JP7487275B2 - Surgical end effector with improved jaw opening configuration - Google Patents

Description

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

The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the accompanying drawings, in which:
FIG. 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. 2 is an exploded view of the handle assembly and one of the interchangeable surgical tool assemblies shown in FIG. 1. 2 is a perspective view of one of the exchangeable surgical tool assemblies of FIG. 1; FIG. FIG. 4 is an exploded view of the exchangeable surgical tool assembly of FIG. 3. FIG. 5 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 3 and 4 . FIG. 6 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 3-5. FIG. 7 is an exploded view of a proximal portion of the exchangeable surgical tool assembly of FIGS. 3-6. FIG. 8 is another exploded view of a portion of the exchangeable surgical tool assembly of FIGS. 3-7. 9 is another exploded view of a portion of the exchangeable surgical tool assembly of FIGS. 3-8. FIG. FIG. 10 is a perspective view of a proximal portion of the exchangeable surgical tool assembly of FIGS. 3-9. 11 is another perspective view of the proximal portion of the exchangeable surgical tool assembly of FIGS. 3-10. FIG. 12 is a cross-sectional perspective view of a proximal portion of the exchangeable surgical tool assembly of FIGS. 3-11. FIG. 13 is another cross-sectional perspective view of the proximal portion of the exchangeable surgical tool assembly of FIGS. 3-12. FIG. 14 is another cross-sectional perspective view of the proximal portion of the exchangeable surgical tool assembly of FIGS. 3-13. FIG. 15 is a cross-sectional perspective view of a distal portion of the exchangeable surgical tool assembly of FIGS. 3-14. FIG. 2 is a perspective view of another one of the exchangeable surgical tool assemblies shown in FIG. 1 . 17 is an exploded view of a proximal portion of the exchangeable surgical tool assembly of FIG. 16. FIG. 18 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 16 and 17 . 2 is a perspective view of another one of the exchangeable surgical tool assemblies of FIG. 1 . 20 is an exploded view of a proximal portion of the exchangeable surgical tool assembly of FIG. 19 . 21 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 19 and 20 . FIG. 2 is a perspective view of another one of the exchangeable surgical tool assemblies of FIG. 1. FIG. 23 is an exploded view of a proximal portion of the exchangeable surgical tool assembly of FIG. 22. 24 is another exploded view of the distal portion of the exchangeable surgical tool assembly of FIGS. 22 and 23 . FIG. 4 is a side view of a distal portion of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully closed position; 26 is an enlarged side view of the anvil mounting portion and elongated channel of the exchangeable surgical tool assembly of FIG. 25 . 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; 28 is an enlarged side view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 27 . 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; 30 is an enlarged side view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 29 . 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; 32 is an enlarged side view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 31 . 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; 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; 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; 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; 1 is a side view of a distal portion of another interchangeable surgical tool assembly, the anvil shown in solid lines in one open position and in phantom lines in another open position; FIG. FIG. 13 is a side view of a distal portion of another exchangeable 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; 40 is an enlarged side view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 39 . 41 is a side view of a 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 attachment portion and elongated channel portion of the exchangeable surgical tool assembly of FIG. 16 with the anvil in a fully open position. 43 is a side view of a distal portion of the exchangeable surgical tool assembly of FIG. 42 with the anvil in a fully closed position; 20 is an enlarged side view of the anvil mounting portion and elongated channel of the exchangeable surgical tool assembly of FIG. 19 with the anvil in a fully open position; 45 is a side view of a distal portion of the exchangeable surgical tool assembly of FIG. 44, with the anvil in a fully closed position; 23 is an enlarged side view of the anvil attachment portion and elongated channel portion of the exchangeable surgical tool assembly of FIG. 22 with the anvil in a fully open position. 47 is a side view of a distal portion of the exchangeable surgical tool assembly of FIG. 46 with the anvil in a fully closed position; 4 is a partial cross-sectional view of the anvil mounting portion and elongated channel of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully open position; 17 is a partial cross-sectional view of the anvil attachment portion and elongated channel portion of the exchangeable surgical tool assembly of FIG. 16, with the anvil in a fully open position; 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; 23 is a partial cross-sectional view of the anvil attachment portion and elongated channel of the exchangeable surgical tool assembly of FIG. 22, with the anvil in a fully open position; 4 is another partial cross-sectional view of a portion of the exchangeable 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 exchangeable surgical tool assembly of FIG. 52, with the anvil in a fully closed position. 17 is another partial cross-sectional view of a portion of the exchangeable surgical tool assembly of FIG. 16 with the anvil in a fully open position. 20 is another partial cross-sectional view of a portion of the exchangeable surgical tool assembly of FIG. 19 , with the anvil in a fully open position; 23 is another partial cross-sectional view of a portion of the exchangeable surgical tool assembly of FIG. 22 with the anvil in a fully open position. 4 is another partial cross-sectional view of a portion of the exchangeable surgical tool assembly of FIG. 3 with the firing member in a start position. 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 a portion of the surgical end effector of FIGS. 57 and 58, with the firing member in initial engagement with the anvil. 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. 1 is a perspective view of a portion of a firing member assembly of a surgical stapling instrument having first and second firing member elements movable relative to the first firing member element between locked and unlocked positions; FIG. 60B is another perspective view of the firing member assembly of FIG. 60A with the second firing member element in a locked position. FIG. 60B is a cross-sectional view of the surgical stapling instrument of FIG. 60A with the firing member element in an initial position; FIG. 60D is another cross-sectional view of the surgical stapling instrument of FIG. 60C shown in a locked configuration; FIG. 13 is a side view of the firing member assembly with the second firing member element in a locked out orientation. FIG. 60F is another side view of the firing member assembly of FIG. 60E, with the second firing member element in an unlocked position or firing orientation. FIG. 60B is another partial perspective view of the surgical stapling instrument of FIG. 60A shown in an unlocked configuration; FIG. 60B is a cross-sectional view of the surgical stapling instrument of FIG. 60A with the unfired surgical fastening element cartridge operably supported within the elongated channel and the firing member assembly shown in a start position; FIG. 60C 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; 4 is a partial side view of the surgical end effector of the exchangeable surgical tool assembly of FIG. 3 in a fully open position with a distal closure tube portion shown in phantom to show the anvil retaining member. FIG. 63 is another partial side view of the surgical end effector of FIG. 62 with the anvil in a fully closed position; 4 is a partial perspective view of a distal closure tube portion of the exchangeable surgical tool assembly of FIG. 3 with the anvil in a fully closed position; FIG. FIG. 65 is a plan view of the distal closure 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 closure 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. 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 closure 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 closure 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 closure 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 closure 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 closure 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 closure 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 closure tube portion of FIGS. 64-76, with the anvil in a fully open position; 78 is a graphical comparison between jaw opening angle and setback amount of the distal closure tube portion of FIGS. 64-77.

Corresponding reference characters indicate corresponding parts throughout the several views. The examples described herein are illustrative of various embodiments of the present invention in one form only, and such examples should not be construed as limiting the scope of the present invention in any manner.

