JP7341902B2 - a surgical instrument having a jaw constrained to pivot about an axis upon contact with a closure member stopped proximate the pivot axis; - Google Patents

Description

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

Various features of the embodiments described herein, together with their advantages, can be understood from the following description in conjunction with the accompanying drawings.
1 is a side view of a surgical system including a handle assembly and a plurality of interchangeable surgical tool assemblies that can be used with the handle assembly; FIG. 2 is an exploded view of one of the handle assembly and replaceable surgical tool assembly shown in FIG. 1; FIG. 2 is a perspective view of one of the replaceable surgical tool assemblies of FIG. 1; FIG. 4 is an exploded view of the replaceable surgical tool assembly of FIG. 3; FIG. 5 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3 and 4; FIG. 6 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3-5; FIG. 7 is an exploded view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-6; FIG. 8 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-7; FIG. 9 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-8; FIG. 10 is a perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-9; FIG. 11 is another perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-10; FIG. 12 is a cross-sectional perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-11; FIG. 13 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-12; FIG. 14 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-13; FIG. 15 is a cross-sectional perspective view of a distal portion of the replaceable surgical tool assembly of FIGS. 3-14. FIG. 2 is a perspective view of another one of the replaceable surgical tool assemblies shown in FIG. 1; FIG. FIG. 17 is an exploded view of a proximal portion of the replaceable surgical tool assembly of FIG. 16; 18 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 16 and 17; FIG. 2 is a perspective view of another of the replaceable surgical tool assemblies of FIG. 1; FIG. 20 is an exploded view of a proximal portion of the replaceable surgical tool assembly of FIG. 19; FIG. 21 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 19 and 20; FIG. 2 is another perspective view of the replaceable surgical tool assembly of FIG. 1; FIG. 23 is an exploded view of a proximal portion of the replaceable surgical tool assembly of FIG. 22; FIG. 24 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 22 and 23; FIG. 4 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully closed position; FIG. 26 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 25; FIG. 17 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 16 with the anvil in a fully closed position; FIG. 28 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 27; FIG. 20 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 19 with the anvil in a fully closed position; FIG. 30 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 29; FIG. 23 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 22 with the anvil in a fully closed position; FIG. 32 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 31; FIG. 4 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully open position; FIG. 17 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 16 with the anvil in a fully open position; FIG. 20 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 19 with the anvil in a fully open position; FIG. 23 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 22 with the anvil in a fully open position; FIG. FIG. 7 is a side view of a distal portion of another interchangeable surgical tool assembly with the anvil shown in solid lines in one open position and in phantom in another open position; FIG. 6 is a side view of a distal portion of another interchangeable surgical tool assembly with the anvil in a fully open position; 4 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully open position; FIG. 40 is an enlarged side view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 39; FIG. 41 is a side view of the distal portion of the exchangeable surgical tool assembly of FIGS. 39 and 40 with the anvil in a fully closed position; FIG. 17 is an enlarged side view of the anvil mounting portion and elongated channel portion of the replaceable surgical tool assembly of FIG. 16 with the anvil in a fully open position; FIG. 43 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 42 with the anvil in a fully closed position; FIG. 20 is an enlarged side view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 19 with the anvil in a fully open position; FIG. 45 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 44 with the anvil in a fully closed position; FIG. 23 is an enlarged side view of the anvil mounting portion and elongated channel portion of the replaceable surgical tool assembly of FIG. 22 with the anvil in a fully open position; FIG. 47 is a side view of the distal portion of the exchangeable surgical tool assembly of FIG. 46 with the anvil in a fully closed position; FIG. 4 is a partial cross-sectional view of the anvil mounting portion and elongated channel of the replaceable surgical tool assembly of FIG. 3 with the anvil in a fully open position; FIG. 17 is a partial cross-sectional view of the anvil mounting portion and elongated channel portion of the replaceable surgical tool assembly of FIG. 16 with the anvil in a fully open position; FIG. 20 is a partial cross-sectional view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 19 with the anvil in a fully open position; FIG. 23 is a partial cross-sectional view of the anvil attachment portion and elongated channel of the replaceable surgical tool assembly of FIG. 22 with the anvil in a fully open position; FIG. 4 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 3 with the anvil of the surgical end effector in a fully open position; FIG. 53 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 52 with the anvil in a fully closed position; FIG. 17 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 16 with the anvil in a fully open position; FIG. 20 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 19 with the anvil in a fully open position; FIG. 23 is another partial cross-sectional view of a portion of the replaceable surgical tool assembly of FIG. 22 with the anvil in a fully open position; FIG. 4 is another partial cross-sectional view of the portion of the replaceable surgical tool assembly of FIG. 3 with the firing member in a starting position; FIG. 58 is a side view of the surgical end effector of FIG. 57 with the anvil in a fully closed position; FIG. 59 is another partial cross-sectional view of the portion of the surgical end effector of FIGS. 57 and 58 with the firing member in initial engagement with the anvil; FIG. 59 is another partial cross-sectional view of the surgical end effector of FIGS. 57 and 58 with the firing member being advanced distally in a firing process; FIG. A firing member assembly of a surgical stapling instrument having a first firing member element and a second firing member element movable relative to the first firing member element between a locked position and an unlocked position. FIG. 60A is another perspective view of the firing member assembly of FIG. 60A with the second firing member element in a locked position; FIG. 60A is a cross-sectional view of the surgical stapling instrument of FIG. 60A with the firing member element in a starting position; FIG. 60C is another cross-sectional view of the surgical stapling instrument of FIG. 60C shown in a lockout configuration. FIG. 7 is a side view of the firing member assembly with the second firing member element in the lockout orientation; 60E is another side view of the firing member assembly of FIG. 60E with the second firing member element in an unlocked position or firing direction; FIG. 60A is another partial perspective view of the surgical stapling instrument of FIG. 60A shown in an unlocked configuration; FIG. 60A is a cross-sectional view of the surgical stapling instrument of FIG. 60A with an unfired surgical fastening element cartridge operably supported within the elongated channel and the firing member assembly shown in a starting position; FIG. 60H is another cross-sectional view of the surgical stapling instrument of FIG. 60H with the firing member assembly shown in a partially fired configuration; FIG. 61 is another side view of the surgical end effector of FIGS. 57-60 with the anvil in an over-closed position; FIG. 4 is a partial side view of the surgical end effector of the replaceable surgical tool assembly of FIG. 3 in a fully open position with the distal obturator tube portion shown in phantom to show the anvil retention member; FIG. 63 is another partial side view of the surgical end effector of FIG. 62 with the anvil in a fully closed position; FIG. 4 is a partial perspective view of the distal obturator tube portion of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully closed position; FIG. 65 is a plan view of the distal obturator tube portion and anvil of FIG. 64; FIG. 66 is a partial cross-sectional view of the anvil and distal closure tube portion of FIGS. 64 and 65 showing the position of the proximal jaw opening mechanism when the anvil is in a fully closed position; FIG. 67 is another partial cross-sectional view of a portion of the anvil and distal closure tube portion of FIGS. 64-66 showing the position of the proximal jaw opening mechanism when the anvil is between a fully open position and a fully closed position; FIG. . 68 is another partial cross-sectional view of a portion of the anvil and distal obturator tube portion of FIGS. 64-67 showing the position of the proximal jaw opening mechanism when the anvil is in a fully open position; FIG. 69 is a partial cross-sectional view of the anvil and distal closure tube portion of FIGS. 64-68 showing the position of the distal jaw opening mechanism when the anvil is in a fully closed position; FIG. 69 is a partial cross-sectional view of the anvil and distal closure tube portion of FIGS. 64-69 showing the position of the distal jaw opening mechanism when the anvil is between a fully open position and a fully closed position; FIG. 71 is another partial cross-sectional view of a portion of the anvil and distal obturator tube portion of FIGS. 64-70 showing the position of the distal jaw opening mechanism when the anvil is in a fully open position; FIG. 72 is a partial left side perspective view of the anvil and distal obturator tube portion of FIGS. 64-71 with the anvil in a fully closed position; FIG. 73 is a partial right side perspective view of the anvil and distal obturator tube portion of FIGS. 64-72 with the anvil in a fully closed position; FIG. 74 is a partial left side perspective view of the anvil and distal obturator tube portion of FIGS. 64-73 with the anvil in a partially open position; FIG. 75 is a partial right side perspective view of the anvil and distal obturator tube portion of FIGS. 64-74 with the anvil in a partially open position; FIG. 76 is a partial left side perspective view of the anvil and distal obturator tube portion of FIGS. 64-75 with the anvil in a fully open position; FIG. 77 is a partial right side perspective view of the anvil and distal obturator tube portion of FIGS. 64-76 with the anvil in a fully open position; FIG. 78 is a graphical comparison between the jaw opening angle and the amount of retraction of the distal obturator tube section of FIGS. 64-77. FIG.

Corresponding reference characters indicate corresponding parts throughout the figures. The examples set forth herein are illustrative of various embodiments of the invention in one form, and such illustrations should not be construed as limiting the scope of the invention in any way. do not have.

The applicant of this application owns the following United States patent applications filed on the same date as this application, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. ______, Title of Invention "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT", Attorney Docket No. END8207USNP/170098;
- U.S. Patent Application No. ______, Title of Invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8210USNP/170099;
- United States Patent Application No. ______, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8204USNP/170100;
- United States patent application no.
- United States Patent Application No. ______, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", Attorney Docket No. END8217USNP/070102,
- U.S. patent application no. No. 3,
- United States Patent Application No. ___________, title of the invention "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", Attorney Docket No. END8215USNP/170107,
- U.S. Patent Application No. _____, title of the invention "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS," attorney docket number END8201USNP/170104;
- U.S. Patent Application No. ______, Title: "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES," Attorney Docket No. END8206USNP/170105;
- U.S. Patent Application No. ___________, title of the invention "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE", Attorney Docket No. END8212USNP/170106,
- U.S. Patent Application No. ___________, Title of Invention: "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT," Attorney Docket No. END8200USNP/170089M,
- U.S. Patent Application No. ATIONS”, agent reference number END8214USNP/170090,
- United States Patent Application No. RKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING”, agent reference number END8202USNP/170091,
- U.S. Patent Application No. ___________, title of the invention "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS," attorney docket number END8203USNP/170093,
- U.S. Patent Application No. PROXIMITY TO AN ANVIL PIVOT”, agent reference number END8205USNP/170094,
- U.S. Patent Application No. EMENT WITH A SECOND SURGICAL INSTRUMENT JAW”, agent reference number END8216USNP/170095,
- U.S. Patent Application No. _____, title of the invention “SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES”, Attorney Docket No. END8208USNP/170096;
- U.S. Patent Application No. ___________, Title of Invention "SURGICAL INSTRUMENT WITH AXIAL MOVABLE CLOSURE MEMBER", Attorney Docket No. END8209USNP/170097,
- U.S. Patent Application No. ___________, Title of Invention "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT," Attorney Docket No. END8233USNP/170084,
- U.S. Design Patent Application No. _____, title of invention “STAPLE FORMING ANVIL”, attorney docket number END8236USDP/170109D,
-The US design patent application, No. _________________________________________________________________________, The I'm I'm I'm RGICAL FASTENER CARTRIDGE " No. END8240USDP/170110D.

The applicant of this application owns the following U.S. patent applications filed June 27, 2017, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. ___________, Title of Invention "SURGICAL ANVIL MANUFACTURING METHODS", Attorney Docket No. END8165USNP/170079M,
- U.S. Patent Application No. ___________, Title of Invention "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8168USNP/170080,
- U.S. Patent Application No. _____, Title of Invention "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8170USNP/170081,
- U.S. Patent Application No. ___________, Title of Invention "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8164USNP/170082,
- U.S. Patent Application No. ___________, Title of Invention "SURGICAL FIRING MEMBER ARRANGEMENTS," Attorney Docket No. END8169USNP/170083,
- U.S. Patent Application No. ___________, title of the invention "STAPLE FORMING POCKET ARRANGEMENTS," attorney docket number END8167USNP/170085,
- U.S. Patent Application No. ___________, Title of Invention "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8232USNP/170086,
- U.S. Patent Application No. _____, title of the invention "SURGICAL END EFFECTORS AND ANVILS," Attorney Docket No. END8166USNP/170087, and - U.S. Patent Application No. _____, title of the invention "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS”, representative Person reference number END8171USNP/170088.

The applicant of this application owns the following U.S. patent applications filed December 21, 2016, each of which is incorporated herein by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/386,221, Title: LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS;
- U.S. Patent Application No. 15/386,209, Title: "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF"
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. RE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS”
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,950, Title: "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES"
- U.S. Patent Application No. 15/385,945, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN"
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,954, Title: “FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,956, Title: "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES";
- U.S. patent application Ser. ENT STAPLE CARTRIDGE IS PRESENT”,
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,896, title: "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,899, Title: "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL";
- U.S. Patent Application No. 15/385,901, Title: "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN"
- U.S. Patent Application No. 15/385,902, Title: "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER";
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,905, Title: "FIRING ASSEMBLY COMPRISING A LOCKOUT";
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,908, Title: "FIRING ASSEMBLY COMPRISING A FUSE";
- U.S. Patent Application No. 15/385,909, Title: "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE";
- U.S. Patent Application No. 15/385,920, Title: "STAPLE FORMING POCKET ARRANGEMENTS";
- U.S. Patent Application No. 15/385,913, Title: "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS"
- U.S. patent application Ser. PLING INSTRUMENT”,
- U.S. Patent Application No. 15/385,893, Title: "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS"
- U.S. patent application Ser. OSURE AND FIRING SYSTEMS”
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,915, title of the invention "FIRING MEMBER PIN ANGLE";
- U.S. patent application Ser.
- U.S. Patent Application No. 15/385,922, Title: "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES";
- U.S. Patent Application No. 15/385,924, Title: "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS"
- U.S. patent application Ser. CT CLOSURE AND FIRING SYSTEMS”
- U.S. Patent Application No. 15/385,910, Title: "ANVIL HAVING A KNIFE SLOT WIDTH";
- U.S. Patent Application No. 15/385,906, Title: "FIRING MEMBER PIN CONFIGURATIONS";
- U.S. Patent Application No. 15/386,188, Title: "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES"
- U.S. Patent Application No. 15/386,192, Title: "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES"
- U.S. Patent Application No. 15/386,206, Title: "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES"
- U.S. Patent Application No. 15,386,226, title: "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS";
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. ”,
- U.S. patent application Ser. INSTRUMENT SYSTEM”,
- U.S. Patent Application No. 15/385,890, entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS";
- U.S. patent application Ser. IFFERENT SYSTEMS”,
- U.S. patent application Ser. EFFECTOR OF THE SURGICAL SYSTEM”
- U.S. Patent Application No. 15/385,894, Title: "SHAFT ASSEMBLY COMPRISING A LOCKOUT";
- U.S. Patent Application No. 15/385,895, title: SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS;
- U.S. Patent Application No. 15/385,916, Title: "SURGICAL STAPLING SYSTEMS"
- U.S. Patent Application No. 15/385,918, Title: "SURGICAL STAPLING SYSTEMS";
- U.S. patent application Ser.
- U.S. patent application Ser. LOCKOUT FEATURES”,
- U.S. Patent Application No. 15/385,923, Title: "SURGICAL STAPLING SYSTEMS"
- U.S. patent application Ser. TOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR”,
- U.S. patent application Ser. ENTS”,
- U.S. patent application Ser. RGICAL INSTRUMENT”,
- U.S. patent application Ser. ECTOR JAWS”,
- U.S. patent application Ser.
- U.S. patent application Ser. ,
- U.S. patent application Ser. ACTUATION OF A JAW CLOSURE SYSTEM”
- U.S. patent application Ser. MENT IN AN ARTICULATED CONFIGURATION”, and - U.S. Patent Application No. 15/385,936, Invention The name is "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

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

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

The applicant of this application owns the following patent applications filed on April 1, 2016, each of which is incorporated herein by reference in its entirety.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/089,321, Title: "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY"
- U.S. patent application Ser.
- U.S. Patent Application No. 15/089,263, Title: "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION";
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. OUT A SHAFT AXIS”,
- U.S. Patent Application No. 15/089,258, Title: "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION"
- U.S. patent application Ser.
- U.S. Patent Application No. 15/089,284, Title: "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT"
- U.S. Patent Application No. 15/089,295, Title: "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT"
- U.S. Patent Application No. 15/089,300, Title: "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";
- U.S. Patent Application No. 15/089,196, Title: "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT";
- U.S. Patent Application No. 15/089,203, Title: "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT";
- U.S. Patent Application No. 15/089,210, Title: "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT";
- U.S. Patent Application No. 15/089,324, Title: "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM";
- U.S. patent application Ser.
- U.S. Patent Application No. 15/089,339, entitled "SURGICAL STAPLINING INSTRUMENT";
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/089,331, Title: "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS"
- U.S. Patent Application No. 15/089,336, Title: "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES";
- U.S. patent application Ser.
- U.S. Patent Application No. 15/089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM," and - U.S. Patent Application No. 15/089,349, entitled "CIRCULAR STAPLING S YSTEM COMPRISING LOAD CONTROL”.

The applicant of this application also owns the United States patent applications identified below, filed December 31, 2015, each of which is incorporated herein by reference in its entirety.
- U.S. patent application Ser.
- U.S. Patent Application No. 14/984,525, entitled "MECHANISMS FOR COMPENSATION FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS," and - U.S. Patent Application No. 14/984,55 No. 2, the name of the invention “SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS” AND MOTOR CONTROL CIRCUITS”.

The applicant of this application also owns the United States patent applications identified below, filed February 9, 2016, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. 15/019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATION AND AXIALY TRANSLATABLE END EFFECTOR";
- U.S. Patent Application No. 15/019,228, entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";
- U.S. patent application Ser.
- U.S. patent application Ser. ASSEMBLY”,
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser. No. 15/019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS," and - U.S. Patent Application No. 15/019,245, entitled "SU RGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS”.

The applicant of this application also owns the United States patent applications identified below, filed February 12, 2016, each of which is incorporated herein by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application No. 15/043,275, entitled "MECHANISMS FOR COMPENSATION FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS," and - U.S. Patent Application No. 15/043,28 No. 9, title of the invention “MECHANISMS FOR COMPENSATION FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS”.

The applicant of this application owns the following patent applications filed on June 18, 2015, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. 14/742,925, titled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS," now U.S. Patent Application Publication No. 2016/0367256;
- U.S. Patent Application No. 14/742,941, titled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES," now U.S. Patent Application Publication No. 2016/0367248;
- U.S. patent application Ser. No.,
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- U.S. patent application Ser. No. 246, and - U.S. Patent Application No. 14/742,876 No., title of the invention “PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS”, currently US Patent Application Publication No. 2016/0367245.

The applicant of this application owns the following patent applications filed on March 6, 2015, each of which is incorporated herein by reference in its entirety.
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- U.S. patent application Ser. 4/640, No. 780, title of the invention "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING", currently US Patent Application Publication No. 2016/0256161.

The applicant of this application owns the following patent applications filed on February 27, 2015, each of which is incorporated herein by reference in its entirety.
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-A US Patent Available No. 14/633,560, the name of the invention "Surgical Charging System THAT CHARGES AND / OR CONDITITIONS OR MORE BATTERIES" Published 2016/0249910,
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- U.S. Patent Application No. 14/633,526, Title: "ADAPTABLE SURGICAL INSTRUMENT HANDLE," now U.S. Patent Application Publication No. 2016/0249945;
- U.S. Patent Application No. 14/633,541, Title: "MODULAR STAPLING ASSEMBLY," now U.S. Patent Application Publication No. 2016/0249927;
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The applicant of this application owns the following patent applications filed on December 18, 2014, each of which is incorporated herein by reference in its entirety.
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- U.S. Patent Application No. 14/574,483, Title: "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS," now U.S. Patent Application Publication No. 2016/0174969;
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- U.S. Patent Application No. 14/575,143, titled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS," now U.S. Patent Application Publication No. 2016/0174983;
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The applicant of this application owns the following patent applications filed on March 1, 2013, each of which is incorporated herein by reference in its entirety.
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The applicant of this application also owns the following patent applications filed on March 14, 2013, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. 13/803,097, Title: "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. Patent Application Publication No. 2014/0263542;
- U.S. Patent Application No. 13/803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT," now U.S. Pat.
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- U.S. Patent Application No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent Application No. 9,351,727, and - U.S. Patent Application No. 13/803,159 No. , the title of the invention is "METHOD AND SYSTEM FOR OPERATION A SURGICAL INSTRUMENT", currently US Patent Application Publication No. 2014/0277017.

The applicant of this application also owns the following patent application filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
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The applicant of this application also owns the following patent applications filed on March 26, 2014, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. 14/226,106, titled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015/0272582;
- U.S. Patent Application No. 14/226,099, Title: "STERILIZATION VERIFICATION CIRCUIT," now U.S. Patent Application Publication No. 2015/0272581;
- U.S. Patent Application No. 14/226,094, titled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT," now U.S. Patent Application Publication No. 2015/0272580;
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- U.S. Patent Application No. 14/226,097, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS," now U.S. Patent Application Publication No. 2015/0272570;
- U.S. Patent Application No. 14/226,126, titled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015/0272572;
- U.S. Patent Application No. 14/226,133, Title: "MODULAR SURGICAL INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015/0272557;
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- U.S. Patent Application No. 14/226,111, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015/0272583, and - U.S. Patent Application No. 14/226,125, Title of the Invention “SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT”, currently US Patent Application Publication No. 2015/0280384.

The applicant of this application also owns the following patent applications filed on September 5, 2014, each of which is incorporated herein by reference in its entirety.
- U.S. Patent Application No. 14/479,103, titled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016/0066912;
- U.S. Patent Application No. 14/479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION," now U.S. Patent Application Publication No. 2016/0066914;
- U.S. Patent Application No. 14/478,908, titled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION," now U.S. Patent Application Publication No. 2016/0066910;
- U.S. Patent Application No. 14/478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION," now U.S. Patent Application Publication No. 2016/0 No. 066909,
- U.S. Patent Application No. 14/479,110, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADSED CARTRIDGE," now U.S. Patent Application Publication No. 2016/0066915;
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- U.S. Patent Application No. 14/479,115, title of the invention "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016/0066916, and - U.S. Patent Application No. 14/479,108, The title of the invention is “LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION”, currently US Patent Application Publication No. 2016/0066913.

The applicant of this application also owns the following patent applications filed on April 9, 2014, each of which is incorporated herein by reference in its entirety.
- U.S. patent application Ser.
- U.S. patent application Ser. UTPUT, now U.S. Pat. No. 9,649,110;
- U.S. patent application Ser. T”, currently U.S. Patent Application Publication No. 2014/0305988;
- U.S. Patent Application No. 14/248,588, Title: "POWERED LINEAR SURGICAL STAPLE/FASTENER," now U.S. Patent Application Publication No. 2014/0309666;
- U.S. Patent Application No. 14/248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0305991;
- U.S. patent application Ser. ITH SURGICAL END EFFECTOR SHAFTS”, currently U.S. Patent Application Publication No. 2014/0305994,
- U.S. Patent Application No. 14/248,587, Title: "POWERED SURGICAL STAPLE/FASTENER," now U.S. Patent Application Publication No. 2014/0309665;
- U.S. Patent Application No. 14/248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0305990, and - U.S. Patent Application No. 14/248,60 No. 7 , the title of the invention is "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", currently US Patent Application Publication No. 2014/0305992.

The applicant of this application also owns the following patent applications filed on April 16, 2013, each of which is incorporated herein by reference in its entirety.
- U.S. Provisional Patent Application No. 61/812,365, title of the invention "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";
- U.S. Provisional Patent Application No. 61/812,376, title of invention "LINEAR CUTTER WITH POWER";
- U.S. Provisional Patent Application No. 61/812,382, title of the invention "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP";
- U.S. Provisional Patent Application No. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL," and - U.S. Provisional Patent Application No. 61/812,372, Title of the Invention Name: “SURGICAL INSTRUMENT WITH” MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

BRIEF DESCRIPTION OF THE DRAWINGS Numerous specific details are set forth in order to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described herein. The reader is advised that the embodiments described and illustrated herein are non-limiting examples and, therefore, that the specific structural and functional details disclosed herein may be representative and exemplary. , you will understand. Variations and modifications may be made thereto without departing from the scope of the claims.

The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "include" (any form of include, such as "includes" and "including") and "contain" (any form of contain, such as "contains" and "containing") are open-ended concatenations. It is a verb. As a result, a surgical system, device, or apparatus "comprises," "has," "includes," or "contains" one or more elements. Although it has two or more elements, it is not limited to having only one or more of them. Similarly, an element of a system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more features is one or more of them. Although it has two or more characteristics, it is not limited to having only one or more of these characteristics.

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

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, in connection with open surgery. By continuing to read the Detailed Description herein, the reader will understand that the various instruments disclosed herein can be used to make incisions or punctures made in tissue, such as through natural orifices. It will be further understood that it may be inserted into the body in any manner, such as through a hole. The working or end effector portions of these instruments can be inserted directly into the patient's body or through an access device having a working passageway through which the end effector and elongated shaft of the surgical instrument can be advanced. You can also do it.

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

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

The staples are supported by a staple driver within the cartridge body. The driver is movable between a first or unfired position and a second or fired position in which it ejects staples from the staple cavity. The driver is retained within the cartridge body by a retainer extending around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and hold the retainer relative to the cartridge body. The drivers are movable by the sled between their unfired position and their fired position. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramped surfaces configured to slide under the driver and lift the driver onto which the staples are supported toward the anvil.

In addition to the above, the sled is moved distally by the firing member. The firing member is configured to contact the sled and force the sled toward the distal end. A longitudinal slot defined within the cartridge body is configured to receive a firing member. The anvil also includes a slot configured to receive a firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. The first cam and the second cam can control the distance, or tissue gap, between the deck portion of the staple cartridge and the anvil as the firing member is advanced distally. The firing member also includes a knife configured to ablate tissue captured intermediate the staple cartridge and the anvil. Desirably, the knife is positioned at least partially proximal to the ramp so that the staples are ejected in front of the knife.

FIG. 1 depicts a motor-driven surgical system 10 that may be used to perform a variety of different surgical procedures. As can be seen in this figure, an example surgical system 10 includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, each adapted for interchangeable use with a handle assembly 500. Each of the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 may be designed for use in the performance of one or more specific surgical procedures. In another surgical system embodiment, one or more of the exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 may also be effectively used with an instrument drive assembly of a robotically controlled or automated surgical system. can. For example, the surgical tool assemblies disclosed herein may be used in various robotic systems, instruments, components and methods, such as, but not limited to, U.S. Pat. No. 535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS."

FIG. 2 shows the attachment of replaceable surgical tool assembly 1000 to handle assembly 500. It will be appreciated that any of the other interchangeable tool assemblies 3000, 5000, and 7000 can be coupled to the handle assembly 500 in a similar manner. The attachment mechanism and process shown in FIG. 2 may also be used in connection with attaching any of the replaceable surgical tool assemblies 1000, 3000, 5000, and 7000 to an instrument drive portion or instrument drive housing of a robotic system. can. Handle assembly 500 may include a handle housing 502 that includes a pistol grip portion 504 that can be grasped and manipulated by a clinician. As discussed briefly below, handle assembly 500 includes corresponding portions of replaceable surgical tool assemblies 1000, 3000, 5000, and/or 7000 that are operably attached to the handle assembly to generate various controlled movements. operably supports a plurality of drive systems 510, 530 configured for application.

As seen in FIG. 2, handle assembly 500 can further include a handle frame 506 that operably supports multiple drive systems. For example, the handle frame 506 can operably support a "first" or closure drive system, generally designated 510, with which the handle frame 506 is operably attached to the handle assembly 500. Opening and closing motions may be applied to the attached or coupled exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000. In at least one form, a closure drive system 510 pivotally supported by the handle frame 506 may include an actuator in the form of a closure trigger 512. Such a configuration allows the clinician to manipulate the closure trigger 512 so that when the clinician grasps the pistol gripping portion 504 of the handle assembly 500, the closure trigger 512 is in the starting position or It can be easily pivoted from an "inactive" position to an "actuated" position, more specifically to a fully compressed or fully activated position. In various forms, the closure drive system 510 further includes a closure link assembly 514 that is pivotally coupled to or otherwise operably interfaces with the closure trigger 512. As discussed in more detail below, in the example shown, closure link assembly 514 includes a lateral attachment pin 516 that facilitates attachment to a corresponding drive system on a surgical tool assembly. In use, to activate the closure drive system 510, the clinician depresses the closure trigger 512 toward the pistol grip portion 504. Further details may be found in U.S. Patent Application No. 14/226,142, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM," now U.S. Patent Application Publication No. 2015/0272575, the entire contents of which are incorporated herein by reference. As described, when the clinician fully depresses the closure trigger 512 to achieve a fully closed stroke, the closure drive system 510 moves the closure trigger 512 to the fully depressed or fully actuated position. is configured to lock. If the clinician desires to unlock the closure trigger 512 and force it into the non-actuated position, the clinician simply actuates the closure release button assembly 518, thereby causing the closure trigger 512 to be biased into the non-actuated position. It is possible to return to. Closure/release button assembly 518 may also be configured to interact with various sensors in communication with microprocessor 560 within handle assembly 500 to track the position of closure trigger 512. Further details regarding the construction and operation of the close-open button assembly 518 can be found in US Patent Application Publication No. 2015/0272575.

In at least one form, the handle assembly 500 and handle frame 506 are coupled to a firing drive system 530, herein configured to apply a firing motion to a corresponding portion of an attached replaceable surgical tool assembly. A separate drive system called the auxiliary drive system may be operably supported. Firing drive system 530 may use an electric motor 505 located within pistol grip portion 504 of handle assembly 500, as described in detail in US Patent Application Publication No. 2015/0272575. In various forms, motor 505 may be a brushed DC drive motor with a maximum rotational speed of, for example, about 25,000 RPM. In other configurations, motor 505 can include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. Motor 505 may be powered by a power source 522, which in one form may include a removable power pack. The power pack may support multiple lithium ion (“LI”) or other suitable batteries therein. Multiple batteries, which can be connected in series, can be used as the power source 522 for the surgical system 10. Additionally, power source 522 may be replaceable and/or rechargeable.

Electric motor 505 is configured to axially drive a longitudinally movable drive member (not shown) in distal and proximal directions, depending on the polarity of the motor. For example, if the motor drives in one rotational direction, the longitudinally movable drive member may drive axially in the distal direction "DD". When the motor 505 is driven in the opposite rotational direction, the longitudinally movable drive member will be driven axially in the proximal direction "PD". Handle assembly 500 may include a switch 513 that may be configured to reverse the polarity applied to electric motor 505 by power source 522 or otherwise control motor 505. Handle assembly 500 may also include one or more sensors (not shown) configured to detect the position of the drive member and/or the direction in which the drive member moves. Operation of motor 505 may be controlled by firing trigger 532 (FIG. 1) pivotally supported on handle assembly 500. Firing trigger 532 may pivot between an unactuated position and an actuated position. Firing trigger 532 may be biased to the unactuated position by a spring or other biasing arrangement such that when the clinician releases firing trigger 532, it will be returned to the unactuated position by the spring or biasing arrangement. may be pivoted to or otherwise returned to. In at least one form, firing trigger 532 may be positioned "outside" closure trigger 512, as described above. As described in U.S. Patent Application Publication No. 2015/0272575, handle assembly 500 may be provided with a firing trigger safety button (not shown) to prevent inadvertent actuation of firing trigger 532. . When the closure trigger 512 is in the non-actuated position, the safety button is recessed within the handle assembly 500 and cannot be easily accessed by the clinician, and the safety position prevents activation of the firing trigger 532; The firing trigger 532 cannot be moved between firing positions where it can fire. When the clinician presses the closure trigger 512, the safety button and firing trigger 532 pivots downward and is then available for operation by the clinician.

