348 of the shaft 11340 of the surgical instrument. Referring primarily to FIG. 160 , the locking actuator 11348 can include a distal end 11349 having a notch that can be configured to receive a proximal end 11392 of a locking rod 11391 , for example. The locking actuator 11348 can also include a proximal end 11347 that can be pulled proximally and/or pushed distally by a user of the surgical instrument to cause the locking actuator 11348 and the locked Rod 11391 moves proximally and/or distally, respectively. In use, the proximal end 11392 of the locking rod 11391 can be assembled to the distal end 11349 of the locking actuator 11348 when the end effector 11360 is assembled to the shaft 11340 .

As noted above, the motor may be used to advance and/or retract the firing member to deploy fasteners from the end effector and/or cut tissue trapped within the end effector. In various cases, the motor can include a rotatable drive shaft whose rotation can be converted into translational motion and transmitted to a firing member, such as a cutting member and/or a staple driver. In at least one such case, the rotatable drive shaft may include a threaded portion threadedly engaged with a collar, the collar including a threaded bore defined therein, wherein in use the collar may be constrained Rather, it cannot rotate such that rotation of the drive shaft advances the drive shaft distally and/or retracts the drive shaft proximally, depending on the direction in which the drive shaft rotates. In some cases, the firing member may become jammed and/or otherwise be subjected to a force or torque that exceeds a desired or predetermined maximum force or torque. Turning now to FIGS. 162-167 , motor assembly 12000 can include motor 12010 , shaft 12020 , and slip clutch assembly 12030 , wherein slip clutch assembly 12030 can limit the force or torque that motor 12010 can transmit to shaft 12020 . In various circumstances, referring primarily to FIGS. 162 and 163 , the slipper clutch assembly 12030 can transmit torque between the rotatable drive output 12012 of the motor 12010 and the shaft 12020 . Referring now to FIGS. 165-167 , in each case, the drive output 12012 can include a substantially circular outer profile portion 12011 and a transition surface 12014 that can be flat, or at least substantially flat. The outer profile of drive output 12012 may also include a first drive shoulder 12016 defined between circular profiled portion 12011 and planar surface 12014, and a second drive shoulder 12016 defined between an opposite end of planar surface 12014 and circular profiled portion 12011. Two drive shoulders 12018.

Also shown in FIGS. 165-167 , the slipper clutch assembly 12030 can include a drive element 12034 biased into engagement with the drive output 12012 by a biasing element or spring 12036 . Drive element 12034 can be positioned at least partially within a retention slot defined in housing 12037 of sliding clutch assembly 12030 such that movement of drive element 12034 relative to housing 12037 can be defined on an axis. The reader will be aware that the housing 12037 of the sliding clutch assembly may be mounted to the shaft 12020 such that the housing 12037 and shaft 12020 rotate synchronously together. The reader will also appreciate that drive element 12034 can transmit the rotational motion of drive output 12012 to housing 12037, at least in some cases. More specifically, when drive output 12012 is rotated in a first direction as indicated by arrow 12017 to advance the firing member distally, drive output 12012 can rotate relative to drive element 12034 until first drive shoulder 12016 is in contact with the drive Element 12034 contacts. The reader will appreciate that first drive shoulder 12016 can remain in contact with drive element 12034 provided biasing member 12036 is able to resist, or at least sufficiently resist, radially outward movement of drive element 12034 . As long as the drive element 12034 is in contact with the first drive shoulder 12016, the motor 12010 can rotate the shaft 12020 in a direction that advances the firing member distally. In each case, the motor 12010 can apply sufficient torque to the drive output 12012 to displace the drive element 12034 radially outward such that the first drive shoulder 12016 of the drive output 12012 slides over the drive Element 12034, and thus causes drive output 12012 to rotate relative to drive element 12304, slip clutch housing 12037, and shaft 12020. In other words, the drive element 12034 can be disabled and operatively disengaged from the motor 12010 when the torque applied to the drive output 12012 exceeds a predetermined or maximum torque. When the torque applied to the drive output 12012 falls below the predetermined or maximum torque, the drive element 12034 can re-engage the first drive shoulder 12016, and thus, the shaft 12020 can be operatively re-engaged with the motor 12010, The shaft 12020 is caused to rotate by the drive output 12012 of the motor 12010 .