The applicant of this application has the following U.S. patent applications filed on even date herewith, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING AN OFFSET ARTICULATION JOINT," Attorney Docket No. END8207USNP/170098;
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION SYSTEM RATIO," Attorney Docket No. END8210USNP/170099;
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8204USNP/170100;
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING FIRING MEMBER SUPPORTS," Attorney Docket No. END8218USNP/170101;
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME," Attorney Docket No. END8217USNP/070102;
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM," Attorney Docket No. END8211USNP/170103;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRESSING A SHAFT INCLUDING A HOUSING ARRANGEMENT," Attorney Docket No. END8215USNP/170107;
- U.S. Patent Application No. ____, entitled "SURGICAL INSTRUMENT COMPRESSING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS," Attorney Docket No. END8201USNP/170104;
- U.S. Patent Application No. ____, entitled "SURGICAL STAPLING INSTRUMENTS COMPRESSING SHORTENED STAPLE CARTRIDGE NOSES," Attorney Docket No. END8206USNP/170105;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT COMPRESSING A SHAFT INCLUDING A CLOSURE TUBE PROFILE," Attorney Docket No. END8212USNP/170106;
- U.S. Patent Application No. ______, entitled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT," Attorney Docket No. END8200USNP/170089M;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTED ARTICULATION JOINT CONFIGURATIONS," Attorney Docket No. END8214USNP/170090;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING," Attorney Docket No. END8202USNP/170091;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOT AXIS," Attorney Docket No. END8213USNP/170092;
- U.S. Patent Application No. ______, entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT," Attorney Docket No. END8205USNP/170094;
- U.S. Patent Application No. ______, entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW," Attorney Docket No. END8216USNP/170095;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES," Attorney Docket No. END8208USNP/170096;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVEABLE CLOSURE MEMBER," Attorney Docket No. END8209USNP/170097;
- U.S. Patent Application No. ______, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT," Attorney Docket No. END8233USNP/170084;
- U.S. Design Patent Application Serial No. ______, entitled "STAPLE FORMING ANVIL," Attorney Docket No. END8236USDP/170109D;
- U.S. Design Patent Application No. ____, entitled "SURGICAL INSTRUMENT SHAFT," Attorney Docket No. END8239USDP/170108D, and - U.S. Design Patent Application No. ____, entitled "SURGICAL FASTENER CARTRIDGE," Attorney Docket No. END8240USDP/170110D.

The applicant of this application owns the following U.S. patent applications, filed on June 27, 2017, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. ______, entitled "SURGICAL ANVIL MANUFACTURING METHODS," Attorney Docket No. END8165USNP/170079M;
- U.S. Patent Application No. ______, entitled "SURGICAL ANVIL ARRANGEMENTS," Attorney Docket No. END8168USNP/170080;
- U.S. Patent Application No. ______, entitled "SURGICAL ANVIL ARRANGEMENTS," Attorney Docket No. END8170USNP/170081;
- U.S. Patent Application No. ______, entitled "SURGICAL ANVIL ARRANGEMENTS," Attorney Docket No. END8164USNP/170082;
- U.S. Patent Application No. ______, entitled "SURGICAL FIRING MEMBER ARRANGEMENTS," Attorney Docket No. END8169USNP/170083;
- U.S. Patent Application No. ______, entitled "STAPLE FORMING POCKET ARRANGEMENTS," Attorney Docket No. END8167USNP/170085;
- U.S. Patent Application No. ______, entitled "STAPLE FORMING POCKET ARRANGEMENTS," Attorney Docket No. END8232USNP/170086;
- U.S. Patent Application No. ____, entitled "SURGICAL END EFFECTORS AND ANVILS," Attorney Docket No. END8166USNP/170087, and - U.S. Patent Application No. ____, entitled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS," Attorney Docket No. END8171USNP/170088.

The applicant of this application owns the following U.S. patent applications, filed on December 21, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. 15/386,185, entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF";
- U.S. Patent Application No. 15/386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS";
- U.S. Patent Application Serial No. 15/386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS";
- U.S. Patent Application No. 15/386,209, entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF";
- U.S. Patent Application No. 15/386,198, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES";
- U.S. Patent Application Serial No. 15/386,240, entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR."
- U.S. Patent Application No. 15/385,939, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";
- U.S. Patent Application No. 15/385,941, entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS";
- U.S. Patent Application No. 15/385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";
- U.S. Patent Application No. 15/385,950, entitled "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 No. 15/385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";
- U.S. Patent Application No. 15/385,951, entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE";
- U.S. Patent Application No. 15/385,953, entitled "METHODS OF STAPLING TISSUE";
- U.S. Patent Application No. 15/385,954, entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS";
- U.S. Patent Application No. 15/385,955, entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS";
- U.S. Patent Application No. 15/385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";
- U.S. Patent Application No. 15/385,956, entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES";
- U.S. Patent Application No. 15/385,958, entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AND UNSPENT STAPLE CARTRIDGE IS PRESENT";
- U.S. Patent Application Serial No. 15/385,947, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";
- U.S. Patent Application Serial No. 15/385,896, entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";
- U.S. Patent Application No. 15/385,898, entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES";
- U.S. Patent Application No. 15/385,899, entitled "SURGICAL INSTRUMENT COMPRESSING IMPROVED JAW CONTROL";
- U.S. Patent Application No. 15/385,901, entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRESSING WINDOWS DEFINED THEREIN";
- U.S. Patent Application No. 15/385,902, entitled "SURGICAL INSTRUMENT COMPRESSING A CUTTING MEMBER";
- U.S. Patent Application No. 15/385,904, entitled "STAPLE FIRING MEMBER COMPRESSING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT";
- U.S. Patent Application No. 15/385,905, entitled "FIRING ASSEMBLY COMPRESSING A LOCKOUT";
- U.S. Patent Application No. 15/385,907, entitled "SURGICAL INSTRUMENT SYSTEM COMPRESSING AND END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT";
- U.S. Patent Application No. 15/385,908, entitled "FIRING ASSEMBLY COMPRESSING A FUSE";
- U.S. Patent Application No. 15/385,909, entitled "FIRING ASSEMBLY COMPRESSING A MULTIPLE FAILED-STATE FUSE";
- U.S. Patent Application Serial No. 15/385,920, entitled "STAPLE FORMING POCKET ARRANGEMENTS";
- U.S. Patent Application Serial No. 15/385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS";
- U.S. Patent Application No. 15/385,914, entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";
- U.S. Patent Application No. 15/385,893, entitled "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS";
- U.S. Patent Application No. 15/385,929, entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATED AND DISTINCT CLOSURE AND FIRING SYSTEMS";
- U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS";
- U.S. Patent Application No. 15/385,927, entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES";
- U.S. Patent Application No. 15/385,917, entitled "STAPLE CARTRIDGE COMPRESSING STAPLES WITH DIFFERENT CLAMPING BREADTHS";
- U.S. Patent Application No. 15/385,900, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRESSING PRIMARY SIDEWALLS AND POCKET SIDEWALLS";
- U.S. Patent Application No. 15/385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS";
- U.S. Patent Application No. 15/385,915, entitled "FIRING MEMBER PIN ANGLE";
- U.S. Patent Application No. 15/385,897, entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRESSING ZONED FORMING SURFACE GROOVES";
- U.S. Patent Application No. 15/385,922, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES";
- U.S. Patent Application No. 15/385,924, entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";
- U.S. Patent Application No. 15/385,912, entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";
- U.S. Patent Application No. 15/385,910, entitled "ANVIL HAVING A KNIFE SLOT WIDTH";
- U.S. Patent Application No. 15/385,906, entitled "FIRING MEMBER PIN CONFIGURATIONS";
- U.S. Patent Application Serial No. 15/386,188, entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES";
- U.S. Patent Application No. 15/386,192, entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES";
- U.S. Patent Application No. 15/386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES";
- U.S. Patent Application Serial No. 15,386,226, entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS";
- U.S. Patent Application No. 15/386,222, entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES";
- U.S. Patent Application No. 15/386,236, entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS";
- U.S. Patent Application No. 15/385,887, entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT";
- U.S. Patent Application No. 15/385,889, entitled "SHAFT ASSEMBLY COMPRESSING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM";
- U.S. Patent Application No. 15/385,890, entitled "SHAFT ASSEMBLY COMPRESSING SEPARATORY ACTUAL AND RETRACTABLE SYSTEMS";
- U.S. Patent Application No. 15/385,891, entitled "SHAFT ASSEMBLY COMPRESSING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS";
- U.S. Patent Application No. 15/385,892, entitled "SURGICAL SYSTEM COMPRESSING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AND END EFFECTOR OF THE SURGICAL SYSTEM";
- U.S. Patent Application No. 15/385,894, entitled "SHAFT ASSEMBLY COMPRESSING A LOCKOUT";
- U.S. Patent Application No. 15/385,895, entitled "SHAFT ASSEMBLY COMPRESSING FIRST AND SECOND ARTICULATION LOCKOUTS";
- U.S. Patent Application No. 15/385,916, entitled "SURGICAL STAPLING SYSTEMS";
- U.S. Patent Application No. 15/385,918, entitled "SURGICAL STAPLING SYSTEMS";
- U.S. Patent Application Serial No. 15/385,919, entitled "SURGICAL STAPLING SYSTEMS";
- U.S. Patent Application No. 15/385,921, entitled "SURGICAL STAPLE/FASTENER CARTRIDGE WITH MOVEABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES";
- U.S. Patent Application No. 15/385,923, entitled "SURGICAL STAPLING SYSTEMS";
- U.S. Patent Application No. 15/385,925, entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR";
- U.S. Patent Application No. 15/385,926, entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS";
- U.S. Patent Application No. 15/385,928, entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT";
- U.S. Patent Application No. 15/385,930, entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATED OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";
- U.S. Patent Application No. 15/385,932, entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT";
- U.S. Patent Application No. 15/385,933, entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK";
- U.S. Patent Application No. 15/385,934, entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM";
- U.S. Patent Application No. 15/385,935, entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION"; and - U.S. Patent Application No. 15/385,936, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