In at least one form, the longitudinally movable drive member has teeth (not shown) formed thereon for mating engagement with a corresponding drive gear arrangement (not shown) that interacts with the motor. ) may have racks. Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. At least one form also includes a manually actuatable "emergency" assembly configured to allow a clinician to manually retract the longitudinally movable drive member, disabling the motor 505. including. The emergency assembly may include a lever or emergency handle assembly housed within the handle assembly 500 under the removable door portion 550. Please refer to FIG. 2. The lever may be configured to be manually pivoted into engagement by a ratchet mechanism with the teeth of the drive member. Accordingly, the clinician can manually retract the drive member by ratcheting the drive member in the proximal direction "PD" using the emergency release handle assembly. U.S. Pat. Detachment mechanism, as well as herein Other components, mechanisms, and systems are disclosed that may be used with any of the various interchangeable surgical tool assemblies disclosed herein.

Referring now to FIGS. 3 and 4, replaceable surgical tool assembly 1000 includes a surgical end effector 1500 that includes a first jaw 1600 and a second jaw 1800. In one configuration, the first jaw includes an elongate channel 1602 configured to operably support a surgical staple/fastener cartridge 1700 therein. Second jaw 1800 includes an anvil 1810 pivotally supported relative to elongated channel 1602. Interchangeable surgical tool assembly 1000 includes an articulation joint 1302 and articulation lock 1400 (FIGS. 4-6) that can be configured to releasably hold surgical end effector 1500 in a desired articulation position relative to shaft axis SA ₁ . ) can include a joint system 1300 that includes: Further details regarding articulation systems and articulation locks may be found in the United States patent application entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME," filed on the same date as this specification and herein incorporated by reference in its entirety. Patent Application, Attorney Docket No. END8217USNP/170102.

As further seen in FIGS. 4 and 7-9, the replaceable surgical tool assembly 1000 includes a tool frame assembly 1200 that includes a tool chassis 1210 that operably supports a nozzle assembly 1240. In one form, the nozzle assembly 1240 consists of nozzle portions 1242, 1244 and an actuator wheel portion 1246 configured to be coupled to the assembled nozzle portions 1242, 1244 by snaps, projections, screws, or the like. Replaceable surgical tool assembly 1000 includes a proximal closure assembly 1900 operably coupled to a distal closure assembly 2000 that is used to open and close anvil 1810 of surgical end effector 1500, as described in further detail below. including. Additionally, replaceable surgical tool assembly 1000 includes a spine assembly 1250 that operably supports proximal closure assembly 1900 and is coupled to surgical end effector 1500. In various situations, to facilitate assembly, the spine assembly 1250 can be made from an upper spine portion 1251 and a lower spine portion 1252 that are interconnected to each other by a snap mechanism, adhesive, welding, or the like. In the assembled configuration, spine assembly 1250 includes a proximal end 1253 rotatably supported within tool chassis 1210. In one configuration, for example, proximal end 1253 of spine 1250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 1210. Such a configuration facilitates rotatable attachment of the spine assembly 1250 to the tool chassis 1210 and allows the spine assembly 1250 to be selectively rotated about the shaft axis SA ₁ relative to the tool chassis 1210. Specifically, in one configuration, for example, the proximal end 1253 of the spine assembly 1250 includes an upper projection seat each configured to receive a corresponding nozzle projection 1245 extending inwardly from each of the nozzle portions 1242, 1244. 1254 (FIGS. 4, 5, 7, 8, and 10) and a lower raised seat (not shown). Such a configuration facilitates rotation of the spine assembly 1250 about the shaft axis SA ₁ by rotating the actuator wheel portion 1246 of the nozzle assembly 1240.

As seen in FIGS. 4 and 5, the spine assembly 1250 further includes an intermediate spine shaft portion 1256 having a diameter that is less than the diameter of the proximal end 1253 of the spine assembly 1250. As seen in FIGS. The intermediate spine shaft portion 1256 of the upper spine portion 1251 terminates in an upper protrusion attachment element 1260 and the intermediate spine shaft portion of the lower spine portion 1252 terminates in a lower protrusion attachment element 1270. As seen in most detail in FIG. 6, for example, upper projection attachment element 1260 is formed with a projection slot 1262 adapted to mountably support upper attachment link 1264 therein. Similarly, lower lug attachment element 1270 is formed with a lug slot 1272 adapted to mountably support lower attachment link 1274 therein. Upper mounting link 1264 includes a pivot socket 1266 offset from shaft axis _SA1 . Pivot socket 1266 is adapted to rotatably receive therein a pivot pin 1634 formed on a channel cap or anvil retainer 1630 that is attached to proximal end portion 1610 of elongate channel 1602. Lower attachment link 1274 includes a lower pivot pin 1276 adapted to be received within a pivot hole 1611 formed in proximal end portion 1610 of elongate channel 1602. Please refer to FIG. Lower pivot pin 1276 as well as pivot hole 1611 are offset from shaft axis _SA1 . Lower pivot pin 1276 is vertically aligned with pivot socket 1266 to define an articulation axis AA ₁ about which surgical end effector 1500 can articulate relative to shaft axis SA ₁ . Although the articulation axis AA ¹ is transverse to the shaft axis SA ₁ , the articulation axis AA ₁ is laterally offset from the shaft axis SA ₁ and does not intersect the shaft axis SA ₁ .

Referring now to FIGS. 6 and 15, the anvil 1810 in the illustrated example includes an anvil body 1812 terminating in an anvil attachment portion 1820. Anvil attachment portion 1820 is movable or pivotable on elongated channel 1602 for selective pivotal movement about a fixed anvil pivot axis PA ₁ (FIG. 15) that is transverse to shaft axis SA ₁ Supported by In the illustrated configuration, a pivot member or anvil trunnion 1822 extends laterally from each lateral side of the anvil attachment portion 1820 with a corresponding trunnion formed in the upright wall 1612 of the proximal end portion 1610 of the elongated channel 1602. Received within cradle 1614. Anvil trunnions 1822 are pivotally retained within their respective trunnion cradles 1614 by channel caps or anvil retainers 1630. Channel cap or anvil retainer 1630 includes a pair of retaining grooves or notches 1616 configured to be received within corresponding protruding grooves or notches 1616 formed in upright wall 1612 of proximal end portion 1610 of elongate channel 1602. Includes a mounting projection 1636.

In the illustrated example, surgical end effector 1500 is capable of selective articulation about articulation axis AA ₁ by articulation system 1300. In one form, articulation system 1300 includes a proximal articulation driver 1310 pivotally coupled to articulation link 1320. As seen in most detail in FIG. 6, an offset mounting projection 1314 is formed on the distal end 1312 of the proximal articulation driver 1310. A pivot hole 1316 is formed within the offset mounting projection 1314 and is configured to pivotally receive therein a proximal link pin 1326 formed at the proximal end 1325 of the articulation link 1320. The distal end 1322 of the articulating link 1320 has a pivot hole 1324 configured to pivotally receive therein a groove pin 1618 formed in the proximal end portion 1610 of the elongated channel 1602. . Accordingly, axial movement of proximal articulation driver 1310 thereby articulates elongate channel 1602, thereby articulating surgical end effector 1500 about articulation axis _AA1 relative to spine assembly 1250.

Movement of anvil 1810 relative to elongate channel 1602 is effected by axial movement of proximal closure assembly 1900 and distal closure assembly 2000. 4 and 7, in the illustrated configuration, proximal closure assembly 1900 includes proximal closure tube 1910 having proximal closure tube portion 1920 and distal portion 1930. Referring now to FIGS. Distal portion 1930 has a diameter that is smaller than the diameter of proximal obturator tube portion 1920. The proximal end 1922 of the proximal closure tube portion 1920 is rotatably supported within a closure shuttle 1940 that is slidably supported within the tool chassis 1210 to prevent axial movement relative to the tool chassis. I can do it. In one form, closure shuttle 1940 includes a pair of proximally projecting hooks 1942 configured to attach to attachment pins 516 attached to closure linkage assembly 514 of handle assembly 500. A proximal end 1922 of proximal closure tube portion 1920 is coupled to closure shuttle 1940 for relative rotation thereto. For example, a U-shaped connector 1944 is inserted into the annular slot 1924 of the proximal closure tube portion 1920 and retained within the vertical slot 1946 of the closure shuttle 1940. Such a configuration has the ability to attach proximal closure assembly 1900 to closure shuttle 1900 for axial movement with closure shuttle 1940 while proximal closure assembly 1900 is centered about shaft axis SA ₁ relative to closure shuttle 1940. Allows rotation. A closure spring 1948 (FIGS. 12-14) extends over the proximal closure tube portion 1920 to bias the closure shuttle 1940 in the proximal direction PD, since the replaceable surgical tool assembly 1000 is connected to the handle assembly. 500 serves to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to an inoperative position.

Referring now to FIGS. 5 and 6, the distal portion 1930 of the proximal closure tube 1910 is attached to the distal closure assembly 2000. In the illustrated configuration, for example, distal closure assembly 2000 includes an articulation connector 2010 coupled to distal closure tube portion 2030. In the illustrated example, distal obturator tube portion 2030 has a diameter that is greater than the diameter of distal portion 1930 of proximal obturator tube 1910. Articulation connector 2010 has a proximally extending end 2012 adapted to be received on a connecting flange 1934 formed at a distal end of distal portion 1930. Articulating connector 2010 may be retained on connecting flange 1934 by any suitable fastening mechanism, such as adhesive, welding, or the like. Articulation connector 2010 includes an upper projection 2014 and a lower projection 2016 that project distally from the distal end of articulation connector 2010 and are movably coupled to an end effector closure sleeve or distal closure tube portion 2030. Distal obturator tube portion 2030 includes an upper projection 2032 and a lower projection (not shown) projecting proximally from its proximal end. Upper dual pivot link 2060 includes proximal pin 2061 and distal pin 2062 that engage corresponding holes 2015, 2034 in upper projections 2014, 2032 of articulation connector 2010 and distal obturator tube portion 2030, respectively. There is. Similarly, lower dual pivot link 2064 has proximal pin 2065 and distal pin 2066 that engage corresponding holes 2019 in lower projection 2016 of articulation connector 2010 and distal obturator tube portion 2030, respectively. Contains. As described in further detail below, axial translation of the proximal closure assembly 1900 and distal closure assembly 2000 in the distal and proximal directions results in opening and closing of the anvil 1810 relative to the elongated channel 1602.

In at least one configuration, replaceable surgical tool assembly 1000 further includes a firing system, shown generally as 2100. In the illustrated example, firing system 2100 includes a firing member assembly 2110 supported for axial movement within shaft assembly 1250. In the illustrated embodiment, firing member assembly 2110 includes an intermediate firing shaft portion 2120 configured to be attached to a distal cutting portion or knife bar 2130. Firing member assembly 2110 may also be referred to herein as a "second shaft" and/or "second shaft assembly." As can be seen in FIG. 5, the intermediate firing shaft portion 2120 can include a longitudinal slot 2124 at its distal end 2122 that can be configured to receive a proximal end 2132 of a knife bar 2130. The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 can be sized and configured to allow relative movement therebetween, forming a slip joint 2134. Slip joint 2134 allows intermediate firing shaft portion 2120 of firing member assembly 2110 to move to articulate end effector 1500 without moving knife bar 2130, or at least substantially without moving. After end effector 1500 is properly oriented, knife bar 2130 is advanced by advancing intermediate firing shaft portion 2120 distally until the proximal sidewall of longitudinal slot 2124 contacts a portion of knife bar 2130; Surgical staple/fastener cartridge 1700 disposed within elongated channel 1602 can be fired. In the illustrated configuration, the proximal end 2127 of the intermediate firing shaft portion 2120 includes a mounting cradle (not shown) at the distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft attachment protrusion 2128 (FIG. 8) is formed thereon that is configured to be disposed within the firing shaft (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 2120 upon actuation of firing drive system 530.

In addition to the above, replaceable surgical tool assembly 1000 can include a shifter assembly 2200 that can be configured to selectively and releasably couple proximal articulation driver 1310 to firing system 2100. In one form, the shifter assembly 2200 includes a locking collar, or locking sleeve 2210, disposed about the intermediate firing shaft portion 2120 of the firing system 2100, with the locking sleeve 2210 disposed around the proximal articulation driver 1310. and a disengaged position in which the proximal articulation driver 1310 is not operably coupled to the firing member assembly 2110. When locking sleeve 2210 is in its engaged position, distal movement of firing member assembly 2110 can move proximal articulation driver 1310 distally and correspondingly proximal movement of firing member assembly 2110. The directional movement can move the proximal articulation driver 1310 in a proximal direction. When locking sleeve 2210 is in its disengaged position, movement of firing member assembly 2110 is not transferred to proximal articulation driver 1310 such that firing member assembly 2110 is independent of proximal articulation driver 1310. Can move. In various situations, proximal articulation driver 1310 may be held in place by articulation lock 1400 when proximal articulation driver 1310 is not being moved proximally or distally by firing member assembly 2110. .

In the illustrated configuration, the intermediate firing shaft portion 2120 of the firing member assembly 2110 is formed with two opposed flat surfaces 2121, 2123 having a drive notch 2126 formed therein. Please refer to FIG. Also seen in FIG. 13, locking sleeve 2210 includes a cylindrical, or at least substantially cylindrical, body including a longitudinal opening 2212 configured to receive intermediate firing shaft portion 2120 therethrough. There is. The locking sleeve 2210 is received to engage within a corresponding portion of the drive notch 2126 of the intermediate firing shaft portion 2120 when the locking sleeve 2210 is in one position and the drive notch 2126 when the locking sleeve 2210 is in the other position. It can include diametrically opposed inward locking projections 2214, 2216 that are not received within the notch 2126, thereby allowing relative axial movement between the locking sleeve 2210 and the intermediate firing shaft portion 2120. can.

8 and 12-14, in the illustrated example, locking sleeve 2210 is sized to be movably received within notch 1319 in proximal end 1318 of proximal articulation driver 1310. It further includes a locking member 2218. Such a configuration allows locking sleeve 2210 to remain engaged with notch 1319 in proximal articulation driver 1310 and rotate slightly into and out of engagement with intermediate firing shaft portion 2120. It is. For example, when the locking sleeve 2210 is in its engaged position, the locking projections 2214, 2216 are positioned within the drive notch 2126 of the intermediate firing shaft portion 2120, thereby exerting a distally pushing force and/or a proximally pushing force. A tensile force may be transmitted from firing member assembly 2110 to locking sleeve 2210. Such axial pushing or pulling motion is then transmitted from locking sleeve 2210 to proximal articulation driver 1310, thereby articulating surgical end effector 1500. In effect, firing member assembly 2110, locking sleeve 2210, and proximal articulation driver 1310 move together when locking sleeve 2210 is in its engaged (articulating) position. On the other hand, when the locking sleeve 2210 is in its disengaged position, the locking protrusions 2214, 2216 are not received within the drive notch 2126 of the intermediate firing shaft portion 2120, resulting in distal pushing forces and/or proximal pushing forces. No upwardly pulling force may be transmitted from firing member assembly 2110 to locking sleeve 2210 (and proximal articulation driver 1310).

In the illustrated example, relative movement of locking sleeve 2210 between the engaged and disengaged positions may be controlled by shifter assembly 2200 interconnected with proximal closure tube 1910 of proximal closure assembly 1900. More particularly, with reference to FIGS. 8 and 9, shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed on the outer periphery of locking sleeve 2210. I'm here. Such a configuration allows shifter key 2240 to move axially relative to locking sleeve 2210. Referring to FIGS. 8-11, shifter key 2240 includes an actuator projection 2242 that extends through a cam slot or opening 1926 in proximal obturator tube portion 1920. Referring to FIGS. Please refer to FIG. Additionally, a camming surface 2243 is also provided adjacent to an actuator projection 2242 that is configured to interact cammingly with the cam opening 1926 so that it responds to axial movement of the proximal obturator tube portion 1920. and rotate the shifter key 2240.

In the example also illustrated, shifter assembly 2200 further includes a switch drum 2220 rotatably received on the proximal end portion of proximal closure tube section 1920. As seen in FIGS. 10-14, actuator projection 2242 extends through an axial slot portion 2222 in switch drum 2220 and is movably received within an arcuate slot portion 2224 of switch drum 2220. As seen in FIGS. A switch drum torsion spring 2226 (FIGS. 12-14) is mounted on the switch drum 2220 and engages the nozzle portion 1244 until the actuator projection 2242 reaches the end of the arcuate slot portion 2224. A torsional bias or rotation (arrow SR in FIGS. 10 and 11) is applied that serves to rotate 2220. Please refer to FIGS. 11 and 12. When in that position, switch drum 2220 can apply a torsional bias to shifter key 2240, thereby causing locking sleeve 2210 to rotate with intermediate firing shaft portion 2120 to its engaged position. This position also corresponds to a non-actuated configuration of proximal closure assembly 1900. In one configuration, for example, when proximal closure assembly 1900 is in an inoperative configuration (anvil 1810 is in an open position spaced apart from surgical staple/fastener cartridge 1700), actuator projection 2242 Located in the upper portion of cam opening 1926 within section 1920. When in that position, actuation of intermediate firing shaft portion 2120 causes proximal articulation driver 1310 to move axially. Once the user has articulated the surgical end effector 1500 in the desired orientation, the user can then actuate the proximal closure assembly 1900. Actuation of proximal closure assembly 1900 causes proximal closure tube portion 1920 to move distally, ultimately applying a closing motion to anvil 1810. This distal movement of proximal closure tube portion 1920 causes cam opening 1926 to cam interact with cam surface 2243 of actuator projection 2242, thereby causing shifter key 2240 to rotate locking sleeve 2210 in actuation direction AD. . Such rotation of the locking sleeve 2210 disengages the locking projections 2214, 2216 from the drive notch 2126 of the intermediate firing shaft portion 2120. When in such a configuration, firing drive system 530 may be actuated to actuate intermediate firing shaft portion 2120 without actuating proximal articulation driver 1310. Further details regarding the operation of the switch drum 2220 and locking sleeve 2210, as well as alternative articulation and firing drive mechanisms that can be used with the various interchangeable surgical tool assemblies described herein, are provided in that disclosure. See U.S. Patent Application No. 13/803,086 (currently U.S. Patent Application Publication No. 2014/0263541) and U.S. Patent Application No. 15/019,196, the entire contents of which are hereby incorporated by reference. be able to.

Referring again to FIGS. 8-13, the switch drum 2220 may further include openings 2228, 2230 having at least a partially circumferential circumference extending from the nozzle portions 1242, 1244 to A circumferential protrusion/mount 1245 can be received that allows relative rotation, but not translation, between the drum 2220 and the nozzle assembly 1240. Such nozzle protrusion 1245 extends through a corresponding opening 1923 in proximal obturator tube portion 1920 and is disposed in protrusion seat 1254 of spine assembly 1250. Please refer to FIGS. 8 and 9. Such a configuration allows a user to rotate the spine assembly 1250 about the shaft axis by rotating the nozzle assembly 1240.

As also shown in FIGS. 7 and 12-14, the replaceable tool assembly 1000 may, for example, transmit power to and/or from the surgical end effector 1500 and/or the surgical end effector 1500. and/or a slip ring assembly 1230 that can be configured to communicate signals from the surgical end effector back to the handle assembly 500 or a microprocessor 560 (FIG. 2) within the robotic system controller. Can be done. Further details regarding slip ring assembly 1230 and associated connectors may be found in U.S. patent application Ser. ) and U.S. patent application Ser. No. 15/019,196, and U.S. patent application Ser. Currently available in U.S. Patent Application Publication No. 2014/0263552). As described in more detail in the aforementioned patent applications, which are hereby incorporated by reference, the replaceable surgical tool assembly 1000 also includes at least one switch drum 2220 configured to detect the position of the switch drum 2220. A sensor may be included.

Referring again to FIG. 2, the tool chassis 1210 includes at least one slot 507 adapted to be received within a corresponding dovetail slot 507 formed within the distal end portion of the handle frame 506 of the handle assembly 500. , preferably two tapered attachment portions 1212 are formed. Various replaceable surgical tool assemblies utilize a latch system 1220 to removably couple replaceable surgical tool assembly 1000 to handle frame 506 of handle assembly 500. As seen in FIG. 7, for example, in at least one form, the latch system 1220 includes a locking member or locking yoke 1222 movably coupled to the tool chassis 1210. In the illustrated embodiment, for example, locking yoke 1222 has a U-shape with two spaced apart downwardly extending legs 1223. Each of the legs 1223 is formed with a pivot projection (not shown) adapted to be received in a corresponding hole formed in the tool chassis 1210. Such a configuration facilitates pivotable attachment of locking yoke 1222 to tool chassis 1210. The locking yoke 1222 includes two proximally projecting locking projections 1224 that are configured to releasably engage corresponding locking detents or grooves 509 on the distal end of the handle frame 506 of the handle assembly 500. can include. Please refer to FIG. 2. In various configurations, locking yoke 1222 is biased proximally by a spring or biasing member 1225. Actuation of the locking yoke 1222 may be accomplished by a latch button 1226 that is slidably attached to a latch actuator assembly 1221 that is attached to the tool chassis 1210. Latch button 1226 can be biased proximally against lock yoke 1222. Lock yoke 1222 may be moved to an unlocked position by distally biasing latch button 1226, which further pivots lock yoke 1222 into retention engagement with the distal end of handle frame 506. out of alignment. When the locking yoke 1222 is in “retaining engagement” with the distal end of the handle frame 506, the locking protrusion 1224 is retained within a corresponding locking detent or groove 509 on the distal end of the handle frame 506. Placed.

In the illustrated configuration, locking yoke 1222 includes at least one, and preferably two, locking hooks 1227 adapted to contact corresponding locking protrusion portions 1943 formed on closure shuttle 1940. When the closure shuttle 1940 is in the inoperative position, the replaceable surgical tool assembly 1000 can be unlocked from the handle assembly 500 by pivoting the locking yoke 1222 distally. In that position, locking hook 1227 is not in contact with locking protrusion portion 1943 of closure shuttle 1940. However, when closure shuttle 1940 is moved to the activated position, locking yoke 1222 is prevented from pivoting to the unlocked position. Stated another way, if the clinician attempts to pivot the locking yoke 1222 to the unlocked position, or if the locking yoke 1222 is inadvertently struck, e.g., in a manner that causes the locking yoke 1222 to pivot distally. Or, if contacted, the locking hook 1227 of the locking yoke 1222 contacts the locking protrusion portion 1943 of the closing shuttle 1940 to prevent the locking yoke 1222 from moving to the unlocked position.

Referring again to FIG. 6, knife bar 2130 can have a stacked beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands welded or pinned together, for example at their proximal ends and/or elsewhere along their length. interconnected by In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to spread relative to each other when the end effector is articulating. With such a configuration, the knife bar 2130 can have sufficient flexibility to accommodate articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. . As can also be seen in FIG. 6, the firing shaft support assembly 2300 is configured to provide lateral support to the knife bar 2130 as the central support member flexes to accommodate articulation of the surgical end effector 1500. used. Further details regarding the operation of firing shaft support assembly 2300 and alternative knife bar support mechanisms are found in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS” and U.S. patent application Ser. IALY TRANSLATABLE END EFFECTOR”.

Also seen in FIG. 6, a firing member or knife member 2140 is attached to the distal end of knife bar 2130. In one exemplary form, firing member 2140 includes a body portion 2142 that supports a knife or tissue cutting portion 2144. Body portion 2142 projects through elongate slot 1604 of elongate channel 1602 and terminates in foot members 2146 extending laterally on each side of body portion 2142 . As the firing member 2140 is driven distally through the surgical staple/fastener cartridge 1700, the foot member 2146 rides within the passageway 1622 of the elongate channel 1602 located below the surgical staple/fastener cartridge 1700 ( Figure 48). In one configuration, body portion 2142 includes two laterally projecting central tabs 2145 that can ride over a central passageway within surgical staple/fastener cartridge 1700. Please refer to FIG. Tissue cutting portion 2144 is disposed between distally projecting upper nose portion 2143. As can be further seen in FIG. 6, the firing member 2140 can further include two laterally extending upper tabs, pins, or anvil engagement features 2147. When the firing member 2140 is driven distally, the top of the body portion 2142 extends through the centrally located anvil slot 1814 and anvil engagement features 2147 are connected to corresponding ones formed on each side of the anvil slot 1814. Ride on the anvil shelf 1816. In one configuration, the top of the anvil body 1812 has an opening 1817 to facilitate assembly of the anvil 1810 and firing member 2140 arrangement. Once the anvil 1810 is assembled over the elongated channel 1602 and the firing member 2140 is installed, the opening 1817 is covered by an anvil cap 1819 that is attached to the anvil body 1812 by welding or other suitable fastening means.

Returning to FIG. 6, firing member 2140 is configured to operably interconnect with a sled assembly 2150 operably supported within body 1702 of surgical staple/fastener cartridge 1700. Thread assembly 2150 is slidable within surgical staple/fastener cartridge body 1702 from a proximal starting position adjacent proximal end 1704 of cartridge body 1702 to an end position adjacent distal end 1706 of cartridge body 1702 It can be displaced to Cartridge body 1702 operably supports therein a plurality of staple drivers (not shown) aligned in each row on either side of centrally located slot 1708. Centrally located slot 1708 allows firing member 2140 to pass through the slot to cut tissue clamped between anvil 1810 and surgical staple/fastener cartridge 1700. Each driver is associated with a respective staple/fastener element pocket 1712 that opens into the upper deck surface 1710 of the cartridge body 1702. Each of the staple drivers supports one or more surgical staples/fastening elements or fastening elements (not shown). Sled assembly 2150 includes a plurality of angled or wedge-shaped cams 2152, each cam 2152 corresponding to a particular line of fastening elements or drivers located on the side of slot 1708.

Attachment of replaceable surgical tool assembly 1000 to handle assembly 500 will now be described with reference to FIG. To begin the coupling process, the clinician handles the tool chassis 1210 of the replaceable surgical tool assembly 1000 such that the tapered attachment portion 1212 formed in the tool chassis 1210 is aligned with the dovetail slot 507 in the handle frame 506. It can be positioned above or adjacent the distal end of frame 506. The clinician then moves the surgical tool assembly 1000 along the installation axis IA perpendicular to the shaft axis SA ₁ to "operate" the tapered attachment portion 1212 with the corresponding dovetail receiving slot 507 in the distal end of the handle frame 506. can be placed in a "possibly engaged" state. In doing so, the firing shaft attachment protrusion 2128 of the intermediate firing shaft portion 2120 is also disposed within a mounting cradle (not shown) of a longitudinally movable drive member (not shown) within the handle assembly 500 and the closing link 514 A portion of the upper mounting pin 516 is placed within a corresponding hook 1942 of the closure shuttle 1940. As used herein, the term "operably engaged" in the context of two components means that those two components are sufficiently engaged with each other such that upon application of an actuation motion to them; means that a component is capable of performing its intended act, function, and/or procedure.

During a typical surgical procedure, a clinician may introduce surgical end effector 1500 into a surgical site through a trocar or other opening in the patient to access target tissue. In doing so, the clinician typically aligns the surgical end effector 1500 axially along the shaft axis (unarticulated state). After passing the surgical end effector 1500 through the trocar port, for example, the clinician may need to articulate the end effector 1500 to advantageously position it adjacent the target tissue. This is before closing the anvil onto the target tissue, so the closure drive system 510 remains inactive. When in this position, actuation of firing drive system 530 imparts articulation motion to proximal articulation driver 1310. Once the end effector is in the desired articulated position, firing drive system 530 can be stopped, allowing articulation lock 1400 to hold surgical end effector 1500 in the articulated position. The clinician can then actuate closure drive system 510 to close anvil 1810 onto the target tissue. Activation of such a closed drive system 510 also allows the shifter assembly 2200 to separate the proximal articulation driver from the intermediate firing shaft portion 2120. Thus, once the target tissue is captured within the surgical end effector 1500, the clinician can reactivate the firing drive system 530 to advance the firing member 2140 axially through the surgical staple/fastener cartridge 1700. The clamped tissue can be cut and staples fired into the cut tissue. Other closure and firing drive mechanisms, actuator mechanisms (both hand-held, manual and automatic, or robotic) may be used in surgical procedures without departing from the spirit and scope of the various inventions disclosed herein. It is also possible to control axial movement of closure system components, articulation system components, and/or firing system components of tool assembly 1000.

Referring now to FIG. 1, the surgical system 10 shown in this figure includes four interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which is identical for performing different surgical procedures. It can be effectively used with handle assembly 500. Referring now to FIGS. 16-18, replaceable surgical tool assembly 3000 includes a surgical end effector 3500 that includes a first jaw 3600 and a second jaw 3800. In one configuration, the first jaw includes an elongate channel 3602 configured to operably support a surgical staple/fastener cartridge 3700 therein. Second jaw 3800 includes an anvil 3810 pivotally supported relative to elongate channel 3602. Interchangeable surgical tool assembly 3000 includes an articulation system 3300 that includes an articulation joint 3302 and an articulation lock 3400 that can be configured to releasably hold surgical end effector 3500 in a desired articulation position relative to shaft axis SA ₂ can include. Details regarding the construction and operation of articulation lock 3400, as well as details of alternative lock configurations and operation, can be found in U.S. patent application Ser. No. 13/803,086, the disclosure of which is incorporated by reference in its entirety; The title of the invention is "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", currently available in US Patent Application Publication No. 2014/0263541. Further details regarding articulation lock 3400 may be found in U.S. Patent Application Serial No. 15/019,196, filed February 9, 2016, the entire disclosure of which is incorporated by reference herein. It can also be seen in ``SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT''.