Further to the above, when drive output 12012 is rotated in a second direction as indicated by arrow 12019 to proximally retract the firing member, drive output 12012 may rotate relative to drive element 12034 up to a second drive shoulder. Portion 12018 is in contact with drive element 12034 . The reader will appreciate that the second drive shoulder 12018 can remain in contact with the drive element 12034 provided that the biasing member 12036 is able to resist, or at least sufficiently resist, radially outward movement of the drive element 12034 . As long as the drive element 12034 is in contact with the second drive shoulder 12018, the motor 12010 can rotate the shaft 12020 in a direction that retracts the firing member proximally. In each case, the motor 12010 can apply sufficient torque to the drive output 12012 to displace the drive element 12034 radially outward such that the second drive shoulder 12018 of the drive output 12012 slides over the drive Element 12034, and thus causes drive output 12012 to rotate relative to drive element 12034, slip clutch housing 12037, and shaft 12020. In other words, the drive element 12034 can be disabled and operatively disengaged from the motor 12010 when the torque applied to the drive output 12012 exceeds a predetermined or maximum torque. When the torque applied to the drive output 12012 falls below the predetermined or maximum torque, the drive element 12034 can re-engage the second drive shoulder 12018, and thus, the shaft 12020 can be operatively re-engaged with the motor 12010, The shaft 12020 is caused to rotate by the drive output 12012 of the motor 12010 .

In various cases, further to the above, the first drive shoulder 12016 and the second drive shoulder 12018 can have the same configuration. In some cases, the first drive shoulder 12016 can be defined by a first radius of curvature and the second drive shoulder 12018 can be defined by a second radius of curvature. In some cases, the first radius of curvature may be the same as the second radius of curvature. In such cases, the maximum or slip torque that the motor 12010 can exert when rotating the drive output 12012 in the first direction 12017 can be the same as the maximum or slip torque that the motor 12010 can exert when rotating the drive output 12012 in the second direction 12019 , or substantially the same. In some cases, the first radius of curvature may be different than the second radius of curvature. In such cases, the maximum or slip torque that the motor 12010 can exert when rotating the drive output 12012 in the first direction 12017 can be different than the maximum or slip torque that the motor 12010 can exert when rotating the drive output 12012 in the second direction 12019 . In at least one such case, the first radius of curvature can be greater than the second radius of curvature, wherein therefore, the maximum or slip torque in the first direction 12017 can be less than the maximum or slip torque in the second direction 12019 . In other words, the motor 12010 can apply a greater torque to the shaft 12020 when retracting the firing element as compared to advancing the firing element. Such situations may be advantageous when it is desired to retract the firing element so that the end effector of the surgical instrument may, for example, be reopened and released from tissue. In at least one instance, the first radius of curvature can be smaller than the second radius of curvature, wherein therefore, the maximum or slip torque in the first direction 12017 can be greater than the maximum or slip torque in the second direction 12019 . In other words, the motor 12010 can apply a greater torque to the shaft 12020 when advancing the firing element as compared to retracting the firing element.

Referring further to the above, referring primarily to FIGS. In such cases, spring washer 12032 and biasing member 12036 may cooperate to apply a radially inward biasing force and/or resist radially outward movement of drive element 12034 . In each case, the spring washer 12032 can comprise an annular body comprising a first free end 12033 and a second free end 12034, wherein the annular body can be elastically resilient when the aforementioned radially outward force is applied thereto. expands and elastically contracts when the radially outward force has ceased or decreased. In this case, the first free end 12033 of the spring washer 12032 is movable relative to the second free end 12034 .

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 for reuse after at least one use. Reconditioning may include any combination of disassembly of the device, cleaning or replacement of specific parts, and subsequent reassembly. In particular, the device is detachable and any number of specific parts or components of the device can be selectively replaced or removed in any combination. After cleaning and/or replacement of certain components, the device may be reassembled for subsequent use at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device may utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. The use of these techniques and the resulting reconditioning devices are within the scope of the present invention.