The applicant of this application owns the following U.S. patent applications, filed on June 24, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 15/191,775, entitled "STAPLE CARTRIDGE COMPRESSING WIRE STAPLES AND STAMPED STAPLES";
- U.S. Patent Application Serial No. 15/191,807, entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES";
- U.S. Patent Application Serial No. 15/191,834, entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME";
- U.S. Patent Application No. 15/191,788, entitled "STAPLE CARTRIDGE COMPRESSING OVERDRIVEN STAPLES", and - U.S. Patent Application No. 15/191,818, entitled "STAPLE CARTRIDGE COMPRESSING OFFSET LONGITUDINAL STAPLE ROWS".

The applicant of this application owns the following U.S. patent applications, filed on June 24, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. Design Patent Application No. 29/569,218, entitled "SURGICAL FASTENER";
- U.S. Design Patent Application No. 29/569,227, entitled "SURGICAL FASTENER";
- U.S. Design Patent Application Serial No. 29/569,259, entitled "SURGICAL FASTENER CARTRIDGE", and - U.S. Design Patent Application Serial No. 29/569,264, entitled "SURGICAL FASTENER CARTRIDGE".

The applicant of this application owns the following patent applications, filed on April 1, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 15/089,325, entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM";
- U.S. Patent Application No. 15/089,321, entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRESSING A DISPLAY";
- U.S. Patent Application No. 15/089,326, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";
- U.S. Patent Application No. 15/089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION";
- U.S. Patent Application No. 15/089,262, entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUABLE BAILOUT SYSTEM";
- U.S. Patent Application No. 15/089,277, entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIIL CONCENTRIC DRIVE MEMBER";
- U.S. Patent Application No. 15/089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";
- U.S. Patent Application No. 15/089,258, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A SHIFTABLE TRANSMISSION";
- U.S. Patent Application No. 15/089,278, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE";
- U.S. Patent Application No. 15/089,284, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A CONTOURABLE SHAFT";
- U.S. Patent Application No. 15/089,295, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A TISSUE COMPRESSION LOCKOUT";
- U.S. Patent Application No. 15/089,300, entitled "SURGICAL STAPLING SYSTEM COMPRESSING AND UNCLAMPING LOCKOUT";
- U.S. Patent Application No. 15/089,196, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A JAW CLOSURE LOCKOUT";
- U.S. Patent Application No. 15/089,203, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A JAW ATTACHMENT LOCKOUT";
- U.S. Patent Application No. 15/089,210, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A SPENT CARTRIDGE LOCKOUT";
- U.S. Patent Application No. 15/089,324, entitled "SURGICAL INSTRUMENT COMPRESSING A SHIFTING MECHANISM";
- U.S. Patent Application No. 15/089,335, entitled "SURGICAL STAPLING INSTRUMENT COMPRESSING MULTIPLE LOCKOUTS";
- U.S. Patent Application No. 15/089,339, entitled "SURGICAL STAPLING INSTRUMENT";
- U.S. Patent Application No. 15/089,253, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNUAL ROWS OF STAPLES HAVING DIFFERENT HEIGHTS";
- U.S. Patent Application No. 15/089,304, entitled "SURGICAL STAPLING SYSTEM COMPRESSING A GROOVED FORMING POCKET";
- U.S. Patent Application No. 15/089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS";
- U.S. Patent Application No. 15/089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES";
- U.S. Patent Application No. 15/089,312, entitled "CIRCULAR STAPLING SYSTEM COMPRESSING AN INCISABLE TISSUE SUPPORT";
- U.S. Patent Application No. 15/089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRESSING ROTARY FIRING SYSTEM"; and - U.S. Patent Application No. 15/089,349, entitled "CIRCULAR STAPLING SYSTEM COMPRESSING LOAD CONTROL".

The applicant of the present application also owns the following identified U.S. patent applications, filed on December 31, 2015, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. 14/984,488, entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS";
No. 14/984,525, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" and No. 14/984,552, entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS".

The applicant of the present application also owns the following identified U.S. patent applications, filed on February 9, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. 15/019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR";
- U.S. Patent Application No. 15/019,228, entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";
- U.S. Patent Application No. 15/019,196, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";
- U.S. Patent Application No. 15/019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY";
- U.S. Patent Application No. 15/019,215, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";
- U.S. Patent Application No. 15/019,227, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS";
- U.S. Patent Application No. 15/019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS";
- U.S. Patent Application No. 15/019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS", and - U.S. Patent Application No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

The applicant of the present application also owns the following identified U.S. patent applications, filed on February 12, 2016, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. 15/043,254, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";
- U.S. Patent Application Serial No. 15/043,259, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";
No. 15/043,275, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS" and No. 15/043,289, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicant of this application owns the following patent applications, filed on June 18, 2015, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/742,925, entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS," now U.S. Patent Application Publication No. 2016/0367256;
- U.S. Patent Application Serial No. 14/742,941, entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES," now U.S. Patent Application Publication No. 2016/0367248;
- U.S. Patent Application Serial No. 14/742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/0367255;
- U.S. Patent Application Serial No. 14/742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT," now U.S. Patent Application Publication No. 2016/0367254;
No. 14/742,885, entitled "DUAL ARTICLES DRIVE SYSTEM ARRANGEMENTS FOR ARTICLES SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/0367246; and No. 14/742,876, entitled "PUSH/PULL ARTICLES DRIVE SYSTEMS FOR ARTICLES SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/0367245.