As seen in FIG. 17, replaceable surgical tool assembly 3000 includes a tool frame assembly 3200 that includes a tool chassis 3210 that operably supports a nozzle assembly 3240. In one form, the nozzle assembly 3240 is comprised of nozzle portions 3242, 3244 and an actuator wheel portion 3246 configured to be coupled to the assembled nozzle portions 3242, 3244 by snaps, protrusions, screws, etc. . Replaceable surgical tool assembly 3000 includes a proximal closure assembly 3900 operably coupled to a distal closure assembly 4000 that is used to open and close an anvil 3810 of surgical end effector 3500, as described in further detail below. Contains. Additionally, the replaceable surgical tool assembly 3000 includes a "resilient" spine assembly 3250 that operably supports the proximal closure assembly 3900 and is coupled to the surgical end effector 3500. One exemplary form of the spine assembly 3250 is described in U.S. patent application Ser. CLOSING AND FIRING SYSTEMS”. For example, the spine assembly 3250 includes an elastic spine having a proximal end portion 3253 and a distal end portion 3280 separated from the proximal end portion 3253 of the elastic spine assembly 3250 by an extension mechanism 3282 formed therebetween. can include members. Additionally, a stretch-limiting insert 3284 is supported to be retained between the distal end 3280 and the proximal end 3253. In different configurations, the elastic spine assembly 3250 can be made of a suitable polymeric material, rubber, etc., for example, with a modulus of elasticity designated as ME ₁ for reference purposes. The stretch-limiting insert 3284 may have a modulus of elasticity designated as ME ₂ for reference purposes. In various situations, the extension limiting insert 3284 also includes a pair of extension limiters 3285 (only one shown in FIG. 17). The stretch limiter 3285 can have a reference modulus of ME ₃ . In at least one configuration, ME ₃ <ME ₂ <ME ₁ . Further details regarding at least one implementation of elastic spine assembly 3250 and extension limiting insert 3284 can be found in US patent application Ser. No. 15/385,911.

In the illustrated configuration, the distal end portion 3280 of the spine assembly 3250 has an opening 3281 to facilitate assembly. A spine cap 3283 can be attached to cover the opening 3281 after the various internal components are assembled. In the assembled configuration, the proximal end portion 3253 of the spine assembly 3250 is rotatably supported within the tool chassis 3210. In one configuration, for example, the proximal end of proximal end portion 3253 of spine assembly 3250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 3210. Such a configuration facilitates rotatable attachment of the spine assembly 3250 to the tool chassis 3210 and allows the spine assembly 3250 to be selectively rotated about shaft axis SA ₂ relative to the tool chassis 3210. In particular, in one configuration, for example, proximal end portion 3253 of spine assembly 3250 is configured to receive a corresponding nozzle projection (not shown) each extending inwardly from each of nozzle portions 3242, 3244. two diametrically opposed raised seats 3254 (only one visible in FIG. 17). Such a configuration facilitates rotation of the spine assembly 3250 about the shaft axis SA ₂ by rotating the actuator wheel portion 3246 of the nozzle assembly 3240.

Referring now to FIG. 18, a distal end 3280 of resilient spine assembly 3250 is attached to a distal frame portion 3286 that operably supports articulation lock 3400 therein. Spine assembly 3250 is configured to (1) slidably support firing member assembly 4110 therein and (2) slidably support proximal closure tube 3910 extending around spine assembly 3250. ing. Spine assembly 3250 can also be configured to slidably support proximal articulation driver 3310. As seen in FIG. 18, distal frame segment 3286 is pivotally coupled with elongate channel 3602 by end effector attachment assembly 3290. In one configuration, for example, a pivot pin 3288 is formed at a distal end of distal frame portion 3286. Pivot pin 3288 is adapted to be pivotally received within a pivot hole 3292 formed in pivot base 3291 of end effector mounting assembly 3290 . End effector attachment assembly 3290 is attached to proximal end 3610 of elongated channel 3602 by spring pin 3620 or other suitable member received within attachment hole 3611 of proximal end portion 3610. Pivot pin 3288 defines an articulation axis AA ₂ transverse to shaft axis SA ₂ . Please refer to FIG. Such a mechanism facilitates pivotal movement (ie, articulation) of surgical end effector 3500 about articulation axis AA ₂ relative to elastic spine assembly 3250. Distal frame portion 3286 is further configured to support articulation lock 3400 therein. Various articulation lock configurations can be used. At least one form of articulation lock 3400 is disclosed in U.S. patent application Ser. , now described in U.S. Patent Application Publication No. 2014/0263541 in further detail. Further details regarding articulation locks can also be found in U.S. Patent Application No. 15/019,196, filed February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT." I can.

In the illustrated example, surgical end effector 3500 is capable of selective articulation about articulation axis AA ₂ by articulation system 3300. In one form, articulation system 3300 includes a proximal articulation driver 3310 that operably interacts with articulation lock 3400. Articulation lock 3400 includes an articulation frame 3402 adapted to operably engage a drive pin 3293 on a pivot base 3291 of end effector mounting assembly 3290. Additionally, a cross link 3294 can be coupled to drive pin 3293 and articulation frame 3402 to assist in articulating surgical end effector 3500. As mentioned above, further details regarding the operation of articulation lock 3400 and articulation frame 3402 can be found in US Patent Application No. 13/803,086, now US Patent Application Publication No. 2014/0263541. Further details regarding the end effector mounting assembly and cross link 3294 can be found in U.S. patent application Ser. It can be found in the title of the invention "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS". As further described herein, and in other disclosures incorporated by reference herein, axial movement of proximal articulation driver 3310 causes articulation lock 3400 to engage/disengage and articulates elongated channel 3602, thereby articulating surgical end effector 3500 relative to spine assembly 3250 about articulation axis _AA2 .

Anvil 3810 in the illustrated example includes an anvil body 3812 terminating in an anvil attachment portion 3820. The anvil attachment portion 3820 is movable or pivotable on the elongated channel 3602 for selective pivotal movement about a fixed anvil pivot axis PA ₂ (FIG. 18) that is transverse to the shaft axis SA ₂ Supported by In the illustrated configuration, an anvil trunnion 3822 extends laterally from each lateral side of anvil attachment portion 3820 to a corresponding trunnion pivot hole 3613 formed in upright wall 3612 of proximal end portion 3610 of elongated channel 3602. accepted within. Movement of anvil 3810 relative to elongated channel 3602 is effected by axial movement of proximal closure assembly 3900 and distal closure assembly 4000. In the illustrated configuration, proximal closure assembly 3900 includes a proximal closure tube 3910 having a proximal end 3912 and a distal end 3914. Proximal end 3912 is rotatably supported within a closure shuttle 3940 that is slidably supported within tool chassis 3210 to allow axial movement relative to the tool chassis. In one form, closure shuttle 3940 has a pair of proximally projecting hooks 3942 that are configured to attach to transverse attachment pins 516 that are attached to closure linkage assembly 514 of handle assembly 500. Proximal end 3912 is coupled to closure shuttle 3940 for rotation relative to closure shuttle 3940. For example, a U-shaped connector 3944 is inserted into the annular slot 3916 of the proximal end 3912 and retained within the vertical slot 3946 of the closure shuttle 3940. Such a configuration has the ability to attach the proximal closure assembly 3900 to the closure shuttle for axial movement with the closure shuttle 3940 while the proximal closure tube 3910 rotates about shaft axis SA ₂ relative to the closure shuttle 3940. make it possible to As discussed above in connection with the replaceable surgical tool assembly 1000, a closure spring (not shown) extends over the proximal end 3912 of the proximal closure tube 3910 to proximally direct the closure shuttle 3940. PD, which deactivates the closure trigger 512 (FIG. 2) of the handle assembly 500 when the replaceable surgical instrument assembly 3000 is operably coupled with the handle assembly 500 as described above. It can perform the function of pivoting into position.

As seen in FIG. 18, the distal end 3914 of the proximal closure tube 3910 is attached to the distal closure assembly 4000. Distal end 3914 includes an upper projection 3917 and a lower projection 3918 configured to be movably coupled to end effector closure sleeve or distal closure tube portion 4030. Distal obturator tube portion 4030 includes an upper projection 4032 and a lower projection 4034 projecting proximally from its proximal end. As discussed above, upper dual pivot link 4060 pivotally connects upper projection 3917 and upper projection 4032, and lower dual pivot link 4064 connects lower projection 3918 and lower projection 4034. are pivotally connected together. Distal advancement of distal closure tube portion 4030 over anvil attachment portion 3820 causes closure or pivoting movement of anvil 3810 toward elongated channel 3602 about fixed anvil pivot axis PA ₂ . In the illustrated configuration, the distal closure tube portion 4030 also includes a positive jaw or anvil opening mechanism 4040 configured to cooperate with the surface or sloped portion of the anvil attachment portion 3820 so that the distal closure tube portion 4030 Anvil 3810 pivots from the closed position to the open position as tube portion 4030 moves proximally back to the starting position. Other embodiments may not use a positive jaw opening mechanism, but may include a spring or Other biasing mechanisms may also be relied upon. For further details on the configuration and movement of the annevil opening mechanism, the name of the US Equipment No. 15/385, 911, the name of the invention "SURGICAL StAPLE / FASTUATLS WITH ITHHITH INDEPENDENDENDY ACTUATABLE CLOSIND AND AND You can see it in "Firing Systems".

In the illustrated configuration, replaceable surgical tool assembly 3000 further includes a firing system, generally designated 4100. In various examples, firing system 4100 includes a firing member assembly 4110 supported for axial movement within spine assembly 3250. In the illustrated embodiment, firing member assembly 4110 includes an intermediate firing shaft portion 4120 configured to be attached to a distal cutting portion or knife bar 4130. A support bushing mechanism 4121 may be used to support intermediate firing shaft portion 4120 within spine assembly 3250. Firing member assembly 4110 may also be referred to herein as a "second shaft" and/or "second shaft assembly." As can be seen in FIG. 18, intermediate firing shaft portion 4120 can include a longitudinal slot 4124 at distal end 4122 that can be configured to receive a proximal end 4132 of knife bar 4130. The longitudinal slot 4124 and the proximal end 4132 of the knife bar 4130 can be sized and configured to allow relative movement therebetween and can include a slip joint 4134. As discussed above, the slip joint 4134 allows movement of the intermediate firing shaft portion 4120 of the firing member assembly 4110 to articulate the end effector 3500 without moving the knife bar 4130, or at least substantially without moving the knife bar 4130. do. As noted above, in the illustrated configuration, the proximal end 4127 of the intermediate firing shaft portion 4120 includes a distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft attachment projection 4128 is formed that is configured to be placed within a distal end attachment cradle (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 4120 upon actuation of firing drive system 530. Other attachment configurations for coupling intermediate firing shaft portion 4120 to other firing drive mechanisms (eg, manual actuation, robot, etc.) may also be used.

In addition to the above, the replaceable tool assembly 3000 can be configured to selectively and releasably couple the proximal articulation driver 3310 to the firing member assembly 4110 in the manner described above. can include. In one form, the shifter assembly 4200 includes a locking collar, or locking sleeve 4210, disposed about the intermediate firing shaft portion 4120 of the firing member assembly 4110, with the locking sleeve 4210 having a proximal articulation driver. 3310 can be rotated between an engaged position in which the proximal articulation driver 3310 is not operably coupled with the firing member assembly 4110 and an engaged position in which the proximal articulation driver 3310 is not operably coupled with the firing member assembly 4110. As mentioned above, the intermediate firing shaft portion 4120 of the firing member assembly 4110 is formed with a drive notch 4126. Locking sleeve 4210 includes a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening 4212 configured to receive intermediate firing shaft portion 4120 therethrough. As described in more detail above, locking sleeve 4210 is received for engagement within a corresponding portion of drive notch 4126 of intermediate firing shaft portion 4120 when locking sleeve 4210 is in one position; diametrically opposed inward portions that are not received within drive notch 4126 when in another position, thereby allowing relative axial movement between locking sleeve 4210 and intermediate firing shaft 4120 locking protrusions 4214, 4216. Locking sleeve 4210 further includes a locking member 4218 sized to be movably received within notch 3319 in the proximal end of proximal articulation driver 3310. When the locking sleeve 4210 is in its engaged position, the locking projections 4214, 4216 are positioned within the drive notch 4126 of the intermediate firing shaft portion 4120, thereby exerting a distal pushing force and/or a proximal pulling force. may be transmitted from firing member assembly 4110 to locking sleeve 4210. Such axial pushing or pulling motion is then transmitted from locking sleeve 4210 to proximal articulation driver 3310, thereby articulating surgical end effector 3500.

As mentioned above, in the illustrated example, the relative movement of the locking sleeve 4210 between the engaged and disengaged positions is limited to the shifter assembly 4200 interconnected with the proximal closure tube 3910 of the proximal closure assembly 3900. can be controlled by Shifter assembly 4200 further includes a shifter key 4240 configured to be slidably received within a keyway (similar to keyway 2217 illustrated in FIG. 8) formed in the outer periphery of locking sleeve 4210. There is. Such a configuration allows shifter key 4240 to move axially relative to locking sleeve 4210. The operation of shifter assembly 4200 may be the same as that of shifter assembly 2200, which is described in more detail above and will not be repeated again for brevity. Further details, alternative configurations, and drive configurations that may be used are provided in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS"; US patent No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, as well as other disclosures incorporated herein by reference.

As discussed above, the replaceable tool assembly 3000 can, for example, convey power to and/or from the surgical end effector 3500 and/or the surgical end effector 3500 and/or the surgical A slip ring assembly 3230 can be included that can be configured to communicate signals from the end effector 3500 back to the handle assembly 500 or a microprocessor 560 within the robot system controller. Further details regarding slip ring assembly 3230 and associated connectors may be found in U.S. patent application Ser. ) and U.S. patent application Ser. No. 15/019,196, and U.S. patent application Ser. Currently available in US Patent Application Publication No. 2014/0263552).

The illustrated replaceable surgical tool assembly 3000 also employs a latch system 3220 to removably couple the replaceable surgical tool assembly 3000 to, for example, the handle frame 506 of the handle assembly 500. Latch system 3220 may be the same as latch system 1220 described in detail above. Knife bar 4130 can include a stacked beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands welded or pinned together, for example at their proximal ends and/or elsewhere along their length. interconnected by In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to spread relative to each other when the end effector is articulating. With such a configuration, the knife bar 4130 can have sufficient flexibility to accommodate articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. . As can also be seen in FIG. 18, the firing shaft support assembly 4300 is configured to provide lateral support to the knife bar 4130 as the central support member flexes to accommodate articulation of the surgical end effector 3500. used. Further details regarding the operation of firing shaft support assembly 4300 and alternative knife bar support mechanisms are found in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS” and U.S. patent application Ser. IALY TRANSLATABLE END EFFECTOR”.

Also seen in FIG. 18, a firing or knife member 4140 is attached to the distal end of knife bar 4130. Firing member 4140 is configured to operably interconnect with a sled assembly 4150 operably supported within body 3702 of surgical staple/fastener cartridge 3700. Sled assembly 4150 is slidable within surgical staple/fastener element cartridge body 3702 from a proximal starting position adjacent proximal end 3704 of cartridge body 3702 to an end position adjacent distal end 3706 of cartridge body 3702 It can be displaced to Cartridge body 3702 operably supports therein a plurality of staple drivers (not shown) aligned with rows on either side of centrally located slots 3708. Centrally located slot 3708 allows firing member 4140 to pass through the slot to cut tissue clamped between anvil 3810 and staple cartridge 3700. The driver is associated with a corresponding staple pocket 3712 that opens into the deck surface 3710 of the cartridge body 3702. Each of the staple drivers supports one or more surgical staples/fastening elements or fastening elements (not shown). Sled assembly 4150 includes a plurality of angled or wedge-shaped cams 4152, each cam 4152 corresponding to a particular line of fastening elements or drivers located on the side of slot 3708.

In one exemplary form, firing member 4140 includes a body portion 4142 that supports a knife or tissue cutting portion 4144. See FIG. 49. Body portion 4142 projects through elongated slot 3604 of elongated channel 3602 and terminates in foot members 4146 extending laterally on each side of body portion 4142. As the firing member 4140 is driven distally through the surgical staple/fastener cartridge 3700, the foot member 4146 rides within the passageway 3622 of the elongate channel 3602 located below the surgical staple/fastener cartridge 3700. Tissue cutting portion 4144 is disposed between distally projecting upper nose portion 4143. As can be further seen in FIG. 18, the firing member 4140 can further include two laterally extending upper tabs, pins, or anvil engagement features 4147. When the firing member 4140 is driven distally, the top of the body portion 4142 extends through the centrally located anvil slot 3814 and anvil engagement features 4147 are connected to corresponding ones formed on each side of the anvil slot 3814. Located on shelf 3816. Further details regarding firing member 4140, sled assembly 4150 and various alternatives thereof, as well as examples of their operation, are discussed in further detail below and in U.S. Patent Application No. 15/385,911, Inventions It can also be seen in the name "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS". Replaceable surgical tool assembly 3000 can be attached to handle assembly 500 in the manner described above with respect to replaceable surgical tool assembly 1000.

Referring now again to FIG. 1, as noted above, the surgical system 10 shown in this figure includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, each of which has a different The same handle assembly 500 can be effectively used to perform surgical procedures. Referring now to FIGS. 19-21, replaceable surgical instrument assembly 5000 includes a surgical end effector 5500 that includes a first jaw 5600 and a second jaw 5800. In one configuration, the first jaw includes an elongated channel 5602 configured to operably support a surgical staple/fastener cartridge 5700 therein. Second jaw 5800 includes an anvil 5810 movably supported relative to elongated channel 5602. Replaceable surgical instrument assembly 5000 includes an articulation system 5300 that includes an articulation joint 5302 and an articulation lock 5400 that can be configured to releasably hold surgical end effector 5500 in a desired articulation position relative to shaft axis SA ₃ can include. Details regarding the construction and operation of articulation lock 5400, as well as alternative locking mechanisms and operation details, can be found in U.S. Patent Application No. 15/385,894, Invention This can be seen in the name "SHAFT ASSEMBLY COMPRISING A LOCK OUT". Alternative articulation locking configurations are disclosed in U.S. patent application Ser. 6th grade 2 No. 15/019,196, filed May 9, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISMS WITH SLOTTED SECONDARY CONSTRAINT," the entire disclosure of each such reference is incorporated herein by reference. Incorporated by reference.

As further seen in FIG. 20, replaceable surgical tool assembly 5000 includes a tool frame assembly 5200 that includes a tool chassis 5210 that operably supports a nozzle assembly 5240. In one form, the nozzle assembly 5240 is comprised of nozzle portions 5242, 5244 and an actuator wheel portion 5246 configured to be coupled to the assembled nozzle portions 5242, 5244 by snaps, protrusions, screws, etc. . Replaceable surgical tool assembly 5000 includes a proximal closure assembly 5900 operably coupled to a distal closure assembly 6000 that is used to open and close an anvil 5810 of surgical end effector 5500, as described in further detail below. Contains. Additionally, replaceable surgical tool assembly 5000 includes a spine assembly 5250 that operably supports proximal closure assembly 5900 and is coupled to surgical end effector 5500. In the illustrated configuration, spine assembly 5250 includes a distal end portion 5280 having an opening 5281 to facilitate assembly. A spine cap 5283 can also be attached to the opening 5281 to cover it after the various internal components are assembled. In the assembled configuration, proximal end portion 5253 of spine assembly 5250 is rotatably supported within tool chassis 5210. In one configuration, for example, the proximal end of proximal end portion 5253 of spine assembly 5250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 5210. Such a configuration facilitates rotatable attachment of the spine assembly 5250 to the tool chassis 5210 and allows the spine assembly 5250 to be selectively rotated about shaft axis SA ₃ relative to the tool chassis 5210. In particular, in one configuration, for example, proximal end portions 5253 of spine assembly 5250 are each configured to receive a corresponding nozzle projection (not shown) extending inwardly from each of nozzle portions 5242, 5244. and two diametrically opposed raised seats 5254 (only one visible in FIG. 20). Such a configuration facilitates rotation of the spine assembly 5250 about the shaft axis SA ₃ by rotating the actuator wheel portion 5246 of the nozzle assembly 5240.

Referring now to FIG. 21, the distal end 5280 of the spine assembly 5250 is attached to a distal frame portion 5286 that operably supports an articulation lock 5400 therein. Spine assembly 5250 is configured to (1) slidably support firing member assembly 6110 therein and (2) slidably support proximal closure tube 5910 extending around spine assembly 5250. has been done. Spine assembly 5250 can also be configured to slidably support first articulation driver 5310 and second articulation driver 5320. As seen in FIG. 21, distal frame segment 5286 is pivotally coupled to proximal end 5610 of elongated channel 5602. In one configuration, for example, a pivot pin 5288 is formed at a distal end of distal frame portion 5286. Pivot pin 5288 is adapted to be pivotally received within a pivot hole 5611 formed in proximal end portion 5610 of elongate channel 5602. Pivot pin 5288 defines an articulation axis AA ₃ transverse to shaft axis SA ₃ . Please refer to FIG. 21. Such a mechanism facilitates pivotal movement (ie, articulation) of surgical end effector 5500 about articulation axis AA ₃ relative to spine assembly 5250. Distal frame portion 5286 is further configured to support articulation lock 5400 therein.

In the illustrated configuration, the distal end 5314 of the first articulation driver 5310 is adapted to receive therein a first articulation pin 5618 formed in the proximal end portion 5610 of the elongated channel 5602. A loop 5316 is formed. Similarly, the distal end 5324 of the second articulation driver 5320 has a loop 5326 adapted to receive therein a second articulation pin 5619 formed in the proximal end portion 5610 of the elongated channel 5602. have In one configuration, for example, the first articulation driver 5310 further includes a proximal toothing rack 5315 that meshes with an idler gear 5330 rotatably supported within the spine assembly 5250. Similarly, second articulation driver 5320 further includes a proximal toothed rack 5325 that meshes with idler gear 5330. Thus, in such a configuration, movement of the first articulation driver 5310 in the distal direction DD causes movement of the second articulation driver 5320 in the proximal direction PD. Movement of the first articulation driver 5310 in the proximal direction PD causes movement of the second articulation driver 5320 in the distal direction DD. Accordingly, such motion of the first articulating driver 5310 and the second articulating driver 5320 simultaneously imparts a pushing and pulling motion to the surgical end effector 5500 to cause the surgical end effector to articulate about the articulation axis _AA3 . articulate as.

Anvil 5810 in the illustrated example includes an anvil body 5812 terminating in an anvil attachment portion 5820. Anvil attachment portion 5820 is movably supported on elongated channel 5602 for selective pivoting and vertical movement relative to the elongated channel. In the illustrated configuration, anvil trunnions 5822 extend laterally from each lateral side of anvil attachment portion 5820 to form a corresponding "open-ended" vertical Received within cradle 5613. Movement of anvil 5810 relative to elongated channel 5602 is effected by axial movement of proximal closure assembly 5900 and distal closure assembly 6000. In the illustrated configuration, proximal closure assembly 5900 includes a proximal closure tube 5910 having a proximal end 5912 and a distal end 5914. Proximal end 5912 is rotatably supported within a closure shuttle 5940 that is slidably supported within tool chassis 5210 to allow axial movement relative to the tool chassis. In one form, closure shuttle 5940 includes a pair of proximally projecting hooks 5942 configured to attach to transverse attachment pins 516 that are attached to closure linkage assembly 514 of handle assembly 500. A proximal end 5912 of proximal closure tube 5910 is coupled to closure shuttle 5940 for relative rotation thereto. For example, a U-shaped connector 5944 is inserted into the annular slot 5916 of the proximal end 5912 and retained within the vertical slot 5946 of the closure shuttle 5940. Such a configuration has the ability to attach the proximal closure assembly 5900 to the closure shuttle for axial movement with the closure shuttle 5940 while the proximal closure tube 5910 rotates about shaft axis SA ₃ relative to the closure shuttle 5940. make it possible to As discussed above in connection with the replaceable surgical tool assembly 1000, a closure spring (not shown) extends over the proximal end 5912 of the proximal closure tube 5910 to proximally direct the closure shuttle 5940. PD, which deactivates the closure trigger 512 (FIG. 2) of the handle assembly 500 when the replaceable surgical tool assembly 5000 is operably coupled with the handle assembly 500 as described above. It can perform the function of pivoting into position.

As seen in FIG. 21, the distal end 5914 of the proximal closure tube 5910 is attached to the distal closure assembly 6000. Distal end 5914 includes an upper projection 5917 and a lower projection 7918 configured to be movably coupled to end effector closure sleeve or distal closure tube portion 6030. Distal obturator tube portion 6030 includes an upper projection 6032 and a lower projection 6034 projecting proximally from its proximal end. Upper dual pivot link 6060 pivotally connects upper projection 5917 and upper projection 6032 and lower dual pivot link 6064 connects lower projection 5918 and lower projection in the manner described above. 6034 are pivotally connected to each other. Distal closure tube portion 6030 includes an internal cam surface 6036 configured to cam engage anvil cam surface 5821 of anvil attachment portion 5820. Distally advancing distal closure tube portion 6030 over anvil attachment portion 5820 causes closure or pivoting movement of anvil 5810 toward elongated channel 5602. In the illustrated configuration, an upright anvil tab 5827 is formed on the anvil attachment portion 5820 and is configured to contact two positive jaw opening tabs 6038 that extend inwardly within the distal closure tube portion 6030. Each positive jaw opening tab 6038 engages a corresponding one of the anvil tabs 5827 to pivot the anvil 5810 to the open position as the distal closure tube portion 6030 is moved axially in the proximal direction PD. It is configured as follows.

In the illustrated configuration, replaceable surgical tool assembly 5000 further includes a firing system, generally designated 6100. In various examples, firing system 6100 includes a firing member assembly 6110 supported for axial movement within spine assembly 5250. In the illustrated embodiment, firing member assembly 6110 includes an intermediate firing shaft portion 6120 configured to be attached to a distal cutting portion or knife bar 6130. Firing member assembly 6110 may also be referred to herein as a "second shaft" and/or "second shaft assembly." As can be seen in FIG. 21, the intermediate firing shaft portion 6120 can include a longitudinal slot 6124 at its distal end 6122 that can be configured to receive a proximal end 6132 of a knife bar 6130. The longitudinal slot 6124 and the proximal end 6132 of the knife bar 6130 can be sized and configured to allow relative movement therebetween and can define a slip joint 6134. As discussed above, the slip joint 6134 allows movement of the intermediate firing shaft portion 6120 of the firing member assembly 6110 to articulate the end effector 5500 without moving the knife bar 6130, or at least substantially without moving the knife bar 6130. do. As noted above, in the illustrated configuration, the proximal end 6127 of the intermediate firing shaft portion 6120 includes a distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft attachment projection 6128 is formed that is configured to be placed within a distal end attachment cradle (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 6120 upon actuation of firing drive system 530. Other attachment configurations for coupling the intermediate firing shaft portion to other firing drive mechanisms (eg, manual actuation, robotic, etc.) may also be used.

In addition to the above, the replaceable surgical tool assembly 5000 can be configured to selectively and releasably couple the first articulating driver 5310 to the firing member assembly 6110 in a manner as described above. A shifter assembly 6200 can be included. In one form, the shifter assembly 6200 includes a locking collar, or locking sleeve 6210, disposed about an intermediate firing shaft portion 6120 of a firing member assembly 6110, the locking sleeve 6210 having a first articulation motion. The driver 5310 can be rotated between an engaged position coupling the firing member assembly 6110 and a disengaging position where the first articulating driver 5310 is not operably coupled with the firing member assembly 6110. As mentioned above, the intermediate firing shaft portion 6120 of the firing member assembly 6110 is formed with a drive notch 6126. Locking sleeve 6210 includes a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening configured to receive intermediate firing shaft portion 6120 therethrough. As discussed in further detail above, locking sleeve 6210 is received for engagement within a corresponding portion of drive notch 6126 of intermediate firing shaft portion 6120 when locking sleeve 6210 is in one position. , diametrically opposed inwardly directed not being received within drive notch 6126 when in another position, thereby allowing relative axial movement of locking sleeve 6210 and intermediate firing shaft 6120. Locking projections 6214, 6216 can be included. Locking sleeve 6210 further includes a locking member 6218 sized to be movably received within notch 5319 in the proximal end of first articulation driver 5310. When the locking sleeve 6210 is in its engaged position, the locking protrusions 6214, 6216 are disposed within the drive notch 6126 of the intermediate firing shaft portion 6120, thereby exerting a distal pushing force and/or a proximal pulling force. may be transmitted from firing member assembly 6110 to locking sleeve 6210. Such axial pushing or pulling motion is then transmitted from the locking sleeve 6210 to the first articulation driver 5310. Axial movement of the first articulation driver 5310 causes an opposite axial movement of the second articulation driver 5320, thereby articulating the surgical end effector 5500.

As mentioned above, in the illustrated example, the relative movement of the locking sleeve 6210 between its engaged and disengaged positions is caused by the shifter assembly interconnected with the proximal closure tube 5910 of the proximal closure assembly 5900. 6200. Shifter assembly 6200 further includes a shifter key 6240 configured to be slidably received within a keyway (similar to keyway 2217 shown in FIG. 8) formed in the outer periphery of locking sleeve 6210. . Such a configuration allows shifter key 6240 to move axially relative to locking sleeve 6210. The operation of shifter assembly 6200 may be the same as that of shifter assembly 2200, which is described in further detail above and will not be repeated again for brevity. Further details, alternative configurations, and drive configurations that may be used are provided in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS"; US patent No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, as well as other disclosures incorporated herein by reference.

As mentioned above, the replaceable tool assembly 5000 can, for example, convey power to and/or from the surgical end effector 5500 and/or the surgical end effector 5500 and/or the surgical A slip ring assembly 5230 can be included that can be configured to communicate signals from the end effector back to the handle assembly 500 or a microprocessor 560 within the robot system controller. Further details regarding slip ring assembly 5230 and associated connectors may be found in U.S. patent application Ser. ), and U.S. Patent Application No. 15/019,196, and U.S. Patent Application No. 13/800,067, which is hereby incorporated by reference in its entirety, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM." (currently U.S. Patent Application Publication No. 2014/0263552).

The illustrated replaceable surgical tool assembly 5000 also employs a latch system 5220 to removably couple the replaceable surgical tool assembly 5000 to, for example, the handle frame 506 of the handle assembly 500. Latch system 5220 may be the same as latch system 1220 described in detail above. Knife bar 6130 can include a stacked beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands welded or pinned together, for example at their proximal ends and/or elsewhere along their length. interconnected by In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to spread relative to each other when the end effector is articulating. With such a configuration, the knife bar 6130 can be flexible enough to accommodate articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. . As can also be seen in FIG. 21, the firing shaft pointing assembly 6300 is configured to provide lateral support to the knife bar 6130 as the central support member flexes to accommodate articulation of the surgical end effector 5500. used. Further details regarding the operation of firing shaft support assembly 6300 and alternative knife bar support mechanisms are found in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS” and U.S. patent application Ser. IALY TRANSLATABLE END EFFECTOR”.

Also seen in FIGS. 21 and 50, a firing or knife member 6140 is attached to the distal end of knife bar 6130. Firing member 6140 is configured to operably interconnect with a sled assembly 6150 operably supported within body 5702 of surgical staple/fastener cartridge 5700. Thread assembly 6150 is slidable within surgical staple/fastener element cartridge body 5702 from a proximal starting position adjacent proximal end 5704 of cartridge body 5702 to an end position adjacent distal end 5706 of cartridge body 5702 It can be displaced to Cartridge body 5702 operably supports therein a plurality of staple drivers (not shown) aligned with rows on either side of centrally located slots 5708. Centrally located slot 5708 allows firing member 6140 to pass through the slot to cut tissue clamped between anvil 5810 and staple cartridge 5700. The driver is associated with a corresponding staple pocket that opens into the upper deck surface of the cartridge body 5702. Each of the staple drivers supports one or more surgical staples/fastening elements or fastening elements (not shown). The sled assembly includes a plurality of angled or wedge-shaped cams 6152, each cam corresponding to a particular line of fastening elements or drivers located on the side of the slot 5708.