Preferably, the invention described herein is processed prior to surgery. First, obtain new or used instruments and clean them as needed. The instrument can then be sterilized. In one sterilization technique, the instruments are placed in a closed and airtight container, such as a plastic or TYVEK bag. The container and device are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high energy electrons. Irradiation kills bacteria on instruments and in containers. The sterilized instruments are then stored in sterile containers. The sealed container keeps the instrument sterile until the container is opened in the medical facility.

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 a prior definition, statement, or other disclosure material set forth in this disclosure. This article. As such, and to the extent necessary, the disclosure as expressly set forth in this application supersedes any conflicting material incorporated by reference into this application. Any material, or portion thereof, which is incorporated herein by reference but which conflicts with existing definitions, statements, or other disclosed material stated herein, is solely to the extent that no conflict arises between the incorporated material and the existing disclosed material Incorporated into this article to a certain extent.

While this invention has been described as having an exemplary design, the present invention is capable of modifications within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses or modifications of the general principles of the invention. Further, this application is intended to cover such variations from the present disclosure as come within known or customary practice in the art to which this invention pertains.

Claims (13)

1. a kind of surgical instruments, the surgical instruments include：

Axis；

The end effector extended from the axis towards distal side；With

The shell extended proximally from the axis, the shell include：

First cover portion point；

Second cover portion point；

Work package, the work package is nested in first cover portion point, wherein the work package includes track, and energy It is enough to be unloaded from first cover portion partition, wherein second cover portion point can be removably coupled to first cover portion point to permit Perhaps the described work package is unloaded from first cover portion partition；With

At least one fixing component, at least one fixing component are attached to first cover portion in the work package and divide it Before be permanently attached to first cover portion and divide and be configured to move along the track, wherein described at least one solid Determining component can move to divide the work package fixed to first cover portion.

2. surgical instruments according to claim 1, wherein at least one fixing component can be in unlocked position and lock Positioning moves between setting.

3. surgical instruments according to claim 2, wherein at least one fixing component is configured to engagement institute It states track and moves to the latched position along the track.

4. surgical instruments according to claim 3, wherein at least one fixing component the work package not just It is prevented from moving to the latched position along the track when really being nested in first cover portion point.

5. surgical instruments according to claim 1, wherein the work package includes motor, wherein first cover portion point Including being configured to receive the motor nesting compartment of the motor, and wherein described at least one fixing component includes energy The motor to be fixed on the motor fixing component in the motor nesting compartment by enough movements.

6. surgical instruments according to claim 5, wherein the motor nesting compartment includes wall, the wall includes for inciting somebody to action The motor is placed in the assembling instruction in the motor nesting compartment.

7. surgical instruments according to claim 5, wherein the motor includes cam face, wherein the motor fixes structure Part can be moved along the cam face the motor to be fixed in the motor nesting compartment.

8. a kind of shell being used together with surgical instruments, the surgical instruments include the axis extended from the shell towards distal side and The end effector extended from the axis towards distal side, the shell include：

Dismountable work package, dismountable work package includes track；

First cover portion point, first cover portion point are configured to receive dismountable work package；

Second cover portion point, it is described detachable to allow that second cover portion point can be removably coupled to first cover portion point Work package from first cover portion partition unload；With

At least one fixing component, at least one fixing component are attached to described first in dismountable work package Point before cover portion first cover portion is permanently attached to divide and be configured to move along the track, wherein described in extremely A few fixing component can be moved to divide dismountable work package fixed to first cover portion.

9. shell according to claim 8, wherein at least one fixing component can be in unlocked position and locking bit It is moved between setting.

10. shell according to claim 9, wherein at least one fixing component is configured to engage the rail Road and move to the latched position along the track.

11. shell according to claim 10, wherein at least one fixing component is not correct in the work package Ground is prevented from moving to the latched position along the track when being nested in first cover portion point.

12. shell according to claim 8, wherein the work package includes motor, wherein the first cover portion subpackage Include the motor nesting compartment for being configured to receive the motor, and wherein described at least one fixing component include can The motor to be fixed on the motor fixing component in the motor nesting compartment by movement.

13. shell according to claim 12, wherein the motor nesting compartment includes wall, the wall includes for by institute State the assembling instruction that motor is placed in the motor nesting compartment.