The applicant of this application owns the following patent applications, filed on March 6, 2015, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016/0256184;
- U.S. Patent Application Serial No. 14/640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFIED OPERATION OF POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/02561185;
- U.S. Patent Application Serial No. 14/640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES," now U.S. Patent Application Publication No. 2016/0256154;
- U.S. Patent Application Serial No. 14/640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION," now U.S. Patent Application Publication No. 2016/0256071;
- U.S. Patent Application Serial No. 14/640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/0256153;
- U.S. Patent Application Serial No. 14/640,859, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES," now U.S. Patent Application Publication No. 2016/0256187;
- U.S. Patent Application Serial No. 14/640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/0256186;
- U.S. Patent Application Serial No. 14/640,844, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITH IN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE," now U.S. Patent Application Publication No. 2016/0256155;
- U.S. Patent Application Serial No. 14/640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING," now U.S. Patent Application Publication No. 2016/0256163;
- U.S. Patent Application Serial No. 14/640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLE/FASTENER," now U.S. Patent Application Publication No. 2016/0256160;
- U.S. Patent Application No. 14/640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT," now U.S. Patent Application Publication No. 2016/0256162; and - U.S. Patent Application No. 14/640,780, entitled "SURGICAL INSTRUMENT COMPRESSING A LOCKABLE BATTERY HOUSING," now U.S. Patent Application Publication No. 2016/0256161.

The applicant of this application owns the following patent applications, filed on February 27, 2015, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRESSING AN INSPECTION STATION," now U.S. Patent Application Publication No. 2016/0249919;
- U.S. Patent Application Serial No. 14/633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHERE A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND," now U.S. Patent Application Publication No. 2016/0249915;
- U.S. Patent Application Serial No. 14/633,560, entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES," now U.S. Patent Application Publication No. 2016/0249910;
- U.S. Patent Application Serial No. 14/633,566, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY," now U.S. Patent Application Publication No. 2016/0249918;
- U.S. Patent Application Serial No. 14/633,555, entitled "SYSTEM FOR MONITORING WHERE A SURGICAL INSTRUMENT NEEDS TO BE SERVICED," now U.S. Patent Application Publication No. 2016/0249916;
- U.S. Patent Application Serial No. 14/633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016/0249908;
- U.S. Patent Application Serial No. 14/633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2016/0249909;
- U.S. Patent Application Serial No. 14/633,526, entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE," now U.S. Patent Application Publication No. 2016/0249945;
- U.S. Patent Application Serial No. 14/633,541, entitled "MODULAR STAPLING ASSEMBLY," now U.S. Patent Application Publication No. 2016/0249927;
- U.S. Patent Application Serial No. 14/633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER," now U.S. Patent Application Publication No. 2016/0249917.

The applicant of this application owns the following patent applications, filed on December 18, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRESSING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER," now U.S. Patent Application Publication No. 2016/0174977;
- U.S. Patent Application Serial No. 14/574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRESSING LOCKABLE SYSTEMS," now U.S. Patent Application Publication No. 2016/0174969;
- U.S. Patent Application Serial No. 14/575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2016/0174978;
- U.S. Patent Application Serial No. 14/575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLYS WITH ARTICULATABLE SURGICAL END EFFECTORS," now U.S. Patent Application Publication No. 2016/0174976;
- U.S. Patent Application Serial No. 14/575,130, entitled "SURGICAL INSTRUMENT WITH AN ANVIIL THAT IS SELECTIVELY MOVEABLE ABOUT A DISCRETE NON-MOVEABLE AXIS RELATIVE TO A STAPLE CARTRIDGE," now U.S. Patent Application Publication No. 2016/0174972;
- U.S. Patent Application Serial No. 14/575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS," now U.S. Patent Application Publication No. 2016/0174983;
- U.S. Patent Application Serial No. 14/575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVEABLE FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. Patent Application Publication No. 2016/0174975;
- U.S. Patent Application Serial No. 14/575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. Patent Application Publication No. 2016/0174973;
- U.S. Patent Application No. 14/574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRESSING A FLEXIBLE ARTICULATION SYSTEM," now U.S. Patent Application Publication No. 2016/0174970; and - U.S. Patent Application No. 14/574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRESSING A LOCKABLE ARTICULATION SYSTEM," now U.S. Patent Application Publication No. 2016/0174971.

The applicant of this application owns the following patent applications, filed on March 1, 2013, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 13/782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION," now U.S. Patent Application Publication No. 2014/0246471;
- U.S. Patent Application Serial No. 13/782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014/0246472;
- U.S. Patent Application Serial No. 13/782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014/0249557;
- U.S. Patent Application Serial No. 13/782,499, entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT," now U.S. Patent No. 9,358,003;
- U.S. Patent Application Serial No. 13/782,460, entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,554,794;
- U.S. Patent Application Serial No. 13/782,358, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,326,767;
- U.S. Patent Application Serial No. 13/782,481, entitled "SENSOR STRAIIGHTENED END EFFECTOR DURING REMOVEAL THROUGH TROCAR," now U.S. Patent No. 9,468,438;
- U.S. Patent Application Serial No. 13/782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVEABLE IMPLEMENT PORTIONS," now U.S. Patent Application Publication No. 2014/0246475;
- U.S. Patent Application Serial No. 13/782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM," now U.S. Patent No. 9,398,911;
- U.S. Patent Application Serial No. 13/782,536, entitled "SURGICAL INSTRUMENT SOFT STOP," now U.S. Patent No. 9,307,986.

The applicant of the present application also owns the following patent applications, filed on March 14, 2013, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application No. 13/803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING A FIRING DRIVE," now U.S. Patent Application Publication No. 2014/0263542;
- U.S. Patent Application Serial No. 13/803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT," now U.S. Patent No. 9,332,987;
- U.S. Patent Application No. 13/803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0263564;
- U.S. Patent Application No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014/0263541;
- U.S. Patent Application Serial No. 13/803,210, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2014/0263538;
- U.S. Patent Application No. 13/803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0263554;
- U.S. Patent Application No. 13/803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. Patent No. 9,629,623; and - U.S. Patent Application No. 13/803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. Patent No. 9,351,726;
- U.S. Patent Application No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,351,727; and - U.S. Patent Application No. 13/803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0277017.