In one exemplary form, firing member 6140 includes a body portion 6142 that supports a knife or tissue cutting portion 6144. Please refer to FIG. 50. Body portion 6142 projects through elongated slot 5604 of elongated channel 5602 and terminates in foot members 6146 extending laterally on each side of body portion 6142. As the firing member 6140 is driven distally through the surgical staple/fastener cartridge 5700, the foot member 6146 is located within the passageway 5622 of the elongate channel 5602 located below the surgical staple/fastener cartridge 5700. . Tissue cutting portion 6144 is disposed between distally projecting upper nose portion 6143. As can be further seen in FIGS. 21 and 50, the firing member 6140 can further include two laterally extending upper tabs, pins, or anvil engagement features 6147. When the firing member 6140 is driven distally, the top of the body portion 6142 extends through the centrally located anvil slot 5814 and anvil engagement features 6147 are connected to corresponding ones formed on each side of the anvil slot 5814. Located on shelf 5816. Further details regarding firing member 6140, sled assembly 6150, and various alternatives thereof, as well as examples of their operation, are discussed in further detail below and in U.S. Patent Application No. 15/385,911; This can also be seen in the title of the invention, "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS." Replaceable surgical tool assembly 5000 can be operably coupled with handle assembly 500 in the same manner as described above with respect to replaceable surgical tool assembly 1000.

Referring now again to FIG. 1, as noted above, the surgical system 10 shown in this figure includes four interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000, each of which has a different The same handle assembly 500 can be effectively used to perform surgical procedures. Referring now to FIGS. 22-24, replaceable surgical instrument assembly 7000 includes a surgical end effector 7500 that includes a first jaw 7600 and a second jaw 7800. In one configuration, the first jaw includes an elongate channel 7602 configured to operably support a surgical staple/fastener cartridge 7700 therein. Second jaw 7800 includes an anvil 7810 movably supported relative to elongate channel 7602. Interchangeable surgical instrument assembly 7000 includes an articulation system 7300 that includes an articulation joint 7302 and an articulation lock 7400 that can be configured to releasably hold surgical end effector 7500 in a desired articulation position relative to shaft axis SA ₄ may further include. Details regarding the construction and operation of articulation lock 7400, as well as alternative locking mechanisms and operation details, can be found in U.S. Patent Application No. 13/803,086, the disclosure of which is hereby incorporated by reference in its entirety; The title of the invention is "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", currently available in US Patent Application Publication No. 2014/0263541. Further details regarding articulation lock 7400 and/or alternative articulation locking mechanisms can be found in U.S. Patent Application No. 15/019,196, 2016-2, the disclosure of which is hereby incorporated by reference in its entirety. The patent application was filed on April 9th, and the title of the invention can also be seen as ``SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT''.

As seen in FIG. 24, replaceable surgical tool assembly 7000 includes a tool frame assembly 7200 that includes a tool chassis 7210 that operably supports a nozzle assembly 7240. In one form, the nozzle assembly 7240 is comprised of nozzle portions 7242, 7244 and an actuator wheel portion 7246 configured to be coupled to the assembled nozzle portions 7242, 7244 by snaps, protrusions, screws, etc. . Replaceable surgical tool assembly 7000 includes a proximal closure assembly 7900 operably coupled to a distal closure assembly 8000 that is used to open and close an anvil 7810 of surgical end effector 7500, as described in further detail below. Contains. Additionally, replaceable surgical tool assembly 7000 includes a spine assembly 7250 that operably supports proximal closure assembly 7900 and is coupled to surgical end effector 3500. In the illustrated configuration, spine assembly 7250 has a distal end portion 7280 having an opening 7281 therein to facilitate assembly. A spine cap 7283 can also be attached to the opening 7281 to cover it after the various internal components are assembled. In the assembled configuration, proximal end portion 7253 of spine assembly 7250 is rotatably supported within tool chassis 7210. In one configuration, for example, the proximal end of proximal end portion 7253 of spine assembly 7250 is attached to a spine bearing (not shown) configured to be supported within tool chassis 7210. Such a configuration facilitates rotatable attachment of the spine assembly 7250 to the tool chassis 7210 and allows the spine assembly 7250 to be selectively rotated about shaft axis SA ₄ relative to the tool chassis 7210. In particular, in one configuration, for example, proximal end portions 7253 of spine assembly 7250 are each configured to receive a corresponding nozzle projection (not shown) extending inwardly from each of nozzle portions 7242, 7244. and two diametrically opposed raised seats 7254 (only one visible in FIG. 23). Such a configuration facilitates rotation of the spine assembly 7250 about the shaft axis SA ₄ by rotating the actuator wheel portion 7246 of the nozzle assembly 7240.

Referring now to FIG. 24, a distal end 7280 of spine assembly 7250 is attached to a distal frame portion 7286 that operably supports articulation lock 7400 therein. Spine assembly 7250 is configured to (1) slidably support firing member assembly 8110 therein and (2) slidably support proximal closure tube 7910 extending around spine assembly 7250. has been done. Spine assembly 7250 can also be configured to slidably support proximal articulation driver 7310. As seen in FIG. 24, distal frame segment 7286 is pivotally coupled with elongated channel 7602 by end effector attachment assembly 7290. In one configuration, for example, a pivot pin 7288 is formed at the distal end of distal frame portion 7286. Pivot pin 7288 is adapted to be pivotally received within a pivot hole 7292 formed in pivot base 7291 of end effector mounting assembly 7290 . End effector attachment assembly 7290 is attached to proximal end portion 7610 of elongate channel 7602 by spring pin 7620 or other suitable member received within attachment hole 7611 of proximal end portion 7610. Pivot pin 7288 defines an articulation axis AA ₄ transverse to shaft axis SA ₄ . Please refer to FIG. 24. Such a mechanism facilitates pivotal movement (ie, articulation) of surgical end effector 7500 about articulation axis AA ₄ relative to spine assembly 7250. Distal frame portion 7286 is further configured to support articulation lock 7400 therein. Various articulation lock configurations can be used. At least one form of articulation lock 7400 is disclosed in U.S. patent application Ser. , now described in U.S. Patent Application Publication No. 2014/0263541 in further detail. Further details regarding articulation locks can also be found in U.S. Patent Application No. 15/019,196, filed February 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT." I can do that.

In the illustrated example, surgical end effector 7500 is capable of selective articulation about articulation axis AA ₄ by articulation system 7300. In one form, articulation system 7300 includes a proximal articulation driver 7310 that operably interconnects with articulation lock 7400. Articulation lock 7400 has an articulation frame 7402 adapted to operably engage a drive pin 7293 on pivot base 7291 of end effector mounting assembly 7290. Additionally, a cross link 7294 can be coupled to drive pin 7293 and articulation frame 7402 to assist in articulating surgical end effector 7500. As mentioned above, further details regarding the operation of articulation lock 7400 and articulation frame 7402 can be found in U.S. patent application Ser. . Further details regarding the end effector mounting assembly and cross-link 7294 can be found in U.S. patent application Ser. It can be found in the title of the invention "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS". As further described herein, and in other disclosures incorporated by reference herein, axial movement of proximal articulation driver 7310 causes articulation lock 7400 to engage/disengage and articulates elongate channel 7602, thereby articulating surgical end effector 7500 relative to spine assembly 7250 about articulation axis _AA4 .

Anvil 7810 in the illustrated example includes an anvil body 7812 terminating in an anvil attachment portion 7820. Anvil attachment portion 7820 is movably supported on elongated channel 7602 for selective pivoting and axial movement relative to the elongated channel. In the illustrated configuration, anvil trunnions 7822 extend laterally from each lateral side of anvil attachment portion 7820 to provide a corresponding "kidney-shaped" opening formed in upright wall 7612 of proximal end portion 7610 of elongated channel 7602. 7613. Movement of anvil 7810 relative to elongate channel 7602 is effected by axial movement of proximal closure assembly 7900 and distal closure assembly 8000. In the illustrated configuration, proximal closure assembly 7900 includes a proximal closure tube 7910 having a proximal end 7912 and a distal end 7914. Proximal end 7912 is rotatably supported within a closure shuttle 7940 that is slidably supported within tool chassis 7210 to allow axial movement relative to the tool chassis. In one form, closure shuttle 7940 includes a pair of proximally projecting hooks 7942 configured to attach to transverse attachment pins 516 that are attached to closure linkage assembly 514 of handle assembly 500. A proximal end 7912 of proximal closure tube 7910 is coupled to closure shuttle 7940 for relative rotation thereto. For example, a U-shaped connector 7944 is inserted into an annular slot 7916 in the proximal end 7912 of the proximal closure tube 7910 and retained within the vertical slot 7946 of the closure shuttle 7940. Such a configuration has the ability to attach the proximal closure assembly 7900 to the closure shuttle for axial movement with the closure shuttle 7940, while the proximal closure tube 7910 is oriented relative to the closure shuttle 7940 about shaft axis _SA4 . Allows rotation. As discussed above in connection with the replaceable surgical tool assembly 1000, a closure spring (not shown) extends over the proximal end 7912 of the proximal closure tube 7910 to proximally direct the closure shuttle 7940. energizing the PD, which triggers the closure trigger 512 (FIG. 2) of the handle assembly 500 when the replaceable surgical tool assembly 7000 is operably coupled with the handle assembly 500 in the manner described above. It can serve the function of pivoting to an inactive position.

As seen in FIG. 24, the distal end 7914 of proximal closure tube 3910 is attached to distal closure assembly 8000. Distal end 7914 includes an upper projection 7917 and a lower projection 7918 configured to be movably coupled to end effector closure sleeve or distal closure tube portion 8030. Distal obturator tube portion 8030 includes an upper projection 8032 and a lower projection 8034 projecting proximally from its proximal end. In the manner described above, upper dual pivot link 8060 pivotally connects upper projection 7917 and upper projection 8032, and lower dual pivot link 8064 connects lower projection 7918 and lower projection 8034. are pivotally connected together. Distally advancing the distal closure tube portion 8030 over the anvil attachment portion 7820 causes closing or pivoting movement of the anvil 7810 toward the elongated channel 7602. In the illustrated configuration, an upright anvil tab 7824 is formed on the anvil attachment portion 7820 and extends into the horseshoe opening 8038. Opening 8038 defines an open tab 8039 configured to operably interconnect with anvil tab 7824 as the distal closure tube is retracted distally. Such interaction between opening tab 8039 and anvil tab 7824 applies an opening motion to anvil 7810, thereby moving anvil 7810 to the open position.

In the illustrated configuration, replaceable surgical tool assembly 7000 further includes a firing system, generally designated 8100. In various examples, firing system 8100 includes a firing member assembly 8110 supported for axial movement within spine assembly 7250. In the illustrated embodiment, firing member assembly 8110 includes an intermediate firing shaft portion 8120 configured to be attached to a distal cutting portion or knife bar 8130. Firing member assembly 8110 may also be referred to herein as a "second shaft" and/or "second shaft assembly." As can be seen in FIG. 24, the intermediate firing shaft portion 8120 can include a longitudinal slot 8124 at its distal end 8122 that can be configured to receive a proximal end 8132 of a knife bar 8130. The longitudinal slot 8124 and the proximal end 8132 of the knife bar 8130 can be sized and configured to allow relative movement therebetween, forming a slip joint 8134. As discussed above, the slip joint 8134 allows movement of the intermediate firing shaft portion 8120 of the firing member assembly 8110 to articulate the end effector 7500 without moving the knife bar 8130, or at least substantially without moving the knife bar 8130. do. As noted above, in the illustrated configuration, the proximal end 8127 of the intermediate firing shaft portion 8120 includes a distal end of a longitudinally movable drive member (not shown) of the firing drive system 530 within the handle assembly 500. A firing shaft attachment projection 8128 is formed that is configured to be placed within a distal end attachment cradle (not shown). Such a configuration facilitates axial movement of intermediate firing shaft portion 8120 upon actuation of firing drive system 530. Other attachment configurations for coupling the intermediate firing shaft portion to other firing drive mechanisms (eg, manual actuation, robotic, etc.) may also be used.

In addition to the above, the replaceable surgical tool assembly 7000 includes a shifter that can be configured to selectively and releasably couple the proximal articulation driver 7310 to the firing member assembly 8110 in the manner described above. Assembly 8200 can be included. In one form, the shifter assembly 8200 includes a locking collar, or locking sleeve 8210, disposed about an intermediate firing shaft portion 8120 of a firing member assembly 8110, with the locking sleeve 8210 being a proximal articulation driver. 7310 can be rotated between an engaged position in which the proximal articulation driver 7310 is coupled to the firing member assembly 8110 and a disengaged position in which the proximal articulation driver 7310 is not operably coupled with the firing member assembly 8110. As mentioned above, the intermediate firing shaft portion 8120 of the firing member assembly 8110 is formed with a drive notch 8126. Locking sleeve 8210 includes a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening configured to receive intermediate firing shaft portion 8120 therethrough. As described in further detail above, locking sleeve 8210 is received for engagement within a corresponding portion of drive notch 8126 of intermediate firing shaft portion 8120 when locking sleeve 8210 is in one position. , is not received within the drive notch 8126 when in another position, thereby allowing relative axial movement between the locking sleeve 8210 and the intermediate firing shaft 8120. Orientation locking projections 8214, 8216 can be included. Locking sleeve 8210 further includes a locking member 8218 sized to be movably received within notch 7319 in the proximal end of proximal articulation driver 7310. When the locking sleeve 8210 is in its engaged position, the locking projections 8214, 8216 are positioned within the drive notch 7126 of the intermediate firing shaft portion 8120, thereby exerting a distal pushing force and/or a proximal pulling force. may be transmitted from firing member assembly 8110 to locking sleeve 8210. Such axial pushing or pulling motion is then transmitted from locking sleeve 8210 to proximal articulation driver 7310, thereby articulating surgical end effector 7500.

As noted above, in the illustrated example, the relative movement of the locking sleeve 8210 between its engaged and disengaged positions is caused by the shifter assembly interconnected with the proximal closure tube 7910 of the proximal closure assembly 7900. 8200. Shifter assembly 8200 further includes a shifter key 8240 configured to be slidably received within a keyway (similar to keyway 2217 illustrated in FIG. 8) formed in the outer periphery of locking sleeve 8210. There is. Such a configuration allows shifter key 8240 to move axially relative to locking sleeve 8210. The operation of shifter assembly 8200 may be identical to the operation of shifter assembly 2200, which is described in further detail above and will not be repeated again for brevity. Further details, alternative configurations, and drive configurations that may be used are provided in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS"; US patent No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, as well as other disclosures incorporated herein by reference.

As mentioned above, the replaceable tool assembly 7000 can, for example, convey power to and/or from the surgical end effector 7500 and/or the surgical end effector 7500 and/or the surgical A slip ring assembly 7230 can be included that can be configured to communicate signals from the end effector back to the handle assembly 500 or the microprocessor 560 within the robot system controller. Further details regarding slip ring assembly 7230 and associated connectors may be found in U.S. patent application Ser. ), and U.S. Patent Application No. 15/019,196, and U.S. Patent Application No. 13/800,067, which is hereby incorporated by reference in its entirety, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM." (currently U.S. Patent Application Publication No. 2014/0263552).

The illustrated replaceable surgical tool assembly 7000 also employs a latch system 7220 to removably couple the replaceable surgical tool assembly 7000 to, for example, the handle frame 506 of the handle assembly 500. Latch system 7220 may be the same as latch system 1220 described in detail above. Knife bar 8130 can include a stacked beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands welded or pinned together, for example at their proximal ends and/or elsewhere along their length. interconnected by In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to spread relative to each other when the end effector is articulating. With such a configuration, the knife bar 8130 can have sufficient flexibility to accommodate articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. . As can also be seen in FIG. 24, the firing shaft support assembly 8300 is configured to provide lateral support to the knife bar 8130 as the firing shaft support assembly flexes to accommodate articulation of the surgical end effector 7500. used for. Further details regarding the operation of firing shaft support assembly 8300 and alternative knife bar support mechanisms are found in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS” and U.S. patent application Ser. IALY TRANSLATABLE END EFFECTOR”.

Also seen in FIG. 24, a firing member or knife member 8140 is attached to the distal end of knife bar 8130. Firing member 8140 is configured to operably interconnect with a sled assembly 8150 operably supported within body 7702 of surgical staple/fastener cartridge 7700. Please refer to FIG. 51. Thread assembly 8150 is slidable within surgical staple/fastener element cartridge body 7702 from a proximal starting position adjacent proximal end 7704 of cartridge body 7702 to an end position adjacent distal end 7706 of cartridge body 7702 It can be displaced to Cartridge body 7702 operably supports therein a plurality of staple drivers (not shown) aligned with rows on either side of centrally located slots 7708. Centrally located slot 7708 allows firing member 8140 to pass through the slot to cut tissue clamped between anvil 7810 and staple cartridge 7700. The driver is associated with a corresponding staple pocket that opens into the upper deck surface of the cartridge body 7702. Each of the staple drivers supports one or more surgical staples/fastening elements or fastening elements (not shown). The sled assembly includes a plurality of angled or wedge-shaped cams, each cam corresponding to a particular line of fastening elements or drivers located on the sides of slot 7708.

In one exemplary form, firing member 8140 includes a body portion 8142 that supports a knife or tissue cutting portion 8144. Please refer to FIG. 51. Body portion 8142 projects through elongated slot 7604 of elongated channel 7602 and terminates in foot members 8146 extending laterally on each side of body portion 8142. As the firing member 8140 is driven distally through the surgical staple/fastener cartridge 7700, the foot member 8146 is located within the passageway 7622 of the elongated channel 7602 located below the staple cartridge 7700. Tissue cutting portion 8144 is disposed between distally projecting upper nose portion 8143. As can be further seen in FIG. 24, the firing member 8140 can further include two laterally extending upper tabs, pins, or anvil engagement features 8147. When the firing member 8140 is driven distally, the top of the body portion 8142 extends through the centrally located anvil slot 7814 and anvil engagement features 8147 correspond to the anvil engagement mechanisms 8147 formed on each side of the anvil slot 7814. Get on the shelf 7816. Further details regarding firing member 8140, sled assembly 8150, and various alternatives thereof, as well as examples of their operation, are discussed in further detail below and in U.S. Patent Application No. 15/385,911; This can also be seen in the title of the invention, "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS." Replaceable surgical tool assembly 7000 can be operably coupled with handle assembly 500 in the same manner as described above with respect to replaceable surgical tool assembly 1000.

As can be appreciated from the above description, the interchangeable surgical tool assemblies described herein can be actuated by the same handle assembly, robotic system, or other automated actuation system. All of the replaceable surgical tool assemblies described above include surgical cutting and fastening instruments that have somewhat similar closure and firing elements. However, the closure and firing systems and elements of each of these tool assemblies have differences that may seem somewhat trivial at first glance, but as discussed further below, such differences Significant improvements in tool material composition, design, construction, manufacture, and use can result. As will become apparent from reading the Detailed Description herein, the replaceable surgical tool assembly 1000 is similar to the other replaceable surgical tool assemblies 3000 described herein, It has subtle design differences that can result in significant improvements in the overall functionality, reliability, and cost of the tool assembly when compared to the 5000 and 7000. Additionally, the inventors have discovered that, in some cases, synergies exist between certain component configurations used in tool assembly 1000 that can further improve the overall efficiency and functionality of tool assembly 1000. I found out. To better understand these differences and improvements, specific elements and systems of each of tool assemblies 1000, 3000, 5000, 7000 are further described and compared to each other below.

For example, each of the replaceable surgical tool assemblies 1000, 3000, 5000, and 7000 may be configured such that upon actuation of the firing drive system, the jaws sufficiently engage the target tissue to allow the firing member to properly treat the clamped tissue. It must be possible to apply a closing force of sufficient magnitude to clamp. For example, in the illustrated assembly, each closure system element includes an anvil and It must be possible to clamp the surgical staple/fastener cartridge onto the target tissue. Depending on the thickness and composition of the target tissue, large closing and firing forces are often required. Accordingly, closure drive systems and firing drive systems, such as handle assembly housings, robot housings, etc., must provide such force of sufficient magnitude to sufficiently close the jaws and fire the firing member through the clamped tissue (e.g. , by the use of a motor or manually generated motion). Such procedures further require that the elements within the replaceable shaft assembly be sufficiently robust to match the magnitude of the forces transmitted through them. Hitherto, due to the magnitude of such forces, elements of the closure system as well as elements of the firing system have been formed of metal or other suitable materials with relatively large cross-sectional thicknesses and significantly reinforced configurations. In many cases, it was determined that the

The tissue loads exerted during the clamping process typically generate large "moments" about the anvil's pivot axis PA. The elements of the closure system must be designed to counteract these moments. In various situations, for example, moments in opposite directions about the anvil pivot axis PA are required. To maximize the efficiency of the system (eg, to minimize the amount of applied force), the largest actual moment arm is desirable. However, as discussed further below, attempting to establish large reverse moments creates trade-offs with other design variables. For example, in a closure system where the firing system and closure system are separate and distinct, there is a certain balance between the distance from the articulation joint to the first staple and the length of the moment arm of the closure system. be. The larger the moment arm of the closure system, the more efficiently the closure system handles clamp loads and tissue compression. However, the distance between the articulation joint and the first staple can significantly impact the access of the surgical end effector when the surgical end effector is placed within a narrow space within a laparoscopic environment.

25-32 illustrate exemplary moment arms of surgical end effectors 1500, 3500, 5500, 7500, respectively. Referring first to FIG. 25, as discussed above, anvil trunnions 1822 are formed in upright walls 1612 of proximal end 1610 of elongated channel 1602 extending laterally from each side of anvil attachment portion 1820. It is received within a corresponding trunnion cradle 1614. Anvil trunnions 1822 are pivotally retained within their respective trunnion cradles 1614 by channel caps or anvil retainers 1630. The channel cap 1630 includes a pair of attachment projections 1636 configured to be retained and received within a corresponding projection groove or notch 1616 formed in the upright wall 1612 of the proximal end portion 1610 of the elongate channel 1602. Contains. Such a configuration constrains anvil 1810 to only pivot about pivot axis PA ₁ (see FIG. 3). In such a configuration, the anvil attachment portion 1820 does not move axially or vertically. When the distal obturator tube portion 2030 is advanced in the distal direction DD under the horizontal closing force F _H1 (FIG. 26), a gap between the inner cam surface 2036 of the distal obturator tube portion 2030 and the anvil cam surface 1821 of the anvil attachment portion 1820 , a closing force F _C1 is applied to the anvil cam surface 1821. Closing force F _C1 is comprised of forces resulting from horizontal closing force F _H1 and vertical closing force F _V1 and is essentially “perpendicular” or perpendicular to camming surface 1821 of anvil attachment portion 1820. Please refer to FIG. 26. M _A1 is from the anvil pivot axis PA ₁ (coinciding with the center of the anvil trunnion 1822) to the inner cam surface 2036 of the distal closure tube section 2030 and the anvil attachment when the anvil 1810 is pivoted to the fully closed position. Represents the closing moment arm of portion 1820 to the point of contact with anvil cam surface 1821. In one example, the closing moment arm M _A1 may be, for example, approximately 0.415 inches. M _A1 ×F _C1 = Closing moment C _M1 applied to anvil attachment portion 1820.

The proximal end portion 1818 of the anvil body 1812 includes a lock on each side of the anvil body 1812 to ensure that each side of the tissue cut line is fastened by a staple or fastening element extending from the proximal end to the distal end of the tissue cut line. Two tissue anchoring formations or tissue locating elements 1830 are formed extending downwardly from (only one tissue anchoring formation 1830 is visible in FIGS. 25 and 26). When the anvil 1810 is opened to receive target tissue between the underside of the anvil and the deck surface of the cartridge, the downwardly extending tissue lock 1830 ensures that the target tissue remains within the surgical staple/fastener cartridge 1700. The staple/fastener element functions to prevent the staple/fastening element from extending proximally beyond the staple/fastening element. If tissue extends proximally beyond the most proximal staple/fastening element, that portion of tissue may be severed or not fastened by the firing member during the firing process, leading to serious consequences. It's possible. The downwardly extending tissue locking portion 1830 can prevent this from occurring. In the embodiment shown in FIG. 26, for example, the most proximal staple/fastener pocket 1720 is shown in phantom relative to the tissue anchor 1830. As can be seen in this figure, the tissue anchor 1830 has a downwardly extending portion 1832 and a chamfered portion 1834. Contact of portions 1832, 1834 with the target tissue causes the target tissue to proximally extend beyond the most proximal staple/fastener supported within the most proximal staple/fastener pocket 1720 of the staple/fastener cartridge body 1702. Prevent it from extending in the direction.

Returning again to FIG. 25, when the anvil 1810 is pivoted closed over a target tissue (not shown) disposed between the underside or tissue contacting surface 1813 of the anvil body 1812, the tissue is exposed to a tissue force T _F1 is applied to the lower surface 1813 of the anvil body 1812, which imposes a tissue countermoment C _T1 on the anvil 1810 that must be overcome by the closure moment C _M1 established by the elements of the closure system. The example shown in FIG. 25 shows a tissue force T _F1 evenly distributed on the anvil 1810, and a tissue moment arm M _T1 established by the clamped tissue (for clarity, FIG. (not shown). As can be seen from this figure, in this example, the tissue moment arm M _T1 is significantly longer than the closure moment arm M _A1 (ie, M _T1 >M _A1 ).

27 and 28, as discussed above, the anvil trunnion 3822 of the anvil 3810 of the replaceable surgical tool assembly 3000 has an elongated channel extending laterally from each side of the anvil attachment portion 3820. The proximal end portion 3610 of 3602 is received within a corresponding trunnion hole 3613 formed in an upright wall 3612 . Such a configuration constrains anvil 3810 to only pivot about pivot axis PA ₂ (see FIG. 18). In such a configuration, the anvil attachment portion 3820 does not move axially or vertically. When the distal obturator tube portion 4030 receives the horizontal closing force F _H2 (FIG. 28) and moves forward in the distal direction DD, a gap between the inner cam surface 4036 of the distal obturator tube portion 4030 and the anvil cam surface 3821 of the anvil attachment portion 3820 , a closing force F _C2 is applied to the anvil cam surface 3821. Closing force F _C2 is comprised of forces resulting from horizontal closing force F _H2 and vertical closing force F _V2 and is essentially “orthogonal” or perpendicular to anvil cam surface 3821 of anvil attachment portion 3820. See FIG. 28. M _A2 is the angle between the inner cam surface 4036 of the distal closure tube 4030 and the anvil cam of the anvil attachment portion 3820 when the anvil 3810 is pivoted to the fully closed position from the anvil pivot axis PA ₂ (the center of the anvil trunnion 3822). Represents the closing moment arm up to the point of contact with surface 3821. In one example, the closing moment arm M _A2 may be, for example, approximately 0.539 inches. M _A2 ×F _C2 = Closing moment C _M2 applied to anvil attachment portion 3820.

In the embodiment shown in FIGS. 27 and 28, anvil body 3812 is formed with two tissue anchoring formations or tissue positioning elements 3830 extending downwardly from each side of anvil body 3812 (FIGS. 27 and 28). Only one tissue anchoring formation 3830 is visible in FIG. 28). When the anvil 3810 is opened to receive target tissue between the underside of the anvil and the deck surface of the cartridge, the downwardly extending tissue locking formations 3830 may cause the target tissue to be attached to the surgical staple/fastening element/fastening element cartridge. 3700 functions to prevent proximal extension beyond the most proximal staple/fastener element within 3700. In the embodiment shown in FIG. 28, for example, the most proximal staple pocket 3720 is shown in phantom relative to the tissue anchoring formation 3830. As can be seen in this figure, tissue anchoring formation 3830 has a downwardly extending portion 3832 and a chamfered portion 3834. Contact of portions 3832, 3834 with the target tissue causes the target tissue to proximally extend beyond the most proximal staple/fastener supported within the most proximal staple/fastener pocket 3720 of the staple/fastener cartridge body 3702. Prevent it from extending in the direction.

Returning again to FIG. 27, when the anvil 3810 is pivoted closed over a target tissue (not shown) disposed between the underside or tissue contacting surface 3813 of the anvil body 3812, the tissue is subjected to a tissue force T _F2 is applied to the lower surface 3813 of the anvil body 3812, which imposes a tissue countermoment C _T2 on the anvil 3810 that must be overcome by the closure moment C _M2 established by each element of the closure system. The example shown in FIG. 27 shows a tissue force T _F2 evenly distributed on the anvil 3810, and a tissue moment arm M _T2 established by the clamped tissue (for clarity, the clamped tissue is not shown in FIG. (not shown). As can be seen from this figure, in this example, the tissue moment arm M _T2 is significantly longer than the closure moment arm M _A2 (ie, M _T2 >M _A2 ).

29 and 30, as discussed above, the anvil trunnion 5822 of the anvil 5810 of the replaceable surgical tool assembly 5000 has an elongated channel extending laterally from each side of the anvil attachment portion 5820. The proximal end portion 5610 of 5602 is received within a corresponding "open ended" vertical cradle 5613 formed in an upright wall 5612. In this configuration, anvil trunnions 5822 are free to pivot within their respective cradles 5613 as distal closure tube portion 6030 comes into camming contact with anvil camming surface 5821 of anvil attachment portion 5820. In such a configuration, anvil 5810 does not move axially, but anvil trunnions 5822 are free to move vertically (arrow V) within their corresponding cradles 5613. When the distal obturator tube portion 6030 is advanced in the distal direction DD under the horizontal closing force F _H3 (FIG. 30), a gap between the inner cam surface 6036 of the distal obturator tube portion 6030 and the anvil cam surface 5821 of the anvil attachment portion 5820 , a closing force F _C3 is applied to the anvil cam surface 5821. Closing force F _C3 is comprised of forces resulting from horizontal closing force F _H3 and vertical closing force F _V3 and is essentially “orthogonal” or perpendicular to anvil cam surface 5821 of anvil attachment portion 5820. Please refer to FIG. 30. M _A3 is from the anvil pivot axis PA ₃ (coinciding with the center of the anvil trunnion 5822) to the inner cam surface 6036 of the distal closure tube 6030 and the anvil attachment portion 5820 when the anvil 5810 is pivoted to the closed position. represents the closing moment arm to the point of contact with the anvil cam surface 5821 of . In one example, the closing moment arm M _A3 may be, for example, approximately 0.502 inches. M _A3 ×F _C3 = Closing moment applied to the anvil attachment portion 5820 C _M3

In the embodiment shown in FIGS. 29 and 30, anvil body 5812 is formed with two tissue anchoring formations or tissue positioning elements 5830 extending downwardly from each side of anvil body 5812 (FIGS. 29 and 30). Only one tissue anchoring formation 5830 is visible in FIG. 30). When the anvil 5810 is opened to receive target tissue between the lower surface of the anvil and the cartridge deck surface, the downwardly extending tissue locking formation 5830 ensures that the target tissue is located within the surgical staple/fastener cartridge 5700. The staple/fastener element functions to prevent the staple/fastening element from extending proximally beyond the staple/fastening element. In the embodiment shown in FIG. 29, for example, the most proximal staple/fastener pocket 5720 is shown in phantom relative to the tissue anchoring formation 5830. As can be seen in this figure, tissue anchoring formation 5830 has a downwardly extending portion 5832 and a chamfered portion 5834. Contact of portions 5832, 5834 with the target tissue causes the target tissue to proximally extend beyond the most proximal staple/fastener supported within the most proximal staple/fastener pocket 5720 of the staple/fastener cartridge body 5702. Prevent it from extending in the direction.

Returning again to FIG. 29, when the anvil 5810 is pivoted closed over a target tissue (not shown) disposed between the lower surface 5813 of the anvil body 5812, the tissue exerts a tissue force T _F3 on the anvil body 5812. In addition to the lower or tissue contacting surface 5813 of the anvil 5810, this imposes a tissue countermoment C _T3 on the anvil 5810, which must be overcome by the closure moment C _M3 established by the elements of the closure system. The example shown in FIG. 29 shows a tissue force T _F3 evenly distributed on the anvil 5810, and a tissue moment arm M _T3 established by the clamped tissue (for clarity, the clamped tissue is not shown in FIG. 29). (not shown). As can be seen from this figure, in this example, tissue moment arm M _T3 is significantly longer than closure moment arm M _A3 (ie, M _T3 > M _A3 ).

31 and 32, as discussed above, the anvil trunnion 7822 of the anvil 7810 of the replaceable surgical tool assembly 7000 has an elongated channel extending laterally from each side of the anvil attachment portion 7820. The proximal end portion 7610 of 7602 is received within a corresponding "kidney-shaped" opening 7613 formed in an upright wall 7612. When the anvil 7810 is in the "fully" open position, the anvil trunnion 7822 can generally be located at the bottom 7613B of the kidney-shaped slot 7613. The anvil 7810 may be moved to the closed position by distally advancing the distal obturator tube portion 8030 in the distal direction DD, thereby causing the inner cam surface of the distal end 8035 of the distal obturator tube portion 8030 to 8036 rides on an anvil cam surface 7821 formed on anvil attachment portion 7820 of anvil 7810. When the internal cam surface 8036 of the distal end 8035 of the distal closure tube section 8030 is advanced distally along the anvil cam surface 7821 of the anvil attachment section 7820 under the horizontal closure force F _H4 (FIG. 32); Distal obturator tube portion 8030 pivots and pivots body portion 7812 of anvil 7810 relative to surgical staple/fastener cartridge 7700 as anvil trunnion 7822 moves upwardly and distally within kidney-shaped slot 7613. move in the direction. When the distal closure tube section 8030 reaches the end of its closing stroke, the distal end 8035 of the distal closure tube section 8030 abuts/contacts the steep anvil ledge 7823 and touches the underside or tissue of the body section 7812. Molded pockets (not shown) in contact surface 7813 serve to position anvil 7810 in proper alignment with the staple/fastener elements in staple/fastener cartridge 7700. Anvil ledge 7823 is defined between anvil cam surface 7821 of anvil attachment portion 7820 and anvil body portion 7812. Stated another way, in this configuration, anvil cam surface 7821 does not extend to outermost surface 7817 of anvil body 7812. When in that position, anvil trunnion 7822 is located at the top 7613T of kidney-shaped slot 7613. M _A4 represents the moment arm from anvil pivot axis PA ₄ (coinciding with the center of anvil trunnion 7822) when trunnion 7822 is located at the top 7613T of kidney-shaped slot 7613 as shown. In one example, moment arm M _A4 may be approximately 0.184 inches, for example. M _A4 ×F _H4 = Closing moment C _M4 applied to anvil attachment portion 7820.

In the example shown in FIGS. 31 and 32, the anvil body 7812 is formed with two tissue locking or positioning formations 7830 extending downwardly from each side of the anvil body 7812 (FIGS. 31 and 32). Only one tissue anchoring formation 7830 is visible in FIG. 32). When the anvil 7810 is opened to receive target tissue between the lower surface of the anvil and the cartridge deck surface, the downwardly extending tissue locking formation 7830 indicates that the target tissue is located within the surgical staple/fastener cartridge 7700. The staple/fastener element functions to prevent the staple/fastening element from extending proximally beyond the staple/fastening element. In the embodiment shown in FIG. 31, for example, the most proximal staple/fastener pocket 7720 is shown in phantom relative to the tissue anchoring formation 7830. As can be seen in this figure, tissue anchoring formation 7830 has a downwardly extending portion 7832 and a chamfered portion 7834. Contact of portions 7832, 7834 with the target tissue causes the target tissue to proximally extend beyond the most proximal staple/fastener supported within the most proximal staple/fastener pocket 7720 of the staple/fastener cartridge body 7702. Prevent it from extending in the direction.

Returning again to FIG. 31, when anvil 7810 is pivoted closed over target tissue (not shown) disposed between the underside or tissue contacting surface 7813 of anvil body portion 7812, tissue is subjected to tissue force T. _F4 is applied to the lower surface 7813 of the anvil body 7812, which imposes a tissue countermoment C _T4 on the anvil 7810 that must be overcome by the closure moment C _M4 established by the elements of the closure system. The example shown in FIG. 31 shows a tissue force T _F4 evenly distributed on the anvil 7810, and a tissue moment arm M _T4 established by the clamped tissue (for clarity, the clamped tissue is not shown in FIG. 31). (not shown). As can be seen from this figure, in this example, tissue moment arm M _T4 is significantly longer than closure moment arm M _A4 (ie, M _T4 > M _A4 ).

The illustrated exemplary replaceable surgical tool assemblies 1000, 3000, 5000, 7000 include surgical stapling devices that employ "separate and distinct" closure and firing systems. That is, the closure system used to close the jaws and the firing system used to drive the firing member through the surgical staple/fastening element cartridge to cut and fasten tissue can be operated separately. It is. These separate and distinct closure and firing systems are different from surgical stapling instruments where activation of the firing system to advance the firing member is required to move the jaws from an open position to a closed position. can do. However, as described in further detail below, some of the firing members of the interchangeable surgical tool assemblies disclosed herein are capable of firing (i.e., distally through a surgical end effector). An additional closing motion can also be applied to the anvil as it advances forward). As can be seen with reference to FIGS. 25-32, in the illustrated example, M _A2 > M _A3 > M _A1 > M _A4 . Figures 25, 27, 29 and 31 also illustrate the resistance forces established by the tissue during the closure process. T _F represents the force generated by the tissue as it is clamped between the anvil and the staple cartridge. These forces establish an "opposite" moment _CT applied to the anvil around the point/area where the distal obturator tube section cams into contact with the anvil cam surface of the anvil attachment section. In these illustrated examples, the tissue moment arm of each surgical instrument (tool assembly) is generally larger than the closing moment arm of that instrument. Closes the anvil sufficiently against the tissue due to the difference between the typical tissue moment arm that acts in clamping tissue between the anvil and the surgical staple/fastener cartridge and the closing moment arm of the instrument. It will be appreciated that sufficient closing force must be applied to the anvil by the distal obturator tube section. Therefore, the distal obturator tube section must be sufficiently strong and durable to handle the large stresses that occur internally during the obturator process. To establish a stress state in the distal obturator tube section that is closer to a "hoop stress" condition instead of a "ring stress" condition, by thickening the side walls of the distal obturator tube section, the side walls of the corresponding elongated channel and Just make contact with the anvil attachment part. Such a configuration may also increase the strength of the overall hoop-like structure of the tube. The maximum thickness on the anvil side of the distal obturator tube section increases the strength of the tube section (hoop), while the large bearing or camming surface allows the anvil to cam downward toward the cartridge. Space can be secured. U.S. patent application Ser. can Several distal obturator segment configurations are disclosed.

The above considerations and comparisons demonstrate that the design of a closure system with a large closure moment arm leads to increased efficiency of each element of the closure system, reducing the closure force required to achieve complete anvil closure to tissue. It can be shown that the size can be reduced. However, as discussed above, attempting to maximize the closing moment arm may result in trade-offs with other design variables. For example, another desirable attribute relates to "jaw opening.""Jawopening" is measured from the center of the most distal staple or fastening element center along a line perpendicular to the corresponding most distal staple forming pocket on the underside or tissue contacting surface of the anvil body portion. It can refer to the distance _JA . FIG. 33 shows jaw opening J _A1 of surgical end effector 1500. In the illustrated example, the distal-most staple/fastener pocket 1730 houses the distal-most staple or fastener element (not shown) therein. Each of the distal-most staples or fasteners corresponds to a distal-most staple/fastener molded pocket 1815 (shown in phantom in FIG. 33) formed in the underside or tissue contacting surface 1813 of the anvil body 1812. ing. The distance J _A1 between the distal-most staple/fastener pocket 1730 and the corresponding distal-most staple/fastener forming pocket 1815 is the "jaw opening" of the surgical end effector 1500. In at least one embodiment, for example, J _A1 is approximately 1.207 inches. FIG. 34 shows jaw opening _JA2 of surgical end effector 3500. In the illustrated example, the distal-most staple/fastening element pocket 3730 receives therein the distal-most staple or fastening element (not shown). Each of the distal-most staples or fasteners corresponds to a distal-most staple/fastener molded pocket 3815 formed in the underside or tissue contacting surface 3813 of the anvil body 3812. The distance J _A2 between the distal-most staple/fastener pocket 3730 and the corresponding distal-most staple/fastener forming pocket 3815 is the "jaw opening" of the surgical end effector 3500. In at least one embodiment, for example, J _A2 is approximately 0.781 inches. FIG. 35 shows jaw opening _JA3 of surgical end effector 5500. In the illustrated example, the distal-most staple/fastener pocket 5730 houses the distal-most staple/fastener element (not shown) therein. Each of the distal-most staple/fastener elements corresponds to a distal-most staple/fastener molded pocket 5815 formed in the underside or tissue contacting surface 5813 of the anvil body 5812. The distance J _A3 between the distal-most staple/fastener pocket 5730 and the corresponding distal-most staple/fastener forming pocket 5815 is the "jaw opening" of the surgical end effector 5500. In at least one embodiment, for example, J _A3 is approximately 0.793 inches. FIG. 36 shows jaw opening _JA4 of surgical end effector 7500. In the illustrated example, the distal-most staple/fastening element pocket 7730 receives therein the distal-most staple or fastening element (not shown). Each of the distal-most staples or fasteners corresponds to a distal-most staple/fastener molded pocket 7815 formed in the underside or tissue contacting surface 7813 of the anvil body 7812. The distance J _A4 between the distal-most staple/fastener pocket 7730 and the corresponding distal-most staple/fastener forming pocket 7815 is the "jaw opening" of the surgical end effector 7500. In at least one embodiment, for example, J _A4 is approximately 0.717 inches. Therefore, in these examples, J _A1 > J _A3 > J _A2 > J _A4 . Therefore, by comparison, surgical end effector 1500 has the largest jaw opening.

Surgical end effector designs that employ separate and distinct closure systems and firing systems, such as the examples described above, employing an axially movable closure ring or distal closure tube section, may involve anvil or jaw pivoting. The interrelationship between the motion axis P _A and the distal end of the distal obturator tube section, as well as the robustness of the anvil attachment section, determines the size of the jaw opening that can be achieved for each particular end effector design. obtain. These interrelationships can be better understood with reference to FIG. 37, for example. FIG. 37 shows a surgical end effector 1500R using an anvil 1810R with an anvil attachment portion 1820R shown in solid lines. Anvil attachment portion 1820R includes an anvil trunnion 1822R that defines a reference pivot axis P _AR about which anvil attachment portion 1820R may pivot relative to elongated channel 1602R. Surgical end effector 1500R also employs a distal obturator tube portion 2030R having a distal end 2035R configured for camming contact with anvil attachment portion 1820R in the various manners described above. A surgical staple/fastener cartridge 1700R is supported within the elongated channel 1602R and has a cartridge deck or tissue contacting surface 1710R. FIG. 37 shows the distance D _P between the reference pivot axis P _AR and the distal end 2035R of the distal obturator tube portion 2030R. FIG. 37 shows anvil 1810R as a solid line. Anvil body 1812R is in its maximum open position when distal closure tube portion 2030R is in its most proximal starting position relative to anvil attachment portion 1820R. The maximum aperture angle APA _R of that configuration is, for example, about 10°. This aperture angle _APAR is typical of many end effector configurations. In another end effector configuration, the aperture angle is 12.25°. In one configuration, for example, D _P may be about 0.200 inches. To achieve a larger opening angle APA _R1 of, for example, 22°, if there is no change in the relationship between the distal end 2035R of the distal obturator section 2030R and the reference pivot axis P _AR , the anvil attachment section 1820R ₁ Therefore, the cross-sectional width M _W must be made unnecessarily small. Anvil _1810R1 is shown in phantom. As can be seen from this figure, a steep ledge must be formed between the anvil body 1812R ₁ and the anvil attachment portion 1820R ₁ so that its cross-sectional width is reduced. Opening angle APA _R1 is measured from the lower surface _1813R1 of the anvil body _1812R1 and the deck surface 1710R of the surgical staple/fastener cartridge 1700R. This reduced sturdiness of the anvil attachment portion of such anvils leads to decreased reliability of the anvil and is less desirable than anvils having anvil attachment portions with larger cross-sectional profiles.

Referring now to Figures 38 and 39, the jaw opening (or opening angle) increases as the pivot point or axis PA approaches the distal end of the starting position or proximal position of the distal obturator section. It can be realized more easily. FIG. 38 illustrates a surgical end effector 1500' that is substantially similar to surgical end effector 1500, except for the position of the pivot axis PA' relative to the distal end 2035 of the distal obturator tube portion 2030. As can be seen from this figure, the distance between the pivot axis PA' and the distal end 2035 of the distal occluder tube section 2030 when the distal occluder tube section 2030 is in its most proximal starting position is DP' and the aperture angle is APA. Stated another way, when the distal closure tube section 2030 is in its starting position corresponding to the fully open position of the anvil 1810, its distal end 2035 lies on a reference plane RF perpendicular to said shaft axis SA. The distance between the pivot axis PA' and the reference plane RF', measured along a line passing through the pivot axis PA' perpendicular to the reference plane RF', is DP'. In at least one configuration, DP' can be about 0.200 inches and the aperture angle APA can be about 10 degrees.

FIG. 38 shows an opening angle APA of a surgical end effector 1500' having a distance DP' between the reference pivot axis PA' and the distal end 2035 of the distal obturator tube portion 2030. Referring now to FIG. 39, as can be seen in this figure, the pivot axis PA and the distal end of the distal obturator section 2030 when the distal obturator section 2030 is in its most proximal starting position. The distance DP from the reference plane RF where 2035 is located is smaller than the distance DP', and the aperture angle APA ₁ is larger than APA. For example, in at least one embodiment, the distance DP is approximately 0.090 inches and the aperture angle APA ₁ is approximately 22°. Therefore, by moving the pivot axis PA closer to the distal end of the distal obturator tube section when the distal obturator tube section is in its most proximal starting position, the jaw The aperture can be made significantly larger. This may represent a significant improvement compared to other surgical end effector configurations. In various situations, the center of the anvil trunnion 1822 will be between 0.010 and 0.060 inches from the distal end 2035 of the distal obturator tube section 2030 when the distal obturator tube section is in the starting (most proximal) position. It can be ideally placed between The maximum distance for large jaw opening applications may be, for example, 0.090 inches. As also seen in FIG. 39, when the anvil 1810 is in its fully open position as shown, the downwardly extending portion 1832 of the tissue anchor 1830 stops generally at the deck surface 1710 of the staple cartridge. proximal movement of the target tissue during the clamping action is prevented.

40 and 41 illustrate a tissue locking or positioning mechanism 1830 used in one form of surgical end effector 1500. As mentioned above, tissue anchor 1830 includes a downwardly extending portion 1832 and a chamfered portion 1834. Downwardly extending portion 1832 includes a distal edge 1833 terminating in a distal corner 1835. FIG. 40 shows anvil 1810 in its fully open position. The lower surface 1813 of the anvil body 1812 is located at the aperture angle _APA1 . In at least one configuration, the aperture angle APA ₁ is greater than twelve and twenty-five degrees (12.25°) and may be as high as eighteen degrees (18°). Surgical end effector 1500 can further have a proximal opening P _APP1 that can be, for example, about 0.254 inches in at least one configuration when in its fully open position. The proximal opening defines how much tissue can be placed between the proximal portions of the jaws (anvil and cartridge). A large proximal opening may be most effective, for example, when cutting and cinching lung tissue that may be partially inflated when introduced between the anvil and the cartridge. The proximal opening can be measured from the center of the most proximal fastening element pocket or pair of pockets directly perpendicular to the underside or tissue contacting surface of the anvil body.

When the anvil 1810 is in the fully open position as shown in FIG. Proximal movement of the staple is prevented. In at least one embodiment, the upright channel locking portions 1619 extend upwardly from the sidewalls of the elongated channel 1602 to mate with each corresponding tissue locking portion 1830 such that the tissue locking portions 1830 and the channels Tissue can be further prevented from entering proximally between the locking portion 1619 and the locking portion 1619. FIG. 41 shows anvil 1810 in a fully closed position. When in that position, the distal edge 1833 of the tissue anchor 1830 is generally aligned or coincident with the position of the most proximal staple/fastener element within the staple/fastener cartridge 1700. The distance from the articulation axis AA ₁ to the most proximal staple/fastener element is specified as T _SD1 . In one configuration, T _SD1 is, for example, approximately 1.044 inches. When the anvil 1810 is fully closed, the tissue anchor 1830 is sized and shaped relative to the proximal end portion 1610 of the elongated channel 1602 to facilitate easy insertion through a standard trocar of corresponding size. It can be done. In at least one example, tissue anchoring portion 1830 of anvil 1810 is sized and shaped relative to elongated channel 1602 such that surgical end effector 1500 can be inserted through a conventional 12 mm trocar.

42 and 43 illustrate a tissue locking mechanism 3830 used in one form of surgical end effector 3500. As mentioned above, tissue anchor 3830 includes a downwardly extending portion 3832 and a chamfered portion 3834. Downwardly extending portion 3832 includes a distal edge 3833 terminating in a distal corner 3835. FIG. 42 shows anvil 3810 in a fully open position. The lower surface 3813 of the anvil body 3812 is located at the aperture angle _APA2 . In at least one configuration, the aperture angle APA ₂ is approximately thirteen and one-half degrees (13.5°). Surgical end effector 3500 can further have a proximal opening P _APP2 that can be, for example, about 0.242 inches in at least one configuration when in its fully open position. When the anvil 3810 is in the fully open position as shown in FIG. proximal movement of the staple/fastener element is prevented. FIG. 43 shows anvil 3810 in a fully closed position. When in that position, the distal edge 3833 of the tissue lock 3830 is generally aligned or coincident with the position of the most proximal staple/fastener element within the staple/fastener cartridge 3700. The distance from the articulation axis _AA2 to the most proximal staple/fastener element is specified as _TSD2 . In one configuration, T _SD2 is, for example, approximately 1.318 inches.

44 and 45 illustrate a tissue locking mechanism 5830 used in one form of surgical end effector 5500. As mentioned above, tissue locking portion 5830 includes a downwardly extending portion 5832 and a chamfered portion 5834. Downwardly extending portion 5832 includes a distal edge 5833 terminating in a distal corner 5835. FIG. 44 shows anvil 5810 in its fully open position. The lower surface 5813 of the anvil body 5812 is located at an aperture angle APA ₃ . In at least one configuration, the aperture angle APA ₃ is approximately eight degrees (8°). Surgical end effector 5500 can further have a proximal opening P _APP3 that can be, for example, about 0.226 inches in at least one configuration when in its fully open position. When the anvil 5810 is in the fully open position as shown in FIG. 44, the distal corner 3835 extends slightly above the deck surface 5710 of the cartridge. FIG. 45 shows anvil 5810 in a fully closed position. When in that position, the distal edge 5833 of the tissue anchor 5830 is generally aligned or coincident with the position of the most proximal staple/fastener element within the staple/fastener cartridge 5700. The distance from the articulation axis _AA3 to the most proximal staple/fastener element is specified as _TSD3 . In one configuration, T _SD3 is, for example, approximately 1.664 inches.

46 and 47 illustrate a tissue locking mechanism 7830 used in one form of surgical end effector 7500. As mentioned above, tissue anchor 7830 includes a downwardly extending portion 7832 and a chamfered portion 7834. Downwardly extending portion 7832 includes a distal edge 7833 terminating in a distal corner 7835. FIG. 46 shows anvil 7810 in its fully open position. The lower surface 7813 of the anvil body portion 7812 is located at an aperture angle APA ₄ . In at least one configuration, the aperture angle APA ₄ is approximately ten degrees (10°). Surgical end effector 7500 can further have a proximal opening P _APP4 that can be, for example, about 0.188 inches in at least one configuration when in its fully open position. When the anvil 7810 is in the fully open position as shown in FIG. Proximal movement of the most proximal staple/fastening element is prevented. FIG. 47 shows anvil 7810 in a fully closed position. When in that position, the distal edge 7833 of the tissue anchor 7830 is generally aligned or coincident with the position of the most proximal staple/fastener element within the staple/fastener cartridge 7700. The distance from the articulation axis _AA4 to the most proximal staple/fastener element is specified as _TSD4 . In one configuration, T _SD4 is, for example, approximately 1.686 inches.

In various situations, the relationship of the firing member to the articulation axis AA, as well as the relationship to the jaw pivot axis PA about which the anvil pivots, may be influenced by the length of the articulation joint mechanism. Of course, longer articulation joint mechanisms can adversely affect the maneuverability of the end effector in tight spaces and limit the size of the jaw opening that can ultimately be obtained with the end effector. FIG. 48 shows surgical end effector 1500 in a fully open position. That is, anvil 1810 has been pivoted to its fully open position and firing member 2140 is in its home or starting position. The distance between the distal end of each anvil engagement mechanism 2147 and articulation axis AA ₁ is represented by AJD ₁ . In at least one example, AJD ₁ is approximately 0.517 inches. Referring to FIG. 49 for comparison, the distance AJD ₂ between each distal end of anvil engagement mechanism 4147 and articulation axis AA ₂ is approximately 0.744 inches in at least one example. Referring to FIG. 50, the distance AJD ₃ between the distal end of each of the anvil engagement mechanisms 6147 and the articulation axis AA ₃ is approximately 1.045 inches in at least one example. Referring to FIG. 51, the distance AJD ₄ between the distal end of each anvil engagement mechanism 8147 and articulation axis AA ₄ is approximately 1.096 inches in at least one example. Therefore, as can be seen from this comparison, the articulating joint mechanism (as measured by distances AJD ₁ , AJD ₂ , AJD ₃ , AJD ₄ ) of surgical end effector 1500 is more compact than surgical end effectors 3500 , 5500 , and 7500 . and therefore easier to manipulate in at least some surgical applications.

Another factor that can affect the length of the coupling mechanism relates to the position of the firing member relative to the anvil pivot axis PA about which the anvil pivots. For example, FIG. 52 shows anvil 1810 of surgical end effector 1500 in its fully open position. When in that position, the firing member 2140 is in its rest or "starting position." As can be seen from this figure, one useful measure for comparing the "compactness" of articulating joint mechanisms is that between the respective proximal ends 2149 of the upper anvil engagement mechanisms 2147 and the anvil pivot axis PA ₁ The proximal tab distance TD is ₁ . In at least one preferred configuration, when the anvil 1810 is in the fully open position and the firing member 2140 is in its most proximal or starting position, the proximal tab distance TD ₁ is equal to the respective overall length TL ₁ of the anvil engagement mechanism 2147 greater than approximately thirty-five percent (35%) of Stated another way, when anvil 1810 and firing member 2140 are in the positions described above, at least 35% of each of anvil engagement features 2147 extend proximally beyond anvil pivot axis _PA1 . do. FIG. 53 shows end effector 1500 with anvil 1810 in a closed position and firing member 2140 in its most proximal or starting position. As can be seen from this figure, at least 35% of each of the anvil engagement features 2147 extend proximally beyond the anvil pivot axis PA1.

FIG. 54 shows the position of the firing member 4140 of the surgical end effector 3500 when the anvil 3810 is in its fully open position and the firing member 4140 is in its most proximal or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 4147 is completely distal to the anvil pivot axis PA ₂ , resulting in a longer articulating joint mechanism. Therefore, distance TD ₂ is the distal distance between proximal end 4149 of anvil engagement mechanism 4147 and anvil pivot axis PA ₂ . FIG. 55 shows the position of firing member 6140 of surgical end effector 5500 with anvil 5810 in its fully open position and firing member 6140 in its most proximal or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 6147 is fully distal to the anvil pivot axis PA ₃ , thereby providing a longer articulation mechanism. Therefore, distance TD ₃ is the distal distance between proximal end 6149 of anvil engagement mechanism 6147 and anvil pivot axis PA ₃ . FIG. 56 shows the position of firing member 8140 of surgical end effector 7500 when anvil 7810 is in its fully open position and firing member 8140 is in its most proximal or starting position. As can be seen from this figure, each of the anvil engagement mechanisms 8147 is completely distal to the anvil pivot axis PA ₄ , resulting in a longer articulation mechanism. Therefore, distance TD ₄ is the distal distance between proximal end 8149 of anvil engagement mechanism 8147 and anvil pivot axis PA ₄ . For comparison purposes, the surgical end effector 1500 is configured such that a portion of the anvil engagement mechanism on the firing member extends proximally beyond the anvil pivot axis when the firing member is in its most proximal or starting position. It is the only surgical end effector that extends. The anvil engagement mechanism of each of the firing members of surgical end effectors 3500, 5500 and 7500 is fully distal to the respective anvil pivot axis when the firing members are in their most proximal or starting position. be. Continuing this comparison, for example, surgical end effector 1500 provides at least thirty-five percent (35%) of the anvil engagement mechanism when the firing member is in its starting position and the anvil is fully open. It is the only surgical end effector that exists between the pivot and articulation axes. A similar comparison can be made by comparing the same distance between the position of the lower channel engagement feature on the firing member and the jaw pivot axis when the firing member is in its most proximal starting position.

Another measure that can be used to evaluate the compactness of an articulating joint mechanism is the distance from the articulation axis to the distal edge of the tissue anchor or the most proximal staple/fastener element for each end effector. TSD ₁ , TSD ₂ , TSD ₃ , TSD ₄ - Distance AJD ₁ , AJD from the articulation axis to the distal end of the anvil engagement mechanism on the firing member with respect to FIGS. 41, 43, 45, 47) ₂ , AJD ₃ and AJD ₄ (FIGS. 48 to 51) may be compared. For example, in a preferred configuration, AJD/TSD<0.500. The AJD/TSD ratio may also be referred to herein as the "compactness ratio" for that particular surgical end effector. For example, in one configuration of end effector 1500, AJD ₁ /TSD ₁ = 0.517 inches/1.044 inches = 0.495. In the illustrated example of end effector 3500, AJD ₂ /TSD ₂ = 0.744 inches/1.318 inches = 0.564. In the illustrated example of end effector 5500, AJD ₃ /TSD ₃ = 1.045 inches/1.664 inches = 0.628. In one illustrated configuration, AJD ₄ /TSD ₄ = 1.096 inches/1.686 inches = 0.650. Therefore, in at least one preferred configuration in which the articulation joint mechanism is the most compact, has the largest jaw opening, and is most maneuverable, the distance from the articulation axis to the proximal end of the anvil engagement mechanism on the firing member and the distance from the articulation axis to the distal edge of the tissue anchor or the most proximal staple/fastening element is approximately less than 0.500.

57-61 illustrate a progressive closure mechanism for moving anvil 1810 of surgical end effector 1500 from a fully open position to a closed position to an overclosed position. 57 and 58 show anvil 1810 in the closed position. In both of these figures, the distal closure tube portion 2030 has been advanced in the distal direction DD to its fully closed position. As discussed above, the interaction of the inner cam surface 2036 of the distal closure tube portion 2030 and the anvil cam surface 1821 of the anvil attachment portion 1820 pivots the anvil 1810 to the closed position. As seen in FIG. 58, the staple-forming lower or tissue contacting surface 1813 of the anvil body 1812 can be relatively parallel and spaced apart from the cartridge deck surface 1710 of the surgical staple/fastener cartridge. When in its initial closed position, firing member 2140 is in its starting position as seen in FIG. In that position, anvil engagement feature 2147 of firing member 2140 is not engaged with anvil 1810 but is generally horizontally aligned with ledge 1816 formed on anvil 1810. In at least one configuration, a sloped portion 1829 is formed proximal to each horizontal anvil ledge 1816. 59 shows the position of firing member 2140 after anvil engagement mechanism 2147 has been advanced distally to the point where it first engages horizontal anvil shelf 1816 of anvil 1810, and FIG. a position of firing member 2140 and anvil 1810 such that the engagement mechanism is in full engagement with anvil ledge 1816 and exerts an "over-closing" force on anvil 1810 as firing member 2140 continues to advance distally; It shows. For example, in at least one configuration as shown in FIG. 61, when anvil 1810 is in the closed position (with no tissue clamped between the anvil and the cartridge), the distal portion of anvil 1810 is connected to the cartridge deck. Contact surface 1710. As a result of such a configuration, the force required to advance the firing member distally within the end effector from its starting position to its ending position is less than that required for other surgical ends that do not utilize such progressive closure mechanisms. It can generally be smaller than the effector configuration.

FIG. 62 shows anvil 1810 of surgical end effector 1500 in a fully open position. As mentioned above, each of the anvil trunnions 1822 is received within a corresponding trunnion cradle 1614 formed in the upright wall 1612 of the proximal end portion 1610 of the elongated channel 1602. Anvil trunnions 1822 are pivotally retained within their respective trunnion cradles 1614 by channel caps or anvil retainers 1630. The channel cap 1630 includes a pair of attachment projections 1636 configured to be retained and received within a corresponding projection groove or notch 1616 formed in the upright wall 1612 of the proximal end portion 1610 of the elongate channel 1602. Contains. During part of the closing stroke of the anvil 1810 against thick tissue, the reaction force established during the tissue clamping process tends to push the anvil trunnions 1822 out of their respective trunnion cradles 1614. Channel cap 1630 includes a pair of slot cap portions 1632 corresponding to each trunnion cradle 1614. When channel caps 1630 are placed over proximal end portions 1610 of elongated channels 1602, each slot cap portion 1632 functions to retain anvil trunnion 1822 within its respective trunnion cradle 1614 during the closure process. As seen in FIGS. 62 and 63, each slot cap portion 1632 may have an arcuate bottom 1638 configured to pivotally receive a corresponding anvil trunnion 1822. As seen in FIGS. Each slot cap 1632 may have a wedge shape that completely blocks the open end of the trunnion cradle 1614. Such a channel cap feature 1630 can facilitate ease of assembly of the anvil 1810 into the elongated channel 1602. After anvil trunnions 1822 are placed within their respective trunnion cradles 1614, channel caps 1630 can be installed as shown. In at least one configuration, the distal closure tube portion 2030 is channeled into a position that functions to prevent vertical movement of the anvil trunnions 1822 within their respective trunnion cradles 1614 during closure as shown in FIG. It has a function of holding the cap 1630. In other configurations, the attachment projections 1636 may be frictionally retained within their respective notches 1616 or may be retained within the notches by adhesive or other fastening means.