The applicant of the present application also owns the following patent applications, filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent No. 9,629,629;

The applicant of the present application also owns the following patent applications, filed on March 26, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015/0272582;
- U.S. Patent Application Serial No. 14/226,099, entitled "STERILIZATION VERIFICATION CIRCUIT," now U.S. Patent Application Publication No. 2015/0272581;
- U.S. Patent Application Serial No. 14/226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT," now U.S. Patent Application Publication No. 2015/0272580;
- U.S. Patent Application Serial No. 14/226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL," now U.S. Patent Application Publication No. 2015/0272574;
- U.S. Patent Application Serial No. 14/226,075, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES," now U.S. Patent Application Publication No. 2015/0272579;
- U.S. Patent Application Serial No. 14/226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015/0272569;
- U.S. Patent Application Serial No. 14/226,116, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION," now U.S. Patent Application Publication No. 2015/0272571;
- U.S. Patent Application Serial No. 14/226,071, entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR," now U.S. Patent Application Publication No. 2015/0272578;
- U.S. Patent Application Serial No. 14/226,097, entitled "SURGICAL INSTRUMENT COMPRESSING INTERACTIVE SYSTEMS," now U.S. Patent Application Publication No. 2015/0272570;
- U.S. Patent Application Serial No. 14/226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS," now U.S. Patent Application Publication No. 2015/0272572;
- U.S. Patent Application Serial No. 14/226,133, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015/0272557;
- U.S. Patent Application Serial No. 14/226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT," now U.S. Patent Application Publication No. 2015/0277471;
- U.S. Patent Application Serial No. 14/226,076, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION," now U.S. Patent Application Publication No. 2015/0280424;
- U.S. Patent Application No. 14/226,111, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM," now U.S. Patent Application Publication No. 2015/0272583; and - U.S. Patent Application No. 14/226,125, entitled "SURGICAL INSTRUMENT COMPRESSING A ROTATABLE SHAFT," now U.S. Patent Application Publication No. 2015/0280384.

The applicant of the present application also owns the following patent applications, filed on September 5, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/479,103, entitled "CIRCUITY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016/0066912;
- U.S. Patent Application Serial 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 Serial No. 14/478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION," now U.S. Patent Application Publication No. 2016/0066910;
- U.S. Patent Application Serial No. 14/478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETERATION," now U.S. Patent Application Publication No. 2016/0066909;
- U.S. Patent Application Serial No. 14/479,110, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE," now U.S. Patent Application Publication No. 2016/0066915;
- U.S. Patent Application Serial No. 14/479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION," now U.S. Patent Application Publication No. 2016/0066911;
- U.S. Patent Application No. 14/479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE," now U.S. Patent Application Publication No. 2016/0066916; and - U.S. Patent Application No. 14/479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION," now U.S. Patent Application Publication No. 2016/0066913.

The applicant of the present application also owns the following patent applications, filed on April 9, 2014, the entire contents of each of which are incorporated herein by reference:
- U.S. Patent Application Serial No. 14/248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS," now U.S. Patent Application Publication No. 2014/0305987;
- U.S. Patent Application Serial No. 14/248,581, entitled "SURGICAL INSTRUMENT COMPRESSING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT," now U.S. Patent No. 9,649,110;
- U.S. Patent Application Serial No. 14/248,595, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0305988;
- U.S. Patent Application Serial No. 14/248,588, entitled "POWERED LINEAR SURGICAL STAPLE/FASTENER," now U.S. Patent Application Publication No. 2014/0309666;
- U.S. Patent Application Serial No. 14/248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT," now U.S. Patent Application Publication No. 2014/0305991;
- U.S. Patent Application Serial No. 14/248,584, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS," now U.S. Patent Application Publication No. 2014/0305994;
- U.S. Patent Application Serial No. 14/248,587, entitled "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. 14/248,607, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS," now U.S. Patent Application Publication No. 2014/0305992.

The applicant of the present application also owns the following patent applications, filed on April 16, 2013, the entire contents of each of which are incorporated herein by reference:
- U.S. Provisional Patent Application No. 61/812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";
- U.S. Provisional Patent Application No. 61/812,376, entitled "LINEAR CUTTER WITH POWER";
- U.S. Provisional Patent Application No. 61/812,382, entitled "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, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

As described in the specification and illustrated in the accompanying drawings, numerous specific details are described to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments. Well-known operations, components, and elements are not described in detail so as not to obscure the embodiments described herein. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus the specific structural and functional details disclosed herein may be representative and exemplary. 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 linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements has one or more of those elements, but is not limited to having only one or more of those elements. Similarly, a system, device, or element of an apparatus that "comprises," "has," "includes," or "contains" one or more features means that it has those one or more features, but is not limited to having only those one or more features.

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

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. As the reader continues to read through the "Description of the Invention" section of this specification, the reader will further appreciate that the various instruments disclosed herein may be inserted into the body in any manner, such as through a natural opening, through an incision or puncture made in tissue, etc. The working or end effector portions of these instruments may be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

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

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck 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 portion. Staples removably stored within the cartridge body can then be deployed into the tissue. The cartridge body includes staple cavities defined therein, and the staples are removably stored within the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a 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 be possible.

The staples are supported by staple drivers within the cartridge body. The drivers are movable between a first, or unfired, position and a second, or fired, position that ejects the staples from the staple cavities. The drivers are retained within the cartridge body by a retainer that extends around the bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and hold the retainer against the cartridge body. The drivers are movable between their unfired and fired positions by a sled. The sled is movable between a proximal position adjacent a proximal end and a distal position adjacent a distal end. The sled includes a plurality of ramps configured to slide under the drivers and lift the drivers, on which the staples are supported, toward the anvil.

In addition to the above, the thread is moved distally by a firing member. The firing member is configured to contact the thread and push the thread toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. When advancing the firing member distally, the first cam and the second cam can control the distance between the deck portion of the staple cartridge and the anvil, i.e., the tissue gap. The firing member also includes a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximally relative to the ramp so that the staples are ejected forward of the knife.

1 illustrates a motorized surgical system 10 that may be used to perform a variety of different surgical procedures. As can be seen in this figure, one example of a 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 conjunction with the performance of one or more specific surgical procedures. In another surgical system embodiment, one or more of the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 may also be effectively used in conjunction with an instrument drive assembly of a robotically controlled or automated surgical system. For example, the surgical tool assemblies disclosed herein may be used with various robotic systems, instruments, components and methods, such as, but not limited to, those disclosed in U.S. Pat. No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," the entire contents of which are incorporated herein by reference.

2 illustrates the attachment of the exchangeable surgical tool assembly 1000 to the handle assembly 500. It will be appreciated that any of the other exchangeable tool assemblies 3000, 5000, and 7000 can be coupled to the handle assembly 500 in a similar manner. The attachment mechanism and process illustrated in FIG. 2 can also be used in connection with the attachment of any of the exchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 to an instrument drive portion or instrument drive housing of a robotic system. The 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, the handle assembly 500 operably supports a number of drive systems 510, 530 configured to generate and apply various control motions to corresponding portions of the exchangeable surgical tool assemblies 1000, 3000, 5000, and/or 7000 operably attached to the handle assembly.