The four interchangeable tool assemblies 1000, 3000, 5000 and 7000 use different jaw opening configurations to facilitate movement of the anvil from a closed position to a fully open position. For example, the distal closure tube section 4030 of the replaceable tool assembly 3000 includes a positive jaw or anvil opening mechanism 4040 that corresponds to and projects inwardly from each sidewall of the distal closure tube section 4030. A positive anvil opening mechanism 4040 extends inwardly through a corresponding opening in the transition sidewall and can be welded to the distal closure tube section 4030. In this configuration, the positive anvil opening features are axially aligned with each other and configured to operably interconnect with corresponding opening ramps formed on the underside of the anvil attachment portion 3820. When anvil 3810 and distal closure tube portion 4030 are in their fully closed positions, each of the positive anvil opening mechanisms 4040 is located within a cavity established between the anvil opening ramp and the bottom of elongated channel 3602. To position. When in that position, the positive anvil opening mechanism 4040 may not contact the anvil attachment portion 3820, or at least not apply a significant opening movement or force to the anvil attachment portion. As the distal closure tube portion 4030 is moved proximally, the anvil opening mechanism 4040 contacts the anvil opening ramp and pivots the anvil 3810 to the open position. Further details regarding the positive anvil opening mechanism 4040 can be found in U.S. patent application Ser. I can put it out.

With respect to the surgical end effector 5500 of the tool assembly 5000, the distal closure tube section 6030 includes two inwardly extending positive anvil opening tabs 6038 that can be punched into the wall of the distal closure tube section 6030. Please refer to FIG. 21. In the illustrated configuration, tabs 6038 are axially aligned with each other and configured to contact corresponding upright anvil tails 5827 formed on anvil attachment portion 5820. As distal closure tube portion 6030 is moved proximally, anvil opening mechanism 6038 contacts anvil tail 5827 and pivots anvil 5810 to the open position.

With respect to surgical end effector 7500 of tool assembly 7000, a positive anvil opening motion is applied to anvil 7810 by distal obturator tube portion 8030 as distal obturator tube portion 8030 is moved proximally. As mentioned above, an upright anvil tab 7824 is formed on the anvil attachment portion 7820 and extends into a horseshoe opening 8038 in the distal obturator tube portion 8030. Please refer to FIG. 24. Opening 8038 defines an open tab 8039 configured to operably interconnect with anvil tab 7824 upon distal retraction of distal closure tube portion 8030. Such interaction between opening tab 8039 and anvil tab 7824 applies an opening motion to anvil 7810, thereby moving anvil 7810 to the open position.

With respect to the surgical end effector 1500 of the exchangeable tool assembly 1000, in the illustrated example, the distal obturator tube portion 2030 has two axially offset proximal and Distal positive jaw opening mechanisms 2040 and 2050 are used. As seen in FIGS. 64 and 65, the proximal positive jaw opening mechanism 2040 is axially proximal to the distal positive jaw opening mechanism 2050 by an axial offset distance AOF. In FIG. 65, the proximal positive jaw opening mechanism 2040 is located on the right side (as viewed from the user of the tool assembly) of the shaft axis _SA1 . 66, 72 and 73 illustrate the position of the proximal positive jaw opening mechanism 2040 when the anvil 1810 is in the closed position. When in that position, the proximal positive jaw opening mechanism 2040 is within the right or first relief region 1825 formed in the anvil attachment portion 1820, as seen in most detail in FIG. 69, 72 and 73 illustrate the position of the distal positive jaw opening mechanism 2050 when the anvil 1810 is in the closed position. When in that position, the distal positive jaw opening mechanism is in contact with the stepped portion 1823 of the anvil cam surface 1821, as seen in most detail in FIG.

To begin the opening process, the jaw closure system is actuated to move the distal closure tube portion 2030 in the proximal direction PD. As the distal obturator tube portion 2030 is moved in the proximal direction PD, the proximal positive jaw opening mechanism 2040 contacts the first or right jaw opening camming surface 1826 and forces the jaw onto the anvil 1810. Start adding opening movements. Please refer to FIGS. 67, 74 and 75. As seen in FIGS. 70, 74, and 75, during such proximal movement of the distal obturator tube portion 2030, the distal positive jaw opening mechanism 2050 closes the anvil attachment portion 1820. The second or left relaxation region 1840 is axially movable within a second or left relaxation region 1840. Thus, while the proximal positive jaw opening mechanism 2040 applies a first or initial opening motion to the anvil attachment portion 1820, the distal positive jaw opening mechanism 2050 applies a first or initial opening motion to the anvil attachment portion 1820. No significant opening motion was applied to 1810. Further proximal movement of the distal closure tube portion 2030 causes the distal positive jaw opening mechanism 2050 to contact the left anvil opening tab 1842 and the proximal positive jaw opening mechanism 2040 to open the jaws. cam surface 1826. Thus, the proximal positive jaw opening mechanism 2040 is disengaged from the anvil attachment portion 1820 and is not applying any further opening movement to the anvil attachment portion, whereas the distal positive jaw opening mechanism 2050 is , applies a second jaw opening motion to the anvil mount 1820 to pivot the anvil 1810 to the fully open position shown in FIGS. 68, 71, 76, and 77.

FIG. 78 is a graphical representation of the anvil or jaw opening process used with the replaceable tool assembly 1000. As can be seen from this figure, the left axis or vertical axis of the graph represents the amount of jaw opening from approximately 0° to approximately 22° (the "anvil opening angle"), and the lower or horizontal axis represents the amount of jaw opening from approximately 0° to approximately 22° (the "anvil opening angle"); Represents the approximate proximal axial movement of the distal obturator tube portion 2030 from the closed position to the fully open anvil position. As stated above, the "anvil opening angle" or "jaw opening angle" refers to the cartridge deck surface or tissue contacting surface of a surgical fastening element cartridge, or the fastening element molding surface of an anvil or "second jaw" or can represent the angle between the tissue contact surface and the tissue contact surface. When the anvil is completely closed, the anvil opening angle may be approximately 0°, for example. In the illustrated configuration, the distal closure tube portion 2030 extends proximally from the first position (1850 on the graph) corresponding to the fully closed position, e.g., by a proximal distance of about 0.040 inches. , the proximal positive jaw opening mechanism 2040 can move to a first intermediate position (1852 on the graph) before beginning to apply a first jaw opening motion to the anvil 1810. The distal obturator tube portion 2030 extends proximally from the first intermediate position 1852 to the second intermediate position (1854 on the graph), such as from about 0.040 inch to about 0.120 inch further proximally. Upon continued movement a distance of , the proximal positive jaw opening mechanism 2040 moves the anvil 1810 through an anvil opening angle of 0° to about 10°. The distal obturator tube portion 2030 is moved an additional proximal distance (about 0.120 inch to about 0.140 inch) from the second intermediate position 1854 to the third intermediate position (1856 on the graph). During continued movement in the vertical direction, the anvil remains at an anvil opening angle of approximately 10°. The distal obturator tube portion 2030 moves a proximal distance (about 0.140 inch to about 0.240 inch) further proximally from the third intermediate position 1856 to the fourth intermediate position (1858 on the graph). Upon movement in the direction, the distal positive jaw opening mechanism 2050 begins to apply a second jaw opening motion to the anvil 1810. The distal obturator tube portion 2030 moves from the third intermediate position 1856 to the fourth intermediate position (1858 on the graph) an additional proximal distance (eg, about 0.140 inch to about 0.240 inch). As the distal positive jaw opening mechanism 2050 moves the anvil 1810 relative to the elongated channel 1602, the anvil opening angle increases, for example from about 10° to about 22°. The distal obturator section 2030 moves an additional proximal distance (eg, about 0.240 inch to about 0.260 inch) from the fourth intermediate position 1858 to the final proximal position (1860 on the graph). During the continued movement, anvil 1810 remains in a fully open position with an anvil opening angle of approximately 22 degrees.

The closing process of the illustrated example of the replaceable tool assembly 1000 can be understood with reference to FIGS. 67-69 and 70-72, and FIG. 78. 68 and 71 show anvil 1810 in its fully open position. As seen in these figures, the proximal positive jaw opening mechanism 2040 is not in contact with the anvil attachment portion 1820 and the distal positive jaw opening mechanism 2050 is in contact with the left anvil opening tab 1842. ing. Once the anvil closure process is initiated, the closure drive system is activated to move the distal closure tube portion 2030 in the distal direction DD. As the distal obturator tube portion moves from the final proximal position 1860 to the fourth intermediate position 1858 (FIG. 78), the anvil 1810 remains in its fully open position. Thus, once the closure process is initiated, in at least one example, the distal closure tube portion 2030 moves distally a first or initial predetermined axial closure distance before the anvil 1810 begins to move. can move to. Stated another way, the distal closure tube portion can move a first predetermined axial closure distance before any closure movement is applied to the anvil 1810. In at least one example, the first or initial predetermined closure distance may be about 0.020 inches. As distal closure tube section 2030 continues to move distally an intermediate axial closure distance, distal end 2035 of distal closure tube section 2030 causes internal camming surface 2036 of distal closure tube section 2030 to move distally. The anvil mounting portion 1820 begins to make cam contact with the anvil cam surface 1821 until it begins to make cam contact with the anvil cam surface 1821 (FIGS. 67 and 70). As inner cam surface 2036 moves over anvil cam surface 1821, anvil 1810 pivots to a fully closed position. Anvil cam surface 1821 and internal cam surface 2036 are configured to permit further distal movement of distal closure tube portion 2030, e.g., from a first intermediate point or position 1852 to first position 1850. (Figure 78). Thus, in at least one example, distal closure tube portion 2030 moves distally a final predetermined axial closure distance during the closure process after anvil 1810 reaches its fully closed position. Can be done. In at least one example, the final predetermined axial closure distance may be approximately 0.040 inches.

Surgical stapling devices employing firing member assemblies that include a firing member having a tissue cutting surface are designed to prevent inadvertent advancement of the firing member unless an unused staple cartridge is properly supported within the end effector. It may be desirable to configure portions of the firing system and end effector in a manner that is consistent with the firing system and end effector. For example, if no staple cartridge is present and the firing member is advanced distally through the end effector, tissue will be cut but not stapled. Similarly, if a spent staple cartridge (i.e., a staple cartridge in which at least some of the staples have already been fired) is present in the end effector and the firing member is advanced, tissue will be severed but The stapling may be done, but not completely. It will become clear that the occurrence of such a phenomenon can lead to undesired catastrophic results during a surgical procedure. U.S. Patent No. 6,988,649, title of the invention "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT", U.S. Patent No. 7,044,352, title of the invention "SURGICAL STAPLING INSTRU" MENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING” , No. 7,380,695, title of invention "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISMS FOR PREVENTION OF FIRING", U.S. Patent Application Publication No. 2016-0367 No. 247-A1, title of invention “SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING” and U.S. patent application Ser. No. 15/385,958, entitled “SURGICAL INSTRUMENTS WI TH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT” Each discloses a variety of firing member lockout mechanisms. Each of these references is incorporated herein by reference in its entirety.

60A-60I, a surgical end effector 9010 is shown forming part of a surgical tool assembly 9000 that includes a first jaw 9020 and a second jaw 9120. In the illustrated configuration, for example, first jaw 9020 includes an elongate channel 9022 configured to removably and operably support surgical staple cartridge 9600 therein. Elongated channel 9022 is attached to elongated shaft assembly 9300 of the surgical tool assembly. In the configuration shown in FIGS. 60C and 60D, for example, elongated channel 9022 is pivotally coupled to spine assembly 9310 of elongated shaft assembly 9300 for selective articulation relative to the elongated shaft assembly. See Figures 60D, 60E, 60H and 60I. Elongated shaft assembly 9300 can define a shaft axis SA. Second jaw 9120 includes an anvil 9122 movably supported on elongate channel 9022 and movable between open and closed positions by closure system 9400. Anvil 9122 includes an anvil body 9124 and an anvil attachment portion 9126 that is pivotally supported for pivotal movement relative to proximal end 9024 of elongated channel 9022. Closure system 9400 is configured, for example, to cam engage camming surface 9128 on anvil attachment portion 9126 as distal closure tube portion 9410 is axially advanced in distal direction DD. A distal obturator tube portion 9410 may also be included. Distal obturator tube portion 9410 may also be configured to apply an opening motion to anvil attachment portion 9126 as distal obturator tube portion 9410 is moved in the proximal direction PD. See Figures 60C and 60D.

The surgical tool assembly 9000 further includes a firing system 9500, in the illustrated configuration, a firing member configured to receive firing motion from a firing control system supported within a housing of, for example, a hand-held control system or a robotic control system. Assembly 9510 is included. In the illustrated embodiment, one form of firing member assembly 9510 includes a first firing member element 9520 comprising a firing member body 9522 supporting a tissue cutting surface or blade 9524. Firing member body 9522 is coupled to a firing bar or knife bar 9530 that is operably interconnected with a corresponding portion of firing system 9500 to receive firing motion from a firing control system. Firing member body 9522 includes a second jaw or anvil engager that can include a laterally extending tab element configured to be received within a corresponding second jaw passageway or slot 9125 of anvil body 9124. A coupling mechanism 9526 can be included. Additionally, the firing member body 9522 further includes a first jaw or channel engagement mechanism or foot 9528 configured to be received within a corresponding first jaw passageway or slot or opening 9023 of the elongated channel 9022. can be included.

Staple cartridge assembly 9600 includes a cartridge body 9602. See Figures 60H and 60I. Cartridge body 9602 includes a proximal end 9604, a distal end (not shown), and a deck 9606 extending between the proximal and distal ends. In use, staple cartridge 9600 is placed on a first side of the tissue to be stapled and anvil 9122 is placed on a second side of the tissue. Anvil 9122 moves toward staple cartridge 9600 to compress and clamp tissue against deck 9606. The staples or fastening elements removably stored in the cartridge body 9602 can then be deployed into tissue. Cartridge body 9602 includes a staple or fastener element cavity (not shown) defined therein, and a staple or fastener element (not shown) is removably stored within the staple cavity. Each staple cavity can be arranged in a longitudinal row. In one configuration, three rows of staple cavities are disposed on a first side of the longitudinal slot and three rows of staple cavities are disposed on a second side of the longitudinal slot. The longitudinal slot is configured to axially receive the first firing member element 9520 therethrough. Other configurations of staple/fastening element cavities and staples or fastening elements may also be possible.

The staple or fastening element is supported by a staple driver (not shown) that is movably supported within the cartridge body 9602. The driver is movable between a first position, an unfired position, and a second position, ejecting the staple or fastening element from the cavity, a firing position. The driver is inserted into the cartridge body 9602 by a retainer (not shown) that extends around the bottom of the cartridge body 9602 and includes a resilient member configured to grip the cartridge body and hold the retainer relative to the cartridge body. is maintained. The drivers can be moved between their unfired position and their fired position by the sled 9610. The sled 9610 is movable between a proximal or "unfired" position adjacent the proximal end 9604 and a distal or "fired" position (post-fired) adjacent the distal end. . As seen in FIG. 60G, the sled 9610 includes a plurality of ramps or cams configured to slide beneath the driver and lift the driver and staples or fastening elements supported thereon toward the anvil. Includes surface 9620. "Unfired," "unused," "new," or "new" staple cartridge 9600 means herein that all staples or fastening elements of staple cartridge 9600 are in the "ready to fire position." do. When in that position, sled assembly 9610 is in its starting or "unfired" position. A new staple cartridge 9600 can be placed within the elongated channel 9022 and retained within the elongated channel by a snap element in the cartridge body 9602 that is configured to retentively engage a corresponding portion of the elongated channel 9022. 60G and 60H illustrate a portion of a surgical end effector 9010 with a new or unfired surgical staple cartridge 9600 placed therein. As seen in FIGS. 60G and 60H, sled 9610 is in an unfired position. More precisely, the first firing member element prevents the firing system 9500 from being activated if an unfired or new surgical staple cartridge 9600 is not properly placed within the elongated channel 9022. To prevent 9520 from being driven distally through surgical end effector 9010, the illustrated surgical tool assembly 9000 employs a firing member lockout system, generally designated as 9700.

60E and 60F, in one form, the firing member lockout system 9700 includes a second firing member element or tilting element 9710 that includes a thread engagement portion 9720. In the illustrated configuration, the second firing member element 9710 is pivotably received within a corresponding pivot hole 9523 in the firing member body 9522 in a direction transverse to the shaft axis SA. is pivotally coupled to the firing member body 9522 by a mounting joint 9713 in the form of one or more pivot members 9714 that pivot about a pivot axis PA. Such a configuration facilitates pivotal movement of the second firing member element 9710 relative to the firing member body 9522 between a locked position (FIG. 60E) and an unlocked position (FIG. 60F). In the illustrated example, firing member body 9522 includes a distal surface 9525 that is generally perpendicular to channel engagement feature 9528 and a lockout surface 9527 that is sloped relative to distal surface 9525. Additionally, one or more support ramps 9529 are formed in the firing member body 9522 that function to define a corresponding landing surface 9531 for receiving the second firing member element 9710 when in the locked configuration. See Figure 60E.

As seen in FIG. 60F, when the second firing member element 9710 is in the unlocked position, there is a A space generally designated as 9724 is given. Thus, when in the unlocked position, the proximal surface 9722 of the second firing member element 9710 is not in contact with the distal surface 9525 of the firing member body 9522. 60A-60D, the second firing member element 9710 engages a corresponding lockout notch 9026 formed in the elongated channel 9022 when the second firing member element 9710 is in the locked position. The lockout engagement portion 9730 further includes at least one lockout engagement portion 9730 including an angled locking end 9732 configured to. In one embodiment, for example, second firing member element 9710 includes two lockout engagement portions 9730. Also seen in FIGS. 60A-60D, a lockout spring or biasing member 9740 is attached to the proximal end 9024 of the elongate channel 9022 and includes two spring arms 9742, each corresponding to a lockout engagement portion 9730. I'm here. As shown in FIGS. 60B-60D, spring arm 9742 functions to bias second firing member element 9710 to the locked position.

Referring now to FIGS. 60G-60I, sled 9610 has an unlocking portion configured to engage a sled-engaging portion 9720 of second firing member element 9710 when sled 9610 is in an unfired position. Contains 9630. Such a configuration serves to pivot the second firing member element 9710 to the unlocked position. When in the unlocked position, the angled locking end 9732 of each lockout engagement portion 9730 pivots out of the corresponding lockout notch 9026 in the elongated channel 9022 to fire or fire the firing member assembly 9510 through the staple cartridge. It can be advanced distally. If the staple cartridge loaded within elongated channel 9022 has been fired or partially fired, sled 9610 is not in the unfired position and pivots second firing member element 9710 to the unlocked position. make it move. In such a case, the clinician will be unable to distally advance or fire the firing member assembly 9510. When in the unlocked position, actuation of firing system 9500 causes firing member assembly 9510 to move in a distal direction. As mentioned above, when the firing member assembly 9510 is driven distally, the second firing member element 9710 is in contact with the firing member body 9522 via the pivot member 9714. However, when the second firing member element 9710 is pivoted to the locked position (FIG. 60E), a portion of the proximal surface 9722 abuts the angled lockout surface 9527 of the firing member body 9522. Further, as seen in most detail in FIGS. 60E and 60F, the pivot holes 9523 in the firing member body 9522 are sized to provide a clearance C therebetween relative to the corresponding pivot member 9714. As such, the load is transferred directly to the firing member body 9522 through the second firing member element and not through the pivot member 9714. As seen in FIG. 60E, angled lockout surface 9527 facilitates pivoting movement of thread engaging portion 9720 to the locked position. If the clinician inadvertently applies a firing motion FM to the firing member assembly 9510 in the distal direction DD while the second firing member element 9720 is in the locked position, the second firing member element 9720 and the elongated Engagement of the channel 9022 with the lockout notch 9026 prevents distal advancement of the firing member assembly 9510 and applies a resulting unlocking load force UL to the second firing member element 9720. This unlocking load force UL is applied to the angled lockout surface 9527 of the firing member body 9522 and not to the pivot member 9714. Such a configuration prevents loads or stresses on the pivot member 9714 if a clinician inadvertently attempts to advance the firing member assembly 9510 when in the locked position. Accordingly, this configuration can prevent pivot member 9714 from shearing when firing member assembly 9510 is attempted to be so advanced.

As such, the firing member assembly 9510 and firing member lockout assembly 9700 described above may provide several advantages. For example, as discussed above, the distal surface 9525 of the firing member body 9522 receives a load during firing, such that the load causes the pivot member that attaches the second firing member element 9710 to the first firing member element 9520 to prevent it from being transmitted to When in the lockout or locked position, the load is taken by the angled locking end 9732 of the lockout engagement portion 9730. Such a configuration also eliminates the need for vertical movement of the firing member assembly 9510, or more particularly the first firing member element 9520. Such vertical movement can inadvertently cause misalignment with the anvil and elongated channel when moved to the unlocked state for firing. Further, since the first firing member element 9520 does not move vertically, the anvil engagement mechanism as well as the channel engagement mechanism are advantageously shaped and designed to provide the desired engagement with the anvil and channel during firing. can do. The design and shape of the firing member body can also provide a large surface area for attachment to the knife bar, for example by welding. For example, the distal end of the knife bar can be attached to the firing member body from both sides by butt welding and laser welding to interconnect the laminates to form a knife bar at the distal end. Such weld configurations can be more compact in the longitudinal direction compared to conventional weld configurations and can provide superior joint lengths. Other advantages may also be obtained from the firing member and lockout system configurations described above.

Although many of the surgical instrument systems described herein are operated by electric motors, the surgical instrument systems described herein can be operated in any suitable manner. In various instances, the surgical instrument systems described herein can be operated by, for example, manually operated triggers. In certain examples, the motors disclosed herein may include part of a robot control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. For example, U.S. patent application Ser. some examples are disclosed in more detail.

Although the surgical instrument systems described herein are described in connection with staple deployment and deformation, the embodiments described herein are not so limited. Various embodiments are also envisioned using fastening elements other than staples, such as clamps or tacks. Additionally, various embodiments are envisioned that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. Also, for example, an end effector according to certain embodiments can apply vibrational energy to seal tissue.

Example 1 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a first end effector jaw coupled to an articulation joint coupled to an elongated shaft assembly. the first end effector jaw such that the second end effector jaw selectively pivots relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis; Concatenated. One of the first end effector jaw and the second end effector jaw is configured to operably support therein a surgical fastening element cartridge that includes a most proximal fastening element location. One of the first end effector jaw and the second end effector jaw includes a closure member cam surface configured to come into camming contact with a jaw cam surface of the one of the first effector jaw and the second effector jaw. A movable closure member allows movement between an open position and a fully closed position. The first distance between the articulation axis and the cam contact area of the closure member cam surface and the jaw cam surface divided by the second distance from the articulation axis to the most proximal fastening element location is: It is less than 0.5.

Example 2 - A first distance between the jaw pivot axis and the cam contact area between the closure cam member surface and the jaw cam surface and a second distance from the articulation axis to the proximal fastening element location. The surgical instrument of Example 1, wherein the value divided by is greater than 0.2 and less than 0.5.

Example 3 - The surgical instrument of Example 1 or 2, wherein the cartridge of surgical fastening elements is supported within a first end effector jaw, and the second end effector jaw includes an anvil including a jaw cam surface.

Example 4 - The surgical instrument of Example 1, 2 or 3, wherein the jaw pivot axis is fixed.

Example 5 - The surgical method of Example 3, wherein the anvil includes at least one tissue-locking member that includes a distal tissue contacting surface that corresponds to the most proximal fastening element location when the anvil is in the fully closed position. utensils.

Example 6 - Anvil mount where an anvil includes an anvil body and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening in a jaw cam surface and a first end effector jaw. The surgical instrument of Example 3 or 5, comprising:

Example 7 - The surgical instrument of Example 1, 2, 3, 4, 5, or 6, wherein the closure member includes an axially movable distal closure tube portion that includes a closure member camming surface.

Example 8 - An elongated shaft assembly includes a spine assembly operably coupled to a first end effector jaw and an axially movable far end movably supported for axial movement relative to the spine assembly. and a proximal obturator tube assembly pivotally connected to the proximal obturator tube portion.

Example 9 - The proximal closure tube assembly as described in Example 8, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. Surgical instruments.

Example 10 - The surgical instrument of Example 9, wherein the closure system is supported by a handheld housing.

Example 11 - The surgical instrument of Example 10, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

Example 12 - comprising an elongate shaft assembly defining a shaft axis, the elongate shaft assembly being operable to selectively articulate relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. A surgical instrument further comprising a coupled surgical end effector. The surgical end effector includes an elongated channel coupled to an articulation joint coupled to an elongated shaft assembly. The elongated channel is configured to operably support a surgical fastening element cartridge. The surgical fastening element cartridge includes a most proximal fastening element position. The surgical end effector includes an anvil pivotally coupled to the elongated channel for selective pivoting movement relative to the elongated channel about a fixed anvil pivot axis transverse to the shaft axis. Including further. The anvil is movable between an open position and a fully closed position by an axially movable closure member that includes a closure member camming surface configured to come into camming contact with an anvil camming surface of the anvil. The first distance between the articulation axis and the cam contact area of the closure member cam surface and the cam surface divided by the second distance from the articulation axis to the most proximal fastening element location is: It is less than 0.5.

Example 13 - A first distance between the anvil pivot axis and the cam contact area of the closure member cam surface and the anvil cam surface at a second distance from the articulation axis to the most proximal fastening element location. The surgical instrument of Example 12, wherein the divided value is greater than 0.2 and less than 0.5.

Example 14 - The anvil as described in Example 12 or 13, wherein the anvil comprises at least one tissue-locking member including a distal tissue contacting surface that corresponds to the most proximal fastening element position when the anvil is in the fully closed position. Surgical instruments.

Example 15 - An anvil includes an anvil body and an anvil attachment portion having a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening in an anvil cam surface and an elongated channel. The surgical instrument of Example 12, 13 or 14, comprising:

Example 16 - The surgical instrument of Example 12, 13, 14, or 15, wherein the closure member includes an axially movable distal closure tube portion that includes a closure member camming surface.

Example 17 - The surgical instrument of Example 16, wherein the elongate shaft assembly includes a spine assembly operably coupled to the elongate channel. A proximal obturator tube assembly is movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion.

Example 18 - The proximal closure tube assembly as described in Example 17, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. Surgical instruments.

Example 19 - The surgical instrument of Example 18, further comprising a firing member operably supported to move axially through the surgical fastening element cartridge upon application of an axial firing motion.

Example 20 - A surgical system including a housing operably supporting a closure system therein. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly operably and removably connectable to the housing, such that the proximal closure portion of the elongate shaft assembly receives axial closure movement from the closure system. is configured to receive. The elongated shaft assembly defines a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a first end effector jaw coupled to an articulation joint coupled to an elongated shaft assembly. the first end effector jaw such that the second end effector jaw selectively pivots relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis; Concatenated. One of the first end effector jaw and the second end effector jaw is configured to operably support a surgical fastening element cartridge having a most proximal fastening element position. One of the first end effector jaw and the second end effector jaw is moved between an open position and a fully closed position by an axially movable distal closure member operably coupled to the proximal closure portion of the elongated shaft assembly. It is possible to move between. The distal closure member includes a closure member camming surface configured to come into camming contact with a jaw camming surface of one of the first and second end effector jaws. The first distance between the articulation axis and the cam contact area of the closure member cam surface and the jaw cam surface divided by the second distance from the articulation axis to the most proximal fastening element location is: It is less than 0.5.

Example 21 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector also includes a first end effector jaw coupled to an articulation joint coupled to the elongate shaft assembly. the first end effector jaw such that the second end effector jaw selectively pivots relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis; Concatenated. The surgical instrument includes at least one configured to apply a closing motion to the second end effector jaw as the axially movable firing member is moved from a starting position in the first end effector jaw to an ending position. It further includes an axially movable firing member including one jaw engagement mechanism. The at least one jaw engagement mechanism is configured such that a portion of the at least one jaw engagement mechanism is disposed between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. It is composed of

Example 22 - A portion of at least one jaw engagement mechanism articulates with the jaw pivot axis when the axially movable firing member is in the starting position and the second end effector jaw is in the fully open position 22. The surgical instrument of Example 21, wherein the surgical instrument is disposed between the shaft and the shaft.

Example 23 - As described in Example 21 or 22, wherein at least 35 percent of each jaw engagement mechanism is located between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. surgical instruments.

Example 24 - At least 35% of each jaw engagement mechanism articulates with the jaw pivot axis when the axially movable firing member is in the starting position and the second jaw of the end effector is in the fully open position 23. The surgical instrument of Example 22 between the shaft and the shaft.

Example 25 - Axially movable closure independently movable relative to the axially movable firing member and configured to selectively apply additional closure motion to the second end effector jaw 25. The surgical instrument of Example 21, 22, 23 or 24, further comprising a member.

Example 26 - The surgical instrument of Example 25, wherein the axially movable closure member includes a closure member camming surface configured to come into camming contact with a jaw camming surface of the second end effector jaw.

Example 27 - The surgical instrument of Example 21, 22, 23, 24, 25, or 26, wherein the axially movable firing member includes a tissue cutting surface.

Example 28 - Example 21, wherein the first end effector jaw includes an elongated channel configured to operably support a surgical fastening element cartridge therein, and the second end effector jaw includes an anvil, 28. The surgical instrument according to 22, 23, 24, 25, 26 or 27.

Example 29 - The surgical instrument of Example 21, 22, 23, 24, 25, 26, 27 or 28, wherein the jaw pivot axis is fixed.

Example 30 - A surgical instrument including an elongated shaft assembly defining a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein. The anvil is coupled to the elongated channel for selective pivotal movement relative to the elongated channel about a fixed jaw pivot axis transverse to the shaft axis. The surgical instrument includes at least one anvil engagement mechanism configured to apply a closing motion to the anvil as the axially movable firing member is movable from a starting position to an ending position within the elongated channel. , further including an axially movable firing member. The at least one anvil engagement mechanism is configured such that a portion of the at least one anvil engagement mechanism is disposed between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. It is configured as follows.

Example 31 - A portion of at least one anvil engagement mechanism is between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the anvil is in the fully open position. 31. The surgical instrument of Example 30, wherein the surgical instrument is disposed.

Example 32 - The method of Example 30 or 31, wherein at least 35 percent of each anvil engagement mechanism is located between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. Surgical instruments listed.

Example 33 - Examples 30, 31, or 35, wherein at least 35 percent of each anvil engagement mechanism is located between the fixed jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. 33. The surgical instrument according to item 32.

Example 34 - At least 35% of each anvil engagement mechanism is located between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position and the anvil is in the fully open position The surgical instrument of Example 30.

Example 35 - An implementation further comprising an axially movable closure member that is movable independently relative to the axially movable firing member and configured to selectively apply additional closure motion to the anvil. A surgical instrument according to example 30, 31, 32, 33 or 34.

Example 36 - The surgical instrument of Example 35, wherein the axially movable closure member includes a closure member camming surface configured to come into camming contact with an anvil camming surface of the anvil.

Example 37 - The surgical instrument of Example 30, 31, 32, 33, 34, 35, or 36, wherein the firing member includes a tissue cutting surface.

Example 38 - A firing member includes a firing member body including a tissue cutting surface, and at least one anvil engagement mechanism has a first anvil engagement tab protruding from a first side of an upper portion of the firing member body; and a second anvil-engaging tab projecting from the second side of the top of the firing member body.

Example 39 - The surgical instrument of Example 38, wherein the firing member body extends through a slot in the anvil mounting portion of the anvil when the firing member is in the starting position.

Example 40 - Surgical system including a housing operatively supporting a closure system and a firing system. The closure system and firing system are operable independently of each other. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly operably and removably connectable to the housing, such that the proximal closure portion of the elongate shaft assembly receives axial closure movement from the closure system. and the proximal firing member of the elongated shaft assembly is configured to receive firing motion from the firing system. The elongate shaft assembly defines a shaft axis. A surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein. The anvil is coupled to the elongated channel for selective pivoting movement relative to the elongated channel about a jaw pivot axis transverse to the shaft axis. An axially movable firing member is operably coupled to the proximal firing member to apply a closing motion to the anvil as the axially movable firing member is movable from a starting position to an ending position within the elongated channel. and at least one anvil engagement mechanism configured to. The at least one anvil engagement mechanism is configured such that a portion of the at least one anvil engagement mechanism is disposed between the jaw pivot axis and the articulation axis when the axially movable firing member is in the starting position. It is composed of

Example 41 - The surgical instrument of Example 40, wherein the housing comprises part of a robotic system.

Example 42 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A first end effector jaw is coupled to the elongated shaft assembly, and a second end effector jaw is fully open about a fixed jaw pivot axis that is transverse to and extends through the shaft axis. The first end effector jaw is coupled to the first end effector jaw for selective pivoting movement relative to the first end effector jaw between the position and the fully closed position. The elongated shaft assembly is axially pivoted between a starting position corresponding to a fully open position of the second end effector jaw and an end position corresponding to a fully closed position of the second end effector jaw relative to the first end effector jaw. including a closure member movable in the direction. When the closure member is in the starting position, its distal end lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 0.090 inches.

Example 43 - The surgical instrument of Example 42, wherein the distal end of the closure member lies on the plane when the closure member is in the starting position, and the plane intersects the jaw pivot axis.

Example 44 - The surgical instrument of Example 42 or 43, wherein the distance is within the range of 0.010 to 0.060 inches.

Example 45 - The closure member includes an axially movable distal closure tube portion, the axially movable distal closure tube portion including the axially movable distal closure tube portion from a starting position to an end position. 45. The surgical instrument of Example 42, 43, or 44, including a closing cam surface configured to cam engage a jaw cam surface of the second end effector jaw when movable.

Example 46 - Example 42, wherein the first end effector jaw includes an elongate channel configured to operably support a surgical fastening element cartridge therein, and the second end effector jaw includes an anvil. 46. The surgical instrument according to 43, 44 or 45.

Example 47 - An anvil includes an anvil body and an anvil attachment portion that includes an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening in an elongated channel. The surgical instrument of Example 46, comprising:

Example 48 - The closure member includes an axially movable distal closure tube portion, wherein the axially movable distal closure tube portion moves from a starting position to an end position. 48. The surgical instrument of Example 46 or 47, including a closing cam surface configured to cam into engagement with an anvil cam surface of the anvil when the instrument is movable to the anvil.

Example 49 - An elongate shaft assembly is operably coupled to a spine assembly and an axially movable distal closure tube portion movably supported for axial movement relative to the spine assembly. and a proximal obturator tube assembly pivotally connected to the surgical instrument of Example 48.

Example 50 - The proximal closure tube assembly as described in Example 49, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. Surgical instruments.

Example 51 - The surgical instrument of Example 50, wherein the closure system is supported by a handheld housing.

Example 52 - The surgical instrument of Example 50, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

Example 53 - A surgical instrument including an elongated shaft assembly defining a shaft axis. an elongated channel configured to operably support a surgical fastening element cartridge therein and elongated for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis; operably coupled to the shaft assembly. The anvil is pivotable in the elongated channel for selective pivot movement relative to the elongated channel between a fully open position and a fully closed position about a fixed jaw pivot axis transversely intersecting the shaft axis. is connected to. The elongated shaft assembly includes a closure member that is axially movable between a starting position corresponding to a fully open position of the anvil and an end position corresponding to a fully closed position of the anvil. When the closure member is in the starting position, its distal end lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 0.090 inches.

Example 54 - The surgical instrument of Example 53, wherein the distal end of the closure member lies on the plane when the closure member is in the starting position, and the plane intersects the jaw pivot axis.

Example 55 - The surgical instrument of Example 53 or 54, wherein said distance is within the range of 0.010 to 0.060 inches.

Example 56 - An anvil includes an anvil body and an anvil attachment portion that includes an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening in an elongated channel. The surgical instrument of Example 53, 54 or 55, comprising:

Example 57 - A closure member has a closure cam surface configured to cam engage an anvil cam surface of an anvil as the axially movable distal closure tube portion is movable from a starting position to an end position. 57. The surgical instrument of Example 53, 54, 55, or 56, including an axially movable distal obturator tube portion.

Example 58 - An elongated shaft assembly is operably coupled to a spine assembly and an axially movable distal closure tube portion movably supported for axial movement relative to the spine assembly. and a proximal obturator tube assembly pivotally connected to the surgical instrument of Example 57.

Example 59 - A proximal closure tube assembly is operably interconnected with a closure system supported by a handheld housing and configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. 59. The surgical instrument of Example 58.

Example 60 - The surgical instrument of Example 58, wherein the proximal closure tube assembly operably interconnects with a closure system supported by a housing configured to interconnect with a robotic system. The closure system is configured to selectively apply an axial opening and closing motion to the proximal closure tube assembly.

Example 61 - A surgical system including a housing operably supporting a closure system. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly operably and removably connectable to the housing, such that the proximal closure portion of the elongate shaft assembly receives axial closure movement from the closure system. is configured to receive. The elongated shaft assembly defines a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein. The anvil is coupled to the elongated channel for selective pivoting movement relative to the elongated channel about a jaw pivot axis that is transverse to the shaft axis. The elongated shaft assembly includes a closure member that is axially movable between a starting position corresponding to a fully open position of the anvil and an end position corresponding to a fully closed position of the anvil. When the closure member is in the starting position, its distal end lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 0.090 inches.

Example 62 - A surgical stapling device including an elongated shaft assembly defining a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly by an articulation joint configured to facilitate selective articulation of the surgical end effector about an articulation axis transverse to the shaft axis. Ru. The surgical end effector includes a surgical staple cartridge operably supporting a plurality of surgical staples therein. The anvil is supported for selective pivotal movement relative to the surgical staple cartridge between a fully open position and a closed position. The anvil includes a plurality of staple forming pockets that accommodate surgical staples within the surgical staple cartridge. The surgical stapling device includes at least one member configured to engage the anvil when the anvil is in a closed position while the axially movable firing member is movable from a most proximal position to a most distal position. It further includes an axially movable firing member including one anvil engagement mechanism. The surgical stapling device also reduces the articulation distance between the articulation axis and the distal end of the anvil engagement mechanism of the axially movable firing member when the axially movable firing member is in the most proximal position. It also includes means for increasing the jaw opening distance between a distal-most staple in the surgical staple cartridge and a corresponding one of the staple forming pockets of the anvil while minimizing.

Example 63 - The means for increasing includes a closure member configured to apply a closing motion to the anvil, the closure member having a starting position corresponding to a fully open position of the second end effector jaw and a fully open position of the anvil. 63. The surgical stapling device of Example 62, wherein the surgical stapling device is axially movable between a closed position and a corresponding end position. When the closure member is in the starting position and the axially movable firing member is in the most proximal position, the distal end of the closure member is within a range of 0.4 to 0.9 inches from the distal end of the anvil engagement mechanism. separated distally by a horizontal distance within.

Example 64 - The surgical stapling apparatus of Example 63, wherein the horizontal distance is measured along a horizontal line that is parallel to or coincident with the shaft axis.

Example 65 - Closure member includes a closure cam surface configured to cam engage a cam surface of an anvil when the axially movable distal closure tube portion is movable from a starting position to an end position. 65. The surgical stapling device of Example 62, 63, or 64 including an axially movable distal obturator tube portion.

Example 66 - The surgical method of Example 62, 63, 64, or 65, wherein the surgical fastening element cartridge is removably supported within an elongate channel operably coupled to the elongate shaft assembly by an articulating joint. Stapling device.

Example 67 - An anvil includes an anvil body and an anvil attachment portion that includes an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening in an elongated channel. 67. The surgical stapling device of Example 66, comprising:

Example 68 - An axially movable distal closure in which the elongate shaft assembly includes an axially movable proximal closure tube assembly, and the closure member is operably coupled with the axially movable proximal closure tube assembly. 68. The surgical stapling device of Example 63, 64, 65, 66, or 67, including a tube portion.

Example 69 - An axially movable distal obturator tube portion is configured to cam engage an anvil cam surface of an anvil as the axially movable distal obturator tube portion is movable from a starting position to an end position. 69. The surgical stapling device of Example 68, including a configured closure cam surface.

Example 70 - An elongate shaft assembly includes a spine assembly operably coupled to an elongate channel and movably supporting at least a portion of a proximal closure tube assembly, the proximal closure tube assembly 70. The surgical stapling device of Example 68 or 69, wherein the surgical stapling device is operably interconnected with a closure system configured to selectively apply an axial opening and closing motion to the surgical stapling device.

Example 71 - The surgical stapling device of Example 70, wherein the closure system is supported by a handheld housing.

Example 72 - The surgical stapling apparatus of Example 70, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.

Example 73 - A surgical instrument including an elongated shaft assembly coupled with an elongated channel configured to operably support a surgical fastening element cartridge therein. An anvil is pivotally coupled to the elongate channel for selective pivot movement relative to the elongate channel between a fully open position and a fully closed position about a fixed jaw pivot axis. The closure member is configured to apply a closing motion to the anvil to move the anvil between a fully open position and a fully closed position as the closure member is moved from the starting position to the ending position. The surgical instrument includes at least one member configured to apply a further closing motion to the anvil as the axially movable firing member is movable from a most proximal position to a most distal position within the elongated channel. It further includes an axially movable firing member having an anvil engagement mechanism. When the closure member is in the starting position and the axially movable firing member is in the most proximal position, the distal end of the closure member is distal to the distal end of the anvil engagement mechanism.

Example 74 - When the closure member is in the starting position and the axially movable firing member is in the most proximal position, the distal end of the closure member is 0.4 to 0.4 inches from the distal end of the anvil engagement mechanism. The surgical instrument of Example 73, wherein the surgical instruments are distally spaced apart by a horizontal distance within a range of 9 inches.

Example 75 - The surgical instrument of Example 74, wherein the elongated shaft assembly defines a shaft axis, and the horizontal distance is measured along a horizontal line that is parallel to or coincident with the shaft axis.

Example 76 - Closure member includes a closure cam surface configured to cam engage an anvil cam surface of an anvil when the axially movable distal closure tube portion is movable from a starting position to an end position. 76. The surgical instrument of Example 73, 74, or 75, including an axially movable distal obturator tube portion.

Example 77 - The surgical instrument of Example 76, wherein the elongate shaft assembly includes a spine assembly operably coupled to the elongate channel. A proximal obturator tube assembly is movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion.

Example 78 - The proximal closure tube assembly as described in Example 77, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. Surgical instruments.

Example 79 - The surgical instrument of Example 78, wherein the closure system is supported by a handheld housing.

Example 80 - The surgical instrument of Example 78, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

Example 81 - A surgical system including a housing operably supporting a closure system. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly operably and removably connectable to the housing, such that the proximal closure portion of the elongate shaft assembly receives axial closure movement from the closure system. is configured to receive. The elongated shaft assembly defines a shaft axis. The surgical tool assembly further includes a surgical end effector operably coupled to the elongate shaft assembly for selectively articulating relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. include. The surgical end effector includes an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled to the elongated channel for selective pivotal movement relative to the elongated channel between a fully open position and a fully closed position about a jaw pivot axis transverse to the shaft axis. The elongate shaft assembly includes a distal closure member operably coupled to the proximal closure portion to apply a closing motion to the anvil and to a fully open position as the distal closure member is moved from a starting position to an end position. The anvil is configured to move the anvil to and from a fully closed position. The axially movable firing member is configured to apply additional closing motion to the anvil as the axially movable firing member can move from a most proximal position to a most distal position within the elongated channel. including at least one anvil engagement mechanism. When the distal closure member is in the starting position and the axially movable firing member is in the most proximal position, the distal end of the distal closure member is distal to the distal end of the anvil engagement mechanism. .

Example 82 - A surgical instrument including a surgical end effector including a first jaw defining a first tissue contacting surface and a second jaw pivotally coupled to the first jaw. The second jaw is selectively movable about a fixed jaw pivot axis between a fully open position and a fully closed position. The second jaw includes a second tissue contacting surface facing the first tissue contacting surface. At least one tissue locating element is in the second jaw and extends downwardly beyond the second tissue contacting surface and is in contact with the first tissue contacting surface and the second tissue when the second jaw is in the fully closed position. The tissue positioning element is configured to prevent tissue received between the contact surface from extending proximally beyond a distal end portion of the at least one tissue locating element. When the second jaw is in the fully open position, the distal end portion of each tissue locating element is positioned relative to a corresponding portion of the first tissue contacting surface to prevent gaps therebetween. When the second jaw is in the fully open position, the jaw opening angle between the first tissue contacting surface and the second tissue contacting surface is greater than 12.25°.

Example 83 - The surgery of Example 82, wherein the distal end portion of each tissue locating element is located less than 0.750 inch from the fixed jaw pivot axis when the second jaw is in the fully closed position. utensils.

Example 84 - The first jaw includes an elongate channel configured to operably support a surgical fastening element cartridge therein, and the first tissue contacting surface includes a deck surface of the surgical fastening element cartridge. , Example 82 or 83.

Example 85 - The surgical instrument of Example 82, 83, or 84, wherein the second jaw includes an anvil and the second tissue contacting surface includes a fastening element forming a lower surface of a portion of the anvil.

Example 86 - The surgical instrument of Example 85, wherein the anvil includes an anvil body portion and the at least one tissue locating element is formed in a proximal portion of the anvil body portion.

Example 87 - The surgical procedure of Example 82, 83, 84, 85, or 86, wherein the surgical end effector is sized to pass through the trocar cannula when the second jaw is in the fully closed position. utensils.

Example 88 - The surgical instrument of Example 82, 83, 84, 85, 86, or 87, further comprising means for applying an opening and closing motion to the second jaw.

Example 89 - The surgical instrument of Example 88, wherein the means for applying an opening and closing motion comprises an axially movable closure tube. The closure tube includes a closure cam surface at a distal end of the closure tube configured to cam engage the jaw cam surface of the second jaw to apply a closing motion to the second jaw, and an axially movable closure. at least one jaw opening mechanism configured to apply a jaw opening motion to the second jaw as the tube is moved proximally.

Example 90 - A surgical instrument including a surgical end effector including a surgical fastening element cartridge including a cartridge body operably supporting a plurality of surgical fastening elements therein. The cartridge body defines a tissue contacting surface from which the surgical fastening element is ejected. The anvil is pivotable relative to the surgical fastener cartridge for selective pivot movement relative to the surgical fastener cartridge between a fully open position and a fully closed position about a fixed jaw pivot axis. Supported by The anvil includes an anvil body defining a fastening element shaping surface that includes a plurality of fastening element shaping formations, each fastening element shaping formation corresponding to one of the surgical fastening elements in the surgical fastening element cartridge. do. The fastening element molded surface faces the tissue contacting surface of the surgical fastening element cartridge. At least one tissue lock protrudes from the anvil body and extends downwardly beyond the fastening element molding surface to prevent tissue received between the tissue contacting surface and the fastening element molding surface when the anvil is in the fully closed position. , configured to prevent extending proximally beyond the distal end portion of the tissue anchor. When the anvil is in the fully closed position, the distal end portion of each tissue lock is spaced an axial distance of less than 0.750 inch from the fixed jaw pivot axis, and when the anvil is in the fully open position, the surgical The vertical distance between the most distal of the fastening elements in the cartridge and the corresponding one of the fastening element moldings on the fastening element molding surface is at least 0.900 inches.

Example 91 - The surgical instrument of Example 90, wherein the jaw opening angle between the fastening element forming surface and the tissue contacting surface is greater than 12.25° when the anvil is in the fully open position.

Example 92 - The surgical instrument of Example 90 or 91, wherein the surgical end effector is sized to pass through the trocar cannula when the anvil is in the fully closed position.

Example 93 - The surgical instrument of Example 90, 91, or 92 further comprising means for applying an opening and closing motion to the anvil.

Example 94 - The surgical instrument of Example 93, wherein the means for applying an opening and closing motion comprises an axially movable closure tube. The axially movable closure tube includes a closure cam surface at its distal end configured to cam engage the anvil cam surface of the anvil to apply a closing motion to the anvil. At least one jaw opening mechanism is configured to apply a jaw opening motion to the anvil as the axially movable closure tube is moved proximally.

Example 95 - The surgical instrument of Example 90, 91, 92, 93, or 94, wherein the surgical end effector is operably coupled to an elongated shaft assembly that defines a shaft axis.

Example 96 - The tissue contacting surface of the cartridge body is parallel to the shaft axis, and the vertical distance is measured along a line perpendicular to the shaft axis extending from the distal-most fastening element and the corresponding fastening element molded formation. 96. The surgical instrument of Example 95.

Example 97 - An implementation in which the distal end portion of each tissue anchor is positioned to prevent a gap between them relative to a corresponding portion of the tissue contacting surface when the anvil is in the fully open position. A surgical instrument according to Example 90, 91, 92, 93, 94, 95 or 96.

Example 98 - When the anvil is in the fully open position, a portion of each tissue lock is flush with the tissue contacting surface or extends below the tissue contacting surface so that 98. The surgical instrument of Example 97 that prevents tissue from extending proximally beyond the tissue anchor.

Example 99 - When the anvil is in the fully open position, a portion of each tissue anchor is either at the same level as the tissue contacting surface or extends below the tissue contacting surface so that the anvil is in the fully open position. The surgical instrument of Example 90, 91, 92, 93, 94, 95, 96, 97, or 98, wherein the surgical instrument prevents tissue from extending proximally beyond the tissue anchor.

Example 100 - Surgical system including a housing operably supporting a closure system. an exchangeable surgical tool assembly, the elongated shaft assembly operably and removably coupled to the housing such that a proximal closure portion thereof is configured to receive axial closure motion from a closure system; an elongated shaft assembly defining a shaft axis. The surgical end effector is operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a surgical fastening element cartridge that includes a cartridge body that operably supports a plurality of surgical fastening elements therein and defines a tissue contacting surface from which the surgical fastening elements are ejected. The anvil is pivotable relative to the surgical fastener cartridge for selective pivot movement relative to the surgical fastener cartridge between a fully open position and a fully closed position about a fixed jaw pivot axis. Supported by The anvil includes an anvil body defining a fastening element shaping surface that includes a plurality of fastening element shaping formations, each fastening element shaping formation corresponding to one of the surgical fastening elements in the surgical fastening element cartridge. do. The fastening element molded surface faces the tissue contacting surface of the surgical fastening element cartridge. At least one tissue lock protrudes from the anvil body and extends downwardly beyond the fastening element molding surface to prevent tissue received between the tissue contacting surface and the fastening element molding surface when the anvil is in the fully closed position. , configured to prevent extending proximally beyond a distal end portion of the at least one tissue anchor. When the anvil is in the fully closed position, the distal end portion of each tissue lock is spaced an axial distance of less than 0.750 inch from the fixed jaw pivot axis, and when the anvil is in the fully open position, the surgical The vertical distance between the most distal of the fastening elements in the cartridge and the corresponding one of the fastening element moldings on the fastening element molding surface is at least 0.900 inches.

Example 101 - The surgical instrument of Example 100, wherein the jaw opening angle between the fastening element forming surface and the tissue contacting surface is greater than 12.25° when the anvil is in the fully open position.

Example 102 - The surgical instrument of Example 100 or 101, wherein the surgical end effector is sized to pass through the trocar cannula when the anvil is in the fully closed position.

Example 103 - A surgical instrument including a first jaw including a pair of laterally aligned vertical slots formed in a proximal end portion of the first jaw. Each vertical slot has an open top end. The second jaw is movably supported for selective pivoting movement relative to the first jaw between a fully open position and a fully closed position. The second jaw includes a second jaw body and a pair of pivot members projecting laterally from a proximal end of the second jaw body. Each pivot member is pivotally received within a corresponding one of the vertical slots of the first jaw such that pivoting of the pivot member therein causes the second jaw to move relative to the first jaw. Pivotal movement can be facilitated. The surgical instrument includes a pivoting member within a corresponding vertical slot in operative engagement with a proximal end portion of the first jaw as the second jaw moves between a fully open position and a fully closed position. further including a retainer member configured to retain the retainer member. The axially movable closure member is configured to apply an opening and closing motion to the second jaw and maintain the retainer member in retaining engagement with the proximal end of the first jaw.

Example 104 - An embodiment in which each pivot member has a circular cross-sectional shape and the retainer member includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot. 103. The surgical instrument according to 103. Each slot cap has an arcuate bottom configured to pivotally receive a corresponding pivot pin therein.

Example 105 - The method of Example 103, wherein each vertical slot is formed in a corresponding upright vertical wall portion of the first jaw, and the retainer member includes a retainer body sized to span between the vertical wall portions. Surgical instruments. The retainer member further includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot. A mounting formation is on the retainer body and corresponds to each upright vertical wall section and is configured to be placed within a correspondingly shaped mounting opening in the upright vertical wall section.

Example 106 - The surgical instrument of Example 105, wherein the attachment formation is disposed proximal to the slotted cap.

Example 107 - An axially movable closure member provides opening and closing motion to the second jaw by slidably moving on the retainer member and brings the retainer member into retaining engagement with the proximal end portion of the first jaw. 107. The surgical instrument of Example 103, 104, 105, or 106, including an axially movable distal obturator tube portion sized to hold the surgical instrument in place.

Example 108 - The surgical instrument of Example 107, wherein the first jaw is operably coupled to the elongate shaft assembly.

Example 109 - The surgical instrument of Example 108, wherein the elongated shaft assembly includes a spine assembly operably coupled to the first jaw. A proximal obturator tube assembly is movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion.

Example 110 - The proximal closure tube assembly as described in Example 109, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. Surgical instruments.

Example 111 - The surgical instrument of Example 110, wherein the closure system is supported by a handheld housing.

Example 112 - The surgical instrument of Example 110, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.

Example 113 - A surgical instrument including an elongate channel configured to operably support a surgical fastening element cartridge therein. The elongated channel includes a pair of laterally aligned vertical slots formed in a proximal end portion of the elongated channel, each vertical slot including an open upper end. The anvil is movably supported for selective pivoting movement relative to the elongated channel between a fully open position and a fully closed position. The anvil includes an anvil body and a pair of anvil trunnions that project laterally from an anvil attachment portion of the anvil body. Each anvil trunnion is pivotally received within a corresponding vertical slot of the elongated channel so that the anvil trunnion can pivot therein to facilitate pivotal movement of the anvil relative to the elongated channel. A surgical instrument is supported on the proximal end portion of the elongated channel to pivotally retain each anvil trunnion within a corresponding vertical slot as the anvil moves between fully open and fully closed positions. It further includes a retainer member configured to. An axially movable closure member is configured to apply an opening and closing motion to the anvil to maintain the retainer member in retaining engagement with the proximal end portion of the elongate channel.

Example 114 - In Example 113, wherein each anvil trunnion includes a circular cross-sectional shape and the retainer member includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot. Surgical instruments listed. Each slot cap has an arcuate bottom configured to pivotally receive a corresponding anvil trunnion therein.

Example 115 - The surgical method of Example 113, wherein each vertical slot is formed in a corresponding upright vertical wall portion of the elongated channel, and the retainer member includes a retainer body sized to span between the vertical wall portions. utensils. The retainer member further includes a slot cap corresponding to each vertical slot and sized to extend through the open end and into the vertical slot. The retainer member also includes a mounting formation on the retainer body that corresponds to each upright vertical wall section and is configured to be placed within a correspondingly shaped mounting opening in the upright vertical wall section.

Example 116 - The surgical instrument of Example 115, wherein the slot cap has a wedge shape configured to be inserted into the open end of a corresponding vertical slot.

Example 117 - The surgical method of Example 113, 114, 115, or 116, wherein the retainer member is secured to the elongated channel by at least one of frictional engagement with the elongated channel, adhesive, and welding. utensils.

Example 118 - An axially movable closure member slidably moves over a retainer member to provide opening and closing motion to the anvil and holds the retainer member in retaining engagement with the proximal end portion of the elongated channel. 118. The surgical instrument of Example 113, 114, 115, 116, or 117, comprising an axially movable distal obturator tube portion sized to.

Example 119 - The surgical instrument of Example 113, 114, 115, 116, 117, or 118, wherein the elongated channel is operably coupled to the elongated shaft assembly.

Example 120 - An elongate shaft assembly is pivoted to a spine assembly operably coupled to an elongate channel and a closure member movably supported for axial movement relative to the spine assembly and axially movable. and a proximal obturator tube assembly operably coupled thereto.

Example 121 - A surgical system including a housing operably supporting a closure system. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly operably and removably connectable to the housing, such that the proximal closure portion of the elongate shaft assembly receives axial closure movement from the closure system. is configured to receive. The replaceable surgical tool assembly includes an elongated channel configured to operatively support a surgical fastener cartridge therein, the elongated channel having a pair of laterally aligned vertical The surgical end effector further includes an elongated channel including a slot. Each vertical slot includes an open top end. The anvil is movably supported for selective pivoting movement relative to the elongated channel between a fully open position and a fully closed position. The anvil includes an anvil body and a pair of anvil trunnions that project laterally from an anvil attachment portion of the anvil body. Each anvil trunnion is pivotally received within a corresponding vertical slot of the elongated channel such that the anvil trunnion can pivot therein to facilitate pivotal movement of the anvil relative to the elongated channel. A surgical system is supported on the proximal end portion of the elongated channel and is configured to pivotally retain each anvil trunnion within a corresponding vertical slot as the anvil moves between fully open and fully closed positions. It further includes a retainer member configured to. An axially movable closure member is configured to apply an opening and closing motion to the anvil to maintain the retainer member in retaining engagement with the proximal end portion of the elongated channel.

Example 122 - An axially movable closure member slidably moves over a retainer member to provide opening and closing motion to the anvil and holds the retainer member in retaining engagement with the proximal end portion of the elongated channel. 122. The surgical system of Example 121, including an axially movable distal obturator tube portion sized to. An elongate shaft assembly is movably supported for axial movement relative to a spine assembly operably coupled to the elongate channel and is pivotable to an axially movable distal closure tube portion. a proximal obturator tube assembly coupled to the proximal obturator tube assembly.

Example 123 - A first jaw and a second jaw coupled to the first jaw for selective pivoting movement relative to the first jaw between a fully open position and a fully closed position. , including surgical instruments. The axially movable closing member is selectively moved between a closing direction that moves the second jaw from a fully open position to a fully closed position and an axially opening direction that moves the second jaw from a fully closed position to a fully open position. It is movable in the axial direction. The axially movable closure member includes a first jaw opening mechanism configured to apply a first jaw opening motion to the second jaw. The second jaw opening mechanism is axially spaced apart from the first jaw opening mechanism such that the first jaw opening mechanism absorbs the first jaw opening movement when the closure member moves in the axial opening direction. In addition to the second jaw, the first jaw opening mechanism ceases to apply the first jaw opening movement when the closure member is moved axially a predetermined axial distance in the axial opening direction; A jaw opening mechanism applies a second jaw opening motion to the second jaw to move the second jaw to a fully open position.

Example 124 - The surgical instrument of Example 123, wherein the first jaw opening mechanism is axially proximal to the second jaw opening mechanism.

Example 125 - The first jaw defines a central jaw axis, the first jaw opening mechanism is axially spaced on the closure member from the central jaw axis on a first side thereof, and the first jaw opening mechanism defines a central jaw axis on the closure member; 125. The surgical instrument of example 123 or 124, wherein the mechanism is spaced on the closure member at a second side thereof opposite the first side from the central jaw axis.

Example 126 - The surgical instrument of Example 123, 124, or 125, wherein the second jaw includes a second jaw attachment portion pivotally supported on the first jaw. The second jaw mounting portion includes a second jaw camming surface on the second jaw mounting portion that opens the first jaw when the closure member is moved axially in the axial opening direction over a predetermined axial distance. It is configured to be brought into cam contact in the axial direction by a mechanism. The second jaw camming surface is configured to move away from the first jaw opening mechanism as the closure member continues to move in the axial opening direction beyond a predetermined axial distance. The second jaw mounting portion is configured to be axially cammed by the second jaw opening mechanism as the closure member continues to move in the axial opening direction beyond a predetermined axial distance. It further includes two jaw cam surfaces.

Example 127 - The closure member is axially moved from a first position corresponding to a fully closed position of the second jaw to a first intermediate axial position without applying a first jaw opening movement to the closure member. The surgical instrument of Example 126 is axially movable in the opening direction.

Example 128 - When the closure member is moved axially from the first intermediate axial position to the second intermediate axial position in the axial opening direction, the first jaw opening mechanism causes the first jaw opening movement. 128. The surgical instrument of Example 127, wherein the surgical instrument applies a second jaw to the second jaw and moves the second jaw relative to the first jaw over a second jaw opening angle.

Example 129 - The surgical instrument of Example 128, wherein the second jaw opening angle is 10 degrees.

Example 130 - When the closure member is moved axially in the axial opening direction between the second intermediate axial position and the third intermediate axial position, the first jaw opening mechanism 129. The surgical instrument of Example 128 or 129, wherein the second jaw is not moved relative to the first jaw beyond the opening angle.

Example 131 - Axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position causes the second jaw opening mechanism to open the second jaw. 131. The surgical instrument of Example 130, which applies a jaw opening motion of 2.

Example 132 - Axial movement of the closure member in the axial opening direction between the third intermediate axial position and the fourth intermediate axial position causes the second jaw to open the second jaw opening. 132. The surgical instrument of Example 131, wherein the surgical instrument moves relative to the first jaw up to a corner.

Example 133 - The surgical instrument of Example 132, wherein the second jaw opening angle is 22°.

Example 134 - Axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position causes the first jaw opening mechanism to open the first jaw opening mechanism relative to the second jaw. 134. The surgical instrument of Example 131, 132, or 133, which stops applying one jaw opening motion.