As seen in FIG. 2, the handle assembly 500 may further include a handle frame 506 that operably supports a plurality of drive systems. For example, the handle frame 506 may operably support a "first" or closure drive system, generally designated as 510, that may be used to apply an opening and closing motion to the interchangeable surgical tool assemblies 1000, 3000, 5000, and 7000 operably attached or coupled to the handle assembly 500. In at least one form, the closure drive system 510 pivotally supported by the handle frame 506 may include an actuator in the form of a closure trigger 512. Such an arrangement allows the closure trigger 512 to be easily pivoted from a starting or "non-actuated" position to an "actuated" position, more specifically to a fully compressed or actuated position, when the clinician grasps the pistol gripping portion 504 of the handle assembly 500. In various forms, the closure drive system 510 further includes a closure link assembly 514 that pivotally couples to or otherwise operatively interfaces with the closure trigger 512. As discussed in more detail below, in the illustrated example, the closure link assembly 514 includes a lateral mounting pin 516 that facilitates attachment to a corresponding drive system on a surgical tool assembly. During use, to actuate the closure drive system 510, a clinician depresses the closure trigger 512 toward the pistol grip portion 504. As described in more detail in U.S. Patent Application Serial No. 14/226,142, entitled "SURGICAL INSTRUMENT COMPRESSING A SENSOR SYSTEM," now U.S. Patent Application Publication No. 2015/0272575, the entire contents of which are incorporated herein by reference, the closure drive system 510 is configured to lock the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to achieve a fully closed stroke. When the clinician desires to unlock the closure trigger 512 and bias it toward the unactuated position, the clinician simply actuates the closure release button assembly 518, which allows the closure trigger to return to the unactuated position. The closure release button assembly 518 may also be configured to interface with various sensors in communication with the microprocessor 560 within the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the construction and operation of the closure release button assembly 518 can be found in U.S. Patent Application Publication No. 2015/0272575.

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

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

In at least one form, the longitudinally movable drive member may have a rack of teeth (not shown) formed thereon for meshing engagement with a corresponding drive gear arrangement (not shown) that interacts with the motor. Further details regarding these features may be found in U.S. Patent Application Publication No. 2015/0272575. At least one form also includes a manually actuable "emergency" assembly configured to allow a clinician to manually retract the longitudinally movable drive member and disable the motor 505. The emergency assembly may include a lever or emergency handle assembly housed within the handle assembly 500 below the removable door portion 550. See FIG. 2. The lever may be configured to be manually pivoted into ratcheting engagement with the teeth of the drive member. Thus, the clinician may manually retract the drive member by ratcheting the drive member in the proximal direction "PD" using the emergency release handle assembly. U.S. Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," the entire disclosure of which is incorporated herein by reference, discloses emergency release mechanisms as well as other components, mechanisms, and systems that may be used with any of the various interchangeable surgical tool assemblies disclosed herein.

3 and 4, the exchangeable surgical tool assembly 1000 has a surgical end effector 1500 including a first jaw 1600 and a second jaw 1800. In one configuration, the first jaw includes an elongated channel 1602 configured to operably support a surgical staple/fastener cartridge 1700 therein. The second jaw 1800 includes an anvil 1810 pivotally supported relative to the elongated channel 1602. The exchangeable surgical tool assembly 1000 can include an articulation system 1300 including an articulation joint 1302 and an articulation lock 1400 (FIGS. 4-6) that can be configured to releasably hold the surgical end effector 1500 in a desired articulated position relative to the shaft axis _SA1 . Further details regarding articulation systems and articulation locks can be found in U.S. patent application entitled "SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME," Attorney Docket No. END8217USNP/170102, filed on even date herewith, and incorporated herein by reference in its entirety.

As further seen in Figures 4 and 7-9, the exchangeable surgical tool assembly 1000 includes a tool frame assembly 1200 including a tool chassis 1210 that operably supports a nozzle assembly 1240. In one form, the nozzle assembly 1240 is comprised of nozzle portions 1242, 1244 and an actuator wheel portion 1246 configured to be coupled to the assembled nozzle portions 1242, 1244 by snaps, protrusions, screws, or the like. The exchangeable 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 the anvil 1810 of the surgical end effector 1500, as described in more detail below. Additionally, the exchangeable surgical tool assembly 1000 includes a spine assembly 1250 that operably supports the proximal closure assembly 1900 and is coupled to the surgical end effector 1500. In various circumstances, for ease of assembly, the spine assembly 1250 can be made from an upper spine portion 1251 and a lower spine portion 1252 interconnected to one another by a snap mechanism, adhesive, welding, or the like. In the assembled configuration, the spine assembly 1250 includes a proximal end 1253 rotatably supported within the tool chassis 1210. In one configuration, for example, the proximal end 1253 of the spine 1250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 1210. Such a configuration facilitates rotatable mounting of the spine assembly 1250 to the tool chassis 1210, allowing the spine assembly 1250 to be selectively rotated about a shaft axis _SA1 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 1254 (FIGS. 4, 5, 7, 8, and 10) and a lower projection seat (not shown) each configured to receive a corresponding nozzle projection 1245 extending inwardly from each of the nozzle portions 1242, 1244. Such a configuration facilitates rotation of the spine assembly 1250 about the shaft axis _SA1 by rotating the actuator wheel portion 1246 of the nozzle assembly 1240.

4 and 5, the spine assembly 1250 further includes a middle spine shaft portion 1256 having a diameter smaller than the diameter of the proximal end 1253 of the spine assembly 1250. The middle spine shaft portion 1256 of the upper spine portion 1251 terminates in an upper lug mounting element 1260, and the middle spine shaft portion of the lower spine portion 1252 terminates in a lower lug mounting element 1270. As seen in most detail in FIG. 6, for example, the upper lug mounting element 1260 is formed with a lug slot 1262 adapted to mountably support an upper mounting link 1264 therein. Similarly, the lower lug mounting element 1270 is formed with a lug slot 1272 adapted to mountably support a lower mounting link 1274 therein. The upper mounting link 1264 includes a pivot socket 1266 offset from the shaft axis _SA1 . The 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 the proximal end portion 1610 of the elongated channel 1602. The lower mounting link 1274 includes a lower pivot pin 1276 adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. See FIG. 6. The lower pivot pin 1276 as well as the pivot hole 1611 are offset from the shaft axis _SA1 . The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define an articulation axis _AA1 about which the surgical end effector 1500 can articulate relative to the shaft axis _SA1 . Articulation axis ^AA1 is transverse to shaft axis _SA1 , but articulation axis _AA1 is laterally offset from shaft axis _SA1 and does not intersect shaft axis _SA1 .

6 and 15, the anvil 1810 in the illustrated example includes an anvil body 1812 terminating in an anvil mounting portion 1820. The anvil mounting portion 1820 is movably or pivotally supported on the elongated channel 1602 for selective pivotal movement about a fixed anvil pivot axis _PA1 (FIG. 15) that is transverse to the shaft axis _SA1 . In the illustrated configuration, pivot members or anvil trunnions 1822 extend laterally from each lateral side of the anvil mounting portion 1820 and are received in corresponding trunnion cradles 1614 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongated channel 1602. The anvil trunnions 1822 are pivotally retained in their corresponding trunnion cradles 1614 by a channel cap or anvil retainer 1630. The channel cap or anvil retainer 1630 includes a pair of mounting projections 1636 configured to be received and retained within corresponding projection grooves or notches 1616 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongated channel 1602.

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

Movement of the anvil 1810 relative to the elongated channel 1602 is effected by axial movement of the proximal closure assembly 1900 and the distal closure assembly 2000. Referring now to FIGS. 4 and 7, in the illustrated configuration, the proximal closure assembly 1900 includes a proximal closure tube 1910 having a proximal closure tube portion 1920 and a distal portion 1930. The distal portion 1930 has a diameter smaller than the diameter of the proximal closure tube portion 1920. A 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 allow axial movement relative to the tool chassis. In one form, the closure shuttle 1940 includes a pair of proximal protruding hooks 1942 configured to be attached to a mounting pin 516 attached to the closure coupling assembly 514 of the handle assembly 500. The proximal end 1922 of the proximal closure tube portion 1920 is coupled to the closure shuttle 1940 for relative rotation therewith. For example, a U-shaped connector 1944 is inserted into an annular slot 1924 of the proximal closure tube portion 1920 and retained in a vertical slot 1946 of the closure shuttle 1940. Such an arrangement serves to attach the proximal closure assembly 1900 to the closure shuttle 1940 for axial movement therewith, while allowing the proximal closure assembly 1900 to rotate about the shaft axis _SA1 relative to the closure shuttle 1940. 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, which serves to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to an unactuated position when the exchangeable surgical tool assembly 1000 is operably coupled to the handle assembly 500.

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, the distal closure assembly 2000 includes an articulation connector 2010 coupled to the distal closure tube portion 2030. In the illustrated example, the distal closure tube portion 2030 has a diameter greater than the diameter of the distal portion 1930 of the proximal closure tube 1910. The articulation connector 2010 has a proximally extending end 2012 adapted to be received on a connection flange 1934 formed on the distal end of the distal portion 1930. The articulation connector 2010 can be held on the connection flange 1934 by a suitable fastening mechanism, such as adhesive, welding, or the like. The articulation connector 2010 includes an upper protrusion 2014 and a lower protrusion 2016 that protrude distally from the distal end of the articulation connector 2010 and are movably coupled to the end effector closure sleeve or the distal closure tube portion 2030. The distal closure tube portion 2030 includes an upper projection 2032 and a lower projection (not shown) protruding proximally from its proximal end. The upper double pivot link 2060 includes a proximal pin 2061 and a distal pin 2062 that engage with corresponding holes 2015, 2034 of the upper projections 2014, 2032 of the articulation connector 2010 and the distal closure tube portion 2030, respectively. Similarly, the lower double pivot link 2064 includes a proximal pin 2065 and a distal pin 2066 that engage with corresponding holes 2019 of the lower projection 2016 of the articulation connector 2010 and the distal closure tube portion 2030, respectively. As will be described in more detail below, the distal and proximal axial translation of the proximal and distal closure assemblies 1900 and 2000 results in the anvil 1810 being opened and closed relative to the elongated channel 1602.

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

In addition to the above, the exchangeable surgical tool assembly 1000 can include a shifter assembly 2200 that can be configured to selectively and releasably couple the proximal articulation driver 1310 to the 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, which can rotate between an engaged position in which the locking sleeve 2210 couples the proximal articulation driver 1310 to the firing member assembly 2110 and a disengaged position in which the proximal articulation driver 1310 is not operably coupled to the firing member assembly 2110. When the locking sleeve 2210 is in its engaged position, distal movement of the firing member assembly 2110 can move the proximal articulation driver 1310 in a distal direction, and correspondingly, proximal movement of the firing member assembly 2110 can move the proximal articulation driver 1310 in a proximal direction. When the locking sleeve 2210 is in its disengaged position, motion of the firing member assembly 2110 is not transferred to the proximal articulation driver 1310, such that the firing member assembly 2110 can move independently of the proximal articulation driver 1310. In various circumstances, the proximal articulation driver 1310 can be held in place by the articulation lock 1400 when the proximal articulation driver 1310 is not being moved proximally or distally by the firing member assembly 2110.

In the illustrated configuration, the intermediate firing shaft portion 2120 of the firing member assembly 2110 is formed with two opposing flat surfaces 2121, 2123 having a drive notch 2126 formed therein. See FIG. 8. As also seen in FIG. 13, the locking sleeve 2210 includes a cylindrical, or at least approximately cylindrical, body including a longitudinal opening 2212 configured to receive the intermediate firing shaft portion 2120 therethrough. The locking sleeve 2210 can include diametrically opposed inwardly directed locking projections 2214, 2216 that are received to engage within corresponding portions of the drive notches 2126 of the intermediate firing shaft portion 2120 when the locking sleeve 2210 is in one position and are not received within the drive notches 2126 when the locking sleeve 2210 is in another position, thereby allowing relative axial movement between the locking sleeve 2210 and the intermediate firing shaft portion 2120.

8 and 12-14, in the illustrated example, the locking sleeve 2210 further includes a locking member 2218 sized to be movably received within a notch 1319 in the proximal end 1318 of the proximal articulation driver 1310. Such a configuration allows the locking sleeve 2210 to rotate slightly into and out of engagement with the intermediate firing shaft portion 2120 while remaining engaged with the notch 1319 in the proximal articulation driver 1310. For example, when the locking sleeve 2210 is in its engaged position, the locking projections 2214, 2216 are disposed within the drive notch 2126 of the intermediate firing shaft portion 2120 such that a distal push force and/or a proximal pull force can be transferred from the firing member assembly 2110 to the locking sleeve 2210. Such axial pushing or pulling motion is then transferred from the locking sleeve 2210 to the proximal articulation driver 1310, thereby articulating the surgical end effector 1500. In practice, the firing member assembly 2110, the locking sleeve 2210, and the proximal articulation driver 1310 move together when the locking sleeve 2210 is in its engaged (articulated) position. On the other hand, when the locking sleeve 2210 is in its disengaged position, the locking projections 2214, 2216 are not received within the drive notches 2126 of the intermediate firing shaft portion 2120, and as a result, the distal pushing force and/or the proximal pulling force may not be transferred from the firing member assembly 2110 to the locking sleeve 2210 (and the proximal articulation driver 1310).

In the illustrated example, the relative movement of the locking sleeve 2210 between the engaged and disengaged positions can be controlled by a shifter assembly 2200 interconnected with the proximal closure tube 1910 of the proximal closure assembly 1900. More specifically, with reference to FIGS. 8 and 9, the shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed on the outer periphery of the locking sleeve 2210. Such a configuration allows the shifter key 2240 to move axially relative to the locking sleeve 2210. With reference to FIGS. 8-11, the shifter key 2240 includes an actuator protrusion 2242 that extends through a cam slot or cam opening 1926 of the proximal closure tube portion 1920. See FIG. 9. Additionally, a cam surface 2243 is provided adjacent the actuator protrusion 2242 that is configured to cammingly interact with the cam opening 1926, thereby rotating the shifter key 2240 in response to axial movement of the proximal closure tube portion 1920.

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

8-13, the switch drum 2220 may further include at least partially circumferential openings 2228, 2230 that extend from the nozzle portions 1242, 1244 and can receive circumferential projections/mounts 1245 that allow relative rotation between the switch drum 2220 and the nozzle assembly 1240 but not linear movement. Such nozzle projections 1245 extend through corresponding openings 1923 in the proximal closure tube portion 1920 and are seated in projection seats 1254 of the spine assembly 1250. See FIGS. 8 and 9. With such an arrangement, a user can rotate the nozzle assembly 1240 to rotate the spine assembly 1250 about the shaft axis.

As also shown in Figures 7 and 12-14, the exchangeable tool assembly 1000 may include a slip ring assembly 1230 that may be configured, for example, to transfer power to and/or from the surgical end effector 1500 and/or communicate signals to and/or from the surgical end effector back to the handle assembly 500 or the microprocessor 560 (Figure 2) within the robotic system controller. Further details regarding the slip ring assembly 1230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541) and U.S. Patent Application No. 15/019,196, each of which is incorporated by reference herein in its entirety, and U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014/0263552), each of which is incorporated by reference herein in its entirety. As described in more detail in the aforementioned patent applications, which are incorporated by reference herein, the exchangeable surgical tool assembly 1000 can also include at least one sensor configured to detect the position of the switch drum 2220.

2, the tool chassis 1210 is formed with at least one, and preferably two, tapered mounting portions 1212 adapted to be received within corresponding dovetail slots 507 formed within the distal end portion of the handle frame 506 of the handle assembly 500. Various interchangeable surgical tool assemblies employ a latch system 1220 for releasably coupling the interchangeable surgical tool assembly 1000 to the handle frame 506 of the 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 that is movably coupled to the tool chassis 1210. In the illustrated embodiment, for example, the 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 the lock yoke 1222 to the tool chassis 1210. The lock yoke 1222 may include two proximally extending locking projections 1224 configured to releasably engage corresponding locking detents or grooves 509 in the distal end of the handle frame 506 of the handle assembly 500. See FIG. 2. In various configurations, the lock yoke 1222 is proximally biased by a spring or biasing member 1225. Actuation of the lock yoke 1222 may be accomplished by a latch button 1226 slidably mounted to a latch actuator assembly 1221 mounted to the tool chassis 1210. The latch button 1226 may be biased proximally against the lock yoke 1222. The lock yoke 1222 may be moved to an unlocked position by distally biasing the latch button 1226, which further pivots the lock yoke 1222 out of retaining engagement with the distal end of the handle frame 506. When the lock yoke 1222 is in "retaining engagement" with the distal end of the handle frame 506, the lock protrusions 1224 are positioned to be retained within corresponding lock detents or grooves 509 in the distal end of the handle frame 506.

In the illustrated configuration, the locking yoke 1222 includes at least one, and preferably two, locking hooks 1227 adapted to contact corresponding locking protrusion portions 1943 formed on the closure shuttle 1940. When the closure shuttle 1940 is in the inactivated position, the locking yoke 1222 can be pivoted distally to unlock the exchangeable surgical tool assembly 1000 from the handle assembly 500. When in that position, the locking hooks 1227 are not in contact with the locking protrusion portions 1943 of the closure shuttle 1940. However, when the closure shuttle 1940 is moved to the activated position, the locking yoke 1222 is prevented from pivoting to the unlocked position. In other words, if a clinician attempts to pivot the locking yoke 1222 to the unlocked position, or, for example, if the locking yoke 1222 is inadvertently bumped or contacted in a manner that causes it to pivot distally, the locking hook 1227 of the locking yoke 1222 contacts the locking protrusion portion 1943 of the closure shuttle 1940 to prevent the locking yoke 1222 from moving to the unlocked position.

6, the knife bar 2130 can have a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands that are interconnected, for example, by welding or pinning to one another at their proximal ends and/or elsewhere along their length. In alternative embodiments, the distal ends of the bands are not connected to one another to allow the laminates or bands to spread relative to one another when the end effector is articulated. Such a configuration allows the knife bar 2130 to have sufficient flexibility to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in U.S. Patent Application Serial No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," which is incorporated herein by reference in its entirety. As can also be seen in FIG. 6, the firing shaft support assembly 2300 is used to provide lateral support to the knife bar 2130 as the central support member flexes to accommodate articulation of the surgical end effector 1500. Further details regarding the operation of the firing shaft support assembly 2300 and alternative knife bar support mechanisms can be 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. No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR," each of which is incorporated by reference herein in its entirety.

Firing member or knife member 2140 is attached to the distal end of knife bar 2130, as also seen in FIG. 6. 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 elongated slot 1604 of elongated channel 1602 and terminates in foot members 2146 extending laterally on each side of body portion 2142. As firing member 2140 is driven distally through surgical staple/fastener cartridge 1700, foot members 2146 ride within passages 1622 of elongated channel 1602 that underlie surgical staple/fastener cartridge 1700 (FIG. 48). In one configuration, body portion 2142 includes two laterally projecting central tabs 2145 that may ride over central passages within surgical staple/fastener cartridge 1700. See FIG. 6. The tissue cutting portion 2144 is disposed between the 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 upper portion of the body portion 2142 extends through the centrally located anvil slot 1814, and the anvil engagement features 2147 ride on corresponding anvil shelves 1816 formed on either side of the anvil slot 1814. In one configuration, the upper portion of the anvil body 1812 has an opening 1817 to facilitate assembly of the anvil 1810 and firing member 2140 configuration. Once the anvil 1810 is assembled onto 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 , the firing member 2140 is configured to operably interconnect with a sled assembly 2150 operably supported within the body 1702 of the surgical staple/fastener cartridge 1700. The sled assembly 2150 is slidably displaceable within the surgical staple/fastener cartridge body 1702 from a proximal start position adjacent the proximal end 1704 of the cartridge body 1702 to an end position adjacent the distal end 1706 of the cartridge body 1702. The cartridge body 1702 operably supports therein a plurality of staple drivers (not shown) aligned in rows on either side of a centrally located slot 1708. The centrally located slot 1708 allows the firing member 2140 to pass therethrough and cut tissue clamped between the anvil 1810 and the surgical staple/fastener cartridge 1700. Associated with each driver is a corresponding staple/fastener 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). The sled assembly 2150 includes a plurality of angled or wedge-shaped cams 2152, each corresponding to a particular line of fastening elements or drivers located on the side of the slot 1708.

Attachment of the exchangeable surgical tool assembly 1000 to the handle assembly 500 will now be described with reference to FIG. 2. To begin the coupling process, a clinician can position the tool chassis 1210 of the exchangeable surgical tool assembly 1000 over or adjacent to the distal end of the handle frame 506 such that a tapered mounting portion 1212 formed on the tool chassis 1210 is aligned with a dovetail slot 507 on the handle frame 506. The clinician can then move the surgical tool assembly 1000 along an installation axis IA perpendicular to the shaft axis _SA1 to place the tapered mounting portion 1212 in "operable engagement" with a corresponding dovetail receiving slot 507 on the distal end of the handle frame 506. In so doing, the firing shaft mounting projection 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 a portion of the mounting pin 516 on the closure link 514 is disposed 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 the two components are sufficiently engaged with one another such that the components can perform their intended actions, functions, and/or procedures upon application of an actuating motion thereto.

During a typical surgical procedure, a clinician may introduce the surgical end effector 1500 into a surgical site through a trocar or other opening in the patient to access the target tissue. In doing so, the clinician typically axially aligns the surgical end effector 1500 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 to the target tissue. This is before closing the anvil on the target tissue, so the closure drive system 510 remains in an unactuated state. In this position, actuation of the firing drive system 530 applies articulation to the proximal articulation driver 1310. Once the end effector is in the desired articulated position, the firing drive system 530 can be stopped, allowing the articulation lock 1400 to hold the surgical end effector 1500 in the articulated position. The clinician can then actuate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such actuation of the closure drive system 510 can also cause the shifter assembly 2200 to disengage 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 again actuate the firing drive system 530 to advance the firing member 2140 axially through the surgical staple/fastening element cartridge 1700 to sever the clamped tissue and fire staples into the severed tissue. Other closure and firing drive mechanisms, actuator mechanisms (both handheld manual and automated, or robotic) can also be used to control the axial movement of the closure system components, articulation system components, and/or firing system components of the surgical tool assembly 1000 without departing from the spirit and scope of the various inventions disclosed herein.

1, the surgical system 10 shown therein includes four