Example 135 - Axial movement of the closure member in the axial opening direction from the fourth intermediate axial position to the final axial position causes the second jaw opening mechanism to open the second jaw relative to the second jaw. 135. The surgical instrument of Example 134, which ceases applying an opening motion.

Example 136 - Examples 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, wherein the first jaw includes a surgical fastening element cartridge and the second jaw includes an anvil. 134 or 135.

Example 137 - A surgical instrument including an elongated channel configured to operably support a surgical fastening element cartridge therein. An anvil is pivotally supported on the elongated channel for selective pivoting movement relative to the elongated channel between a fully open position and a fully closed position. An axially movable closure member is selectively axially movable between a closing direction that moves the anvil from a fully open position to a fully closed position and an axially opening direction that moves the anvil from a fully closed position to a fully open position. be. The axially movable closure member includes a proximal jaw opening mechanism configured to apply a first jaw opening motion to the anvil. The distal jaw opening mechanism is axially spaced from the proximal jaw opening mechanism so that when the closure member is moved in the axial opening direction, the proximal jaw opening mechanism directs the first jaw opening movement to the anvil. in addition to axially moving the closure member a predetermined axial distance in the axial opening direction, the proximal jaw opening mechanism ceases applying the first jaw opening movement and the distal jaw opening mechanism ceases to apply the first jaw opening movement. A second jaw opening motion is applied to the anvil to move the anvil to the fully open position.

Example 138 - The first jaw opening mechanism is supported within the elongated channel when the closure member is moved axially in the axial opening direction from the first intermediate axial position to the second intermediate axial position. 138. The surgical instrument of Example 137, wherein the anvil is moved through a first jaw opening angle measured between a deck surface of the surgical fastener cartridge and a molded underside of the fastener element of the anvil.

Example 139 - The surgical instrument of Example 138, wherein the first jaw opening angle is 10 degrees.

Example 140 - When the closure member is moved axially between the second intermediate axial position and the third intermediate axial position in the axial opening direction, the first jaw opening mechanism 139. The surgical instrument of Example 138 or 139, wherein the anvil is not moved relative to the elongated channel beyond the opening angle.

Example 141 - Axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position causes the second jaw opening mechanism to open the first jaw opening angle. 141. The surgical instrument of Example 140, wherein the surgical instrument moves the anvil through a second jaw opening angle that is greater than .

Example 142 - A surgical instrument including an elongate channel configured to operably support a surgical fastening element cartridge therein. An anvil is pivotally supported on the elongated channel for selective pivoting movement relative to the elongated channel between a fully open position and a fully closed position. The axially movable distal closure tube portion is selectively moved axially into a closing direction that moves the anvil from a fully open position to a fully closed position and an axially opening direction that moves the anvil from a fully closed position to a fully open position. It is movable. The axially movable distal closure tube includes a proximal jaw opening mechanism formed in the distal closure tube portion and configured to apply a first jaw opening motion to the anvil. A distal jaw opening mechanism is formed on the distal obturator tube portion and is axially spaced from the proximal jaw opening mechanism such that the proximal jaw opens when the distal obturator tube portion is moved in the axial opening direction. The opening mechanism applies a first jaw opening motion to the anvil, and the proximal jaw opening mechanism applies a first jaw opening motion when the distal closure tube portion moves axially a predetermined axial distance in the opening direction. The distal jaw opening mechanism then applies a second jaw opening motion to the anvil to move the anvil to a fully open position.

Example 143 - A first jaw and a second jaw coupled to the first jaw for selective pivoting movement relative to the first jaw between a fully open position and a fully closed position. , including surgical instruments. The closure member undergoes a closing movement when the closure member is movable axially in a distal direction from a starting position corresponding to a fully open position of the second jaw to an end position corresponding to a fully closed position of the second jaw. is configured to apply to the second jaw. The closure member is further configured to move distally from the starting position an initial predetermined axial closure distance before applying a closure movement to the second jaw.

Example 144 - The surgical instrument of Example 143, wherein the initial predetermined axial closure distance is 0.020 inches.

Example 145 - As in Example 143 or 144, wherein the closure member is configured to move distally through a final predetermined axial closure distance after the second jaw has been moved to the fully closed position. Surgical instruments listed.

Example 146 - The surgical instrument of Example 145, wherein the final predetermined axial closure distance is 0.040 inches.

Example 147 - Examples 143, 144, 145, or 146, wherein the closure member includes a closure cam surface configured to cam engage a jaw cam surface of the second jaw to apply a closing motion to the second jaw. Surgical instruments as described in .

Example 148 - Examples 143, 144, wherein the closure member further includes means for applying an opening motion to the second jaw as the closure member moves axially in the proximal direction from the end position to the start position. 145, 146 or 147.

Example 149 - The means for applying an opening movement applies a first amount of jaw opening movement when the closure member is moved axially from an end position to an intermediate axial position between the end position and the start position. 149. The surgical instrument of Example 148, including a first jaw opening mechanism on the closure member configured to apply to the second jaw. Means is axially spaced from the first jaw opening mechanism and configured to apply a second amount of jaw opening movement to the second jaw as the closure member is moved axially from the intermediate position to the starting position. further including a second jaw opening mechanism on the closure member configured to .

Example 150 - A surgical instrument including an elongated channel configured to operably support a surgical staple/fastening element cartridge therein. An anvil is pivotally supported on the elongated channel for selective pivoting movement relative to the elongated channel between a fully open position and a fully closed position. The closure member is configured to apply a closing motion to the anvil as the closure member is movable axially in a distal direction from a starting position corresponding to a fully open position of the anvil to an end position corresponding to a fully closed position of the anvil. It is configured. The closure member is configured to move distally from the starting position an initial predetermined axial closure distance before applying a closure motion to the anvil.

Example 151 - The surgical instrument of Example 150, wherein the initial predetermined axial closure distance is 0.020 inches.

Example 152 - The surgical procedure of Example 150 or 151, wherein the closure member is configured to move distally through a final predetermined axial closure distance after the anvil has been moved to the fully closed position. utensils.

Example 153 - The surgical instrument of Example 152, wherein the final predetermined axial closure distance is 0.040 inches.

Example 154 - After the closure member has moved the initial predetermined axial closure distance and before the closure member has moved the final predetermined axial closure distance, the closure member is further removed for an intermediate predetermined axial closure distance. 154. The surgical instrument of Example 152 or 153, wherein the closure member is configured to apply a closing motion to the anvil upon movement in the positional direction.

Example 155 - The surgical instrument of Example 154, wherein the intermediate predetermined axial closure distance is 0.200 inches.

Example 156 - Examples 150, 151, 152, 153, wherein the closure member includes a closure cam surface configured to cam engage an anvil cam surface on an anvil attachment portion of the anvil to apply a closing motion to the anvil. The surgical instrument according to 154 or 155.

Example 157 - Examples 150, 151, 152, wherein the closure member further includes means for applying an opening motion to the anvil as the closure member moves axially in a proximal direction from an end position to a start position. 153, 154, 155, 156 or 157.

Example 158 - The means for applying an opening movement applies a first amount of jaw opening movement when the closure member is moved axially from an end position to an intermediate axial position between the end position and the start position. 158. The surgical instrument of Example 157, including a first jaw opening mechanism on the closure member configured to apply the first jaw to the anvil. Means is axially spaced from the first jaw opening mechanism and configured to apply a second amount of jaw opening movement to the anvil as the closure member moves axially from the intermediate axial position to the starting position. further including a second jaw opening mechanism on the closure member.

Example 159 - A surgical system including a housing operably supporting a closure system. The surgical system further includes an exchangeable surgical tool assembly including an elongate shaft assembly operably and removably connectable to the housing, such that the proximal closure portion of the elongate shaft assembly receives axial closure movement from the closure system. is configured to receive. The replaceable surgical tool assembly further includes a surgical end effector operably coupled to the elongate shaft assembly. The surgical end effector includes an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein. An anvil is coupled to the elongated channel for selective pivotal movement relative to the elongated channel between a fully open position and a fully closed position. The elongated shaft assembly includes an axially movable proximal closure member configured to undergo axial closure motion. A distal closure member is operably coupled to the proximal closure member, the distal closure member being axially distally coupled to the proximal closure member from a starting position corresponding to a fully open position of the anvil to an end position corresponding to a fully closed position of the anvil. The anvil is configured to apply an axial closing motion to the anvil when it is movable. The distal closure member is configured to move distally from the starting position an initial predetermined axial closure distance before applying a closure motion to the anvil.

Example 160 - The surgical procedure of Example 159, wherein the distal closure member is configured to move distally through a final predetermined axial closure distance after the anvil has been moved to the fully closed position. utensils.

Example 161 - A surgical tool assembly including a first jaw and a second jaw movable relative to the first jaw. The surgical tool assembly further includes a firing system that includes a firing member assembly configured to move distally from a starting position when a firing motion is applied. The firing member assembly includes a first firing member element and a second firing member element pivotally connected to the first firing member element at a mounting joint. The second firing member element is configured to move the firing member assembly from a starting position when a firing motion is applied to the firing member assembly by the second firing member element being in locking engagement with the lockout portion of the first jaw. The firing member assembly is movable between a locked position in which distal movement is prevented and an unlocked position in which the firing member assembly is allowed to advance distally from the starting position when a firing motion is applied to the firing member assembly. It is configured. The surgical tool assembly further includes means for preventing an unlocking load from being applied to the attachment joint when the second firing member is in the locked position and firing motion is applied to the first firing member element. include.

Example 162 - At least one lock of the first jaw, wherein the lockout portion is configured to retentively engage the second firing member element when the second firing member element is in the locked position. 162. The surgical tool assembly of Example 161 including an out-notch.

Example 163 - The surgical tool assembly of Example 161 or 162 further comprising a biasing member in the first jaw configured to bias the second firing member element to the locked position.

Example 164 - At least one first jaw engagement mechanism configured such that a first firing member element is movably received within a corresponding first jaw passageway and a corresponding second jaw passageway. and at least one second jaw engagement mechanism configured to be movably received therein.

Example 165 - Each of the first jaw engagement features is axially aligned with a corresponding first jaw passage when the firing member assembly is in the starting position, regardless of the position of the second firing member element. 165. The surgical tool assembly of Example 164, wherein each of the second jaw engagement features is axially aligned with a corresponding second jaw passage.

Example 166 - Each first jaw engagement mechanism is axially aligned with a corresponding first jaw passage when the firing member assembly is in the starting position and the second firing member element is in the locked position. 166. The surgical tool assembly of Example 165, wherein each of the second jaw engagement features is axially aligned with a corresponding second jaw passageway.

Example 167 - Examples 161, 162, 163, wherein the first jaw is configured to operably support a removable surgical component that operably supports a movable component element therein. A surgical tool assembly as described in 164, 165 or 166. The movable component element is movable between an unfired position and a fired position. The second firing member element is configured to be moved from the locked position by the movable component element when the removable surgical component is supported within the first jaw and the movable component element is in the unfired position. has been done.

Example 168 - A first jaw is operably coupled to an elongated shaft defining a shaft axis, and a second firing member element is configured to rotate the first firing member about a pivot axis transverse to the shaft axis. The surgical tool assembly of example 161, 162, 163, 164, 165, 166 or 167, wherein the surgical tool assembly is pivotable relative to the member element.

Example 169 - The surgical instrument of Example 161, 162, 163, 164, 165, 166, 167, or 168, wherein the first firing member element includes a tissue cutting surface.

Example 170 - Examples 161, 162, 163, 164, 165, 166, wherein the first jaw is configured to operably support a surgical staple cartridge that operably supports a thread therein. 168 or 169 surgical instruments. The sled is movable between an unfired position and a fired position. The second firing member element is configured to be moved from the locked position by the sled when the surgical staple cartridge is supported within the first jaw and the sled is in an unfired position.

Example 171 - The method of Example 161, 162, 163, 164, 165, 166, 167, 168, 169 or 170, wherein the means for preventing includes a distal surface and a lockout surface of the first firing member element. Surgical tool assembly. The distal surface is connected to the proximal surface on the second firing member element such that a space is provided between the distal surface and the proximal surface of the second firing member element when the second firing member is in the unlocked position. It is configured against. The proximal surface abuts the lockout surface when the second firing member element is in the locked position.

Example 172 - An implementation in which the attachment joint includes at least one pivot member on the second firing member element and pivotally received within a corresponding pivot hole of the first firing member element. A surgical tool assembly according to example 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 or 171.

Example 173 - further including a gap between each pivot member and its corresponding pivot aperture so that firing motion is applied to the first firing member element when the second firing member is in the locked position 173. The surgical tool assembly of Example 172, wherein the unlocking load is not transmitted to the at least one pivot member.

Example 174 - A stapling assembly including an anvil jaw and a staple cartridge jaw including a lockout surface. The firing member includes a distal end that includes an anvil cam portion and a channel cam portion. The firing member further includes a distal edge that includes a cutting member and a lockout force receiving surface. The lockout member is pivotally coupled to the distal end of the firing member by at least one pivot member. The lockout member locks out the staple cartridge when the staple cartridge is not installed in the staple cartridge jaw or when a partially used staple cartridge is installed in the staple cartridge jaw and a firing motion is applied to the firing member. The cartridge jaw is configured to engage a lockout surface of the cartridge jaw to prevent advancement of the firing member. The firing member and the lockout member are configured to prevent an unlocking load from being applied to the pivoting member when the lockout member is engaged with the lockout surface and firing motion is applied to the firing member. ing.

Example 175 - The stapling assembly of Example 174, wherein the staple cartridge jaws include a staple cartridge that includes a thread movable between an unfired position and a fired position. The sled is configured to engage the lockout member when the sled is in the unfired position, thereby preventing the lockout member from moving relative to the firing member and engaging the lockout surface.

Example 176 - An implementation further comprising a spring configured to bias the lockout member into a locked configuration relative to the firing member when a partially used staple cartridge is present and when a staple cartridge is not present. A stapling assembly according to Example 174 or 175.

Example 177 - The stapling assembly of Example 174, 175, or 176, wherein the firing member is configured to be substantially immobile in a vertical direction.

Example 178 - A surgical fastening instrument including a first jaw configured to operably support an unfired surgical fastening element cartridge therein. An anvil is movably supported relative to the first jaw. The surgical fastener further includes a firing system that includes a firing member assembly configured to move axially between a starting position and an ending position. The firing member assembly includes a firing member including a cutting surface and a tilting element pivotally connected to the firing member by a mounting joint. The tilting element prevents distal movement of the firing member assembly from the starting position when a firing motion is applied to the firing member assembly by the tilting element being in locking engagement with the lockout portion of the first jaw. and an unlocked position in which the firing member assembly is advanceable distally from the starting position when a firing motion is applied to the firing member assembly. . The firing member and the tilting element are configured to prevent unlocking loads from being applied to the mounting joint when the tilting element is in the locked position and firing motion is applied to the firing member assembly. The surgical fastener further includes means for biasing the tilting element into locking engagement when an unfired surgical fastening element cartridge is not operably supported within the first jaw.

Example 179 - The surgical fastener of Example 178, wherein the attachment joint includes at least one pivot member on the tilting element and pivotally received within a corresponding pivot hole in the firing member. utensils.

Example 180 - Further having a gap between each pivot member and its corresponding pivot hole so that the unlocking load is applied to each pivot element when the tilting element is in the locked position and a firing motion is applied to the firing member assembly. 180. The surgical fastener of Example 179, wherein the surgical fastener is not transmitted to a pivot member.

Although many of the surgical instrument systems described herein are operated by electric motors, the surgical instrument systems described herein can be operated in any suitable manner. In various instances, the surgical instrument systems described herein can be operated by, for example, manually operated triggers. In certain examples, the motors disclosed herein may include part of a robot control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. For example, U.S. patent application Ser. some examples are disclosed in more detail.

Although the surgical instrument systems described herein are described in connection with staple deployment and deformation, the embodiments described herein are not so limited. Various embodiments are also envisioned that provide fastening elements other than staples, such as clamps or tacks. Additionally, various embodiments are envisioned that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. Also, for example, an end effector according to certain embodiments can apply vibrational energy to seal tissue.

The entire disclosure below is incorporated herein by reference.
- U.S. Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE," issued April 4, 1995;
- U.S. Patent No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS," issued February 21, 2006;
- U.S. Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK," issued September 9, 2008;
- U.S. Patent No. 7,464,849, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS," December 16, 2008 Issue,
- U.S. Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATION END EFFECTOR," issued March 2, 2010;
- U.S. Patent No. 7,753,245, entitled "SURGICAL STAPLINING INSTRUMENTS," issued July 13, 2010;
- U.S. Patent No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE," issued March 12, 2013;
- U.S. Patent Application No. 11/343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES," now U.S. Pat.
- U.S. Patent Application No. 12/031,573, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES," filed February 14, 2008;
- U.S. patent application Ser.
- U.S. Patent Application No. 12/235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT," now U.S. Pat.
- U.S. patent application Ser. No. 045,
- U.S. patent application Ser. Filed on February 24th, currently U.S. Patent No. 8,220,688 issue,
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. patent application Ser.
- U.S. Patent Application Publication No. 2007/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM," filed on January 31, 2006, and - U.S. Patent Application Publication No. 2010/0264194, of the invention Name: "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on April 22, 2010, currently US Patent No. 8,308,040.

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

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

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

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

All patents, publications, or other disclosure documents that are incorporated by reference in whole or in part into this specification are incorporated by reference in their entirety. It is incorporated herein only to the extent consistent with the content thereof. As such, and to the extent necessary, disclosure expressly set forth herein shall supersede any conflicting statements incorporated herein by reference. Although incorporated herein by reference, any document, or portion thereof, that is inconsistent with existing definitions, descriptions, or other disclosure documents set forth herein shall be incorporated by reference. It shall be incorporated only to the extent that there is no conflict with the disclosed content.

[Mode of implementation]
(1) A surgical instrument,
an elongated shaft assembly defining a shaft axis;
a first end effector jaw coupled to the elongated shaft assembly;
selectively relative to the first end effector jaw between a fully open position and a fully closed position about a fixed jaw pivot axis transverse to and extending through the shaft axis; a second end effector jaw coupled to the first end effector jaw for pivotal movement, the elongated shaft assembly corresponding to the fully open position of the second end effector jaw. a closure member movable axially between a starting position and an end position corresponding to a fully closed position of the second end effector jaw relative to the first end effector jaw; position, the distal end is located on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 0.090 inch. , surgical instruments.
(2) The surgical method of embodiment 1, wherein when the closure member is in the starting position, the distal end of the closure member lies on the plane, and the plane intersects the jaw pivot axis. utensils.
(3) The surgical instrument of embodiment 1, wherein the distance is within 0.010 to 0.060 inches.
(4) The closure member includes an axially movable distal closure tube section, and the axially movable distal closure tube section is configured to move the axially movable distal closure tube section from the starting position. The surgical instrument of embodiment 1, including a closing cam surface configured to cam engage a jaw cam surface of the second end effector jaw upon movement to the end position.
(5) The first end effector jaw includes an elongated channel configured to operably support a surgical fastening element cartridge therein, and the second end effector jaw includes an anvil. Surgical instruments as described in .

(6) The anvil is
Anvil body,
an anvil attachment portion comprising an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening of the elongated channel. utensils.
(7) The closure member includes an axially movable distal closure tube section, and the axially movable distal closure tube section is configured to move the axially movable distal closure tube section from the starting position. 7. The surgical instrument of embodiment 6, including a closing cam surface configured to cam engage the anvil cam surface of the anvil when moved to the end position.
(8) The elongated shaft assembly includes:
a spine assembly operably coupled to the elongated channel;
a proximal obturator tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion. 7. The surgical instrument according to 7.
(9) The proximal closure tube assembly is operatively interconnected with a closure system configured to selectively apply axial opening and closing motion to the proximal closure tube assembly. surgical instruments.
10. The surgical instrument of embodiment 9, wherein the closure system is supported by a handheld housing.

11. The surgical instrument of embodiment 9, wherein the closure system is supported by a housing operably interconnected with a robotic control actuator.
(12) A surgical instrument,
an elongated shaft assembly defining a shaft axis;
the elongate member configured to operably support a surgical fastening element cartridge therein and configured to selectively articulate with respect to the elongate shaft assembly about an articulation axis transverse to the shaft axis; an elongated channel operably coupled to the shaft assembly;
pivotable to the elongate channel for selective pivot movement relative to the elongate channel between a fully open position and a fully closed position about a fixed jaw pivot axis transversely intersecting the shaft axis; an anvil coupled to an anvil, the elongated shaft assembly being axially movable between a starting position corresponding to the fully open position of the anvil and an end position corresponding to the fully closed position of the anvil. a closure member, the distal end of which extends from the jaw pivot a distance measured along the shaft axis that is less than or equal to 0.090 inch when the closure member is in the starting position. A surgical instrument that lies on a plane distally spaced from the axis of motion.
13. The surgical method of claim 12, wherein when the closure member is in the starting position, the distal end of the closure member lies on the plane, and the plane intersects the jaw pivot axis. utensils.
14. The surgical instrument of claim 12, wherein the distance is within 0.010 to 0.060 inches.
(15) The anvil includes:
Anvil body,
an anvil attachment portion comprising an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening of the elongated channel. utensils.

(16) The closure member includes an axially movable distal closure tube portion, and the axially movable distal closure tube portion is configured to move the axially movable distal closure tube portion from the starting position. 16. The surgical instrument of embodiment 15, including a closing cam surface configured to cam engage the anvil cam surface of the anvil when moved to the end position.
(17) The elongated shaft assembly includes:
a spine assembly operably coupled to the elongated channel;
a proximal obturator tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal obturator tube portion. 17. The surgical instrument according to 16.
(18) the proximal closure tube assembly is operably interconnected with a closure system supported by a handheld housing and configured to selectively apply axial opening and closing motion to the proximal closure tube assembly; 18. The surgical instrument of embodiment 17, wherein:
(19) the proximal closure tube assembly is supported by a housing configured to interconnect with a robotic system and configured to selectively apply axial opening and closing motion to the proximal closure tube assembly; 18. The surgical instrument of embodiment 17 operably interconnecting with the system.
(20) A surgical system,
a housing operably supporting the closure system;
a replaceable surgical tool assembly, the replaceable surgical tool assembly comprising:
an elongate shaft assembly operably and removably connectable to the housing, the proximal closure portion thereof being configured to receive axial closure movement from the closure system, the elongate shaft assembly operatively and removably coupled to the housing, the elongate shaft assembly having a shaft axis; an elongate shaft assembly defining;
a surgical end effector operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis; The surgical end effector includes:
an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein;
an anvil coupled to the elongate channel for selective pivoting movement relative to the elongate channel about a jaw pivot axis transverse to the shaft axis; a closure member that is axially movable between a starting position corresponding to a fully open position of the anvil and an end position corresponding to a fully closed position of the anvil, when the closing member is in the starting position; a surgical system, the distal end of which lies on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 2.286 mm (0.090 inch); .

Claims (23)

A surgical instrument,
an elongated shaft assembly defining a shaft axis;
a first end effector jaw coupled to the elongated shaft assembly;
selectively relative to the first end effector jaw between a fully open position and a fully closed position about a fixed jaw pivot axis transverse to and extending through the shaft axis; a second end effector jaw coupled to the first end effector jaw for pivotal movement, the elongated shaft assembly corresponding to the fully open position of the second end effector jaw. a closure member movable axially between a starting position and an end position corresponding to the fully closed position of the second end effector jaw relative to the first end effector jaw; When in the starting position, the distal end is on a plane spaced distally from the fixed jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 0.090 inches. Located in
The closing member includes a first jaw opening mechanism and a second jaw opening mechanism, the first jaw opening mechanism and the second jaw opening mechanism are at mutually different positions in the axial direction , When the second end effector jaw is in the fully closed position, the closure member moves proximally so that the first jaw opening mechanism pushes against the second end effector jaw, thereby causing the first jaw opening mechanism to push against the second end effector jaw. 2 end effector jaws in the opening direction, with the second jaw opening mechanism not pushing the second end effector jaws, and then the closure member further moves in the proximal direction. If moved, the position of the second end effector jaw is maintained, and then if the closure member is moved further in the proximal direction, the second jaw opening mechanism pushes the second end effector jaw. the surgical instrument, wherein the second end effector jaw is pivoted to the fully open position, the first jaw opening mechanism not pushing the second end effector jaw. The surgical instrument of claim 1, wherein when the closure member is in the starting position, the distal end of the closure member lies on the plane, and the plane intersects the fixed jaw pivot axis. The surgical instrument of claim 1, wherein the distance is within 0.010 to 0.060 inches. The closure member includes an axially movable distal closure tube portion, the axially movable distal closure tube portion including the first jaw opening mechanism and the second jaw opening mechanism; The surgical instrument of claim 1, wherein the first jaw opening mechanism and the second jaw opening mechanism cam engage a jaw camming surface of the second end effector jaw. 2. The first end effector jaw includes an elongate channel configured to operably support a surgical fastening element cartridge therein, and the second end effector jaw includes an anvil. Surgical instruments. The anvil is
Anvil body,
an anvil attachment portion comprising an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening of the elongated channel. utensils. The closure member includes an axially movable distal closure tube portion, the axially movable distal closure tube portion including the first jaw opening mechanism and the second jaw opening mechanism; The surgical instrument of claim 6, wherein the first jaw opening mechanism and the second jaw opening mechanism cam engage the anvil cam surface of the anvil. The elongated shaft assembly includes:
a spine assembly operably coupled to the elongated channel;
a proximal closure tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal closure tube portion. The surgical instrument according to item 7. The surgical procedure of claim 8, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply the axial opening and closing movement to the proximal closure tube assembly. utensils. The surgical instrument of claim 9, wherein the closure system is supported by a handheld housing. The surgical instrument of claim 9, wherein the closure system is supported by a housing operatively interconnected with a robotic control actuator. The fully closed position of the second end effector jaw is maintained while the closure member moves a predetermined distance in the proximal direction from the end position, and the second end effector jaw is in the fully open position. The surgical instrument of claim 1, wherein the fully open position of the second end effector jaw is maintained until the closure member reaches the starting position. A surgical instrument,
an elongated shaft assembly defining a shaft axis;
the elongate member configured to operably support a surgical fastening element cartridge therein and configured to selectively articulate with respect to the elongate shaft assembly about an articulation axis transverse to the shaft axis; an elongated channel operably coupled to the shaft assembly;
pivotable to the elongate channel for selective pivot movement relative to the elongate channel between a fully open position and a fully closed position about a fixed jaw pivot axis transversely intersecting the shaft axis; an anvil coupled to the fixed jaw pivot axis, the fixed jaw pivot axis being distal to the articulation axis, and the elongate channel along with the anvil extending the elongate axis about the articulation axis. Articulating relative to a shaft assembly, the elongated shaft assembly is axially movable between a starting position corresponding to the fully open position of the anvil and an end position corresponding to the fully closed position of the anvil. a closure member, the distal end of which, when in the starting position, extends from the fixed jaw pivot a distance measured along the shaft axis that is less than or equal to 0.090 inches; located on a plane spaced distally from the axis of motion;
The closing member includes a first jaw opening mechanism and a second jaw opening mechanism, the first jaw opening mechanism and the second jaw opening mechanism are at mutually different positions in the axial direction , When the anvil is in the fully closed position, the closure member moves proximally and the first jaw opening mechanism pushes against the anvil, causing the anvil to pivot in an opening direction; If the second jaw opening mechanism is not pushing against the anvil and the closure member then moves further in the proximal direction, the anvil position is maintained and then the closure member moves further into the proximal direction. When moved proximally, the second jaw opening mechanism pushes against the anvil, pivoting the anvil to the fully open position, while the first jaw opening mechanism pushes against the anvil. Do not press the surgical instruments. 14. The surgical instrument of claim 13, wherein when the closure member is in the starting position, the distal end of the closure member lies on the plane, and the plane intersects the fixed jaw pivot axis. The surgical instrument of claim 13, wherein the distance is within 0.010 to 0.060 inches. The anvil is
Anvil body,
an anvil attachment portion comprising an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within a corresponding opening of the elongate channel. utensils. The closure member includes an axially movable distal closure tube portion, the axially movable distal closure tube portion including the first jaw opening mechanism and the second jaw opening mechanism; The surgical instrument of claim 16, wherein the first jaw opening mechanism and the second jaw opening mechanism cam engage the anvil cam surface of the anvil. The elongated shaft assembly includes:
a spine assembly operably coupled to the elongated channel;
a proximal closure tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to the axially movable distal closure tube portion. The surgical instrument according to item 17. The proximal closure tube assembly is supported by a handheld housing and is operably interconnected with a closure system configured to selectively apply the axial opening and closing movement to the proximal closure tube assembly. 19. The surgical instrument of claim 18. The proximal closure tube assembly is supported by a housing configured to interconnect with a robotic system, and a closure system configured to selectively apply the axial opening and closing movement to the proximal closure tube assembly. The surgical instrument of claim 18 operatively interconnecting. The fully closed position of the anvil is maintained while the closure member is moved a predetermined distance in the proximal direction from the end position, and after the anvil has moved to the fully open position, the closure member is The surgical instrument of claim 13, wherein the fully open position of the anvil is maintained until the starting position is reached . A surgical system comprising:
a housing operably supporting the closure system;
a replaceable surgical tool assembly, the replaceable surgical tool assembly comprising:
an elongate shaft assembly operably and removably connectable to the housing, the proximal closure portion thereof being configured to receive axial closure movement from the closure system, the elongate shaft assembly operatively and removably coupled to the housing, the elongate shaft assembly having a shaft axis; an elongate shaft assembly defining;
a surgical end effector operably coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis transverse to the shaft axis; The surgical end effector includes:
an elongate channel coupled to the elongate shaft assembly and configured to operably support a surgical fastening element cartridge therein;
an anvil coupled to the elongated channel for selective pivotal movement relative to the elongated channel about a jaw pivot axis transversely intersecting the shaft axis, the jaw pivot axis being , distal to the articulation axis, the elongate channel articulates with the anvil about the articulation axis relative to the elongate shaft assembly, and the elongate shaft assembly articulates with the anvil about the articulation axis. a closure member movable in the axial direction between a starting position corresponding to a fully open position of the anvil and an end position corresponding to a fully closed position of the anvil; the distal end is located on a plane spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is less than or equal to 0.090 inches;
The closing member includes a first jaw opening mechanism and a second jaw opening mechanism, the first jaw opening mechanism and the second jaw opening mechanism are at mutually different positions in the axial direction , When the anvil is in the fully closed position, the closure member moves proximally and the first jaw opening mechanism pushes against the anvil, causing the anvil to pivot in an opening direction; If the second jaw opening mechanism is not pushing against the anvil and the closure member then moves further in the proximal direction, the anvil position is maintained and then the closure member moves further into the proximal direction. When moved proximally, the second jaw opening mechanism pushes against the anvil, pivoting the anvil to the fully open position, while the first jaw opening mechanism pushes against the anvil. Do not press the surgical system. The fully closed position of the anvil is maintained while the closure member is moved a predetermined distance in the proximal direction from the end position, and after the anvil has moved to the fully open position, the closure member is 23. The surgical system of claim 22, wherein the fully open position of the anvil is maintained until the starting position is reached .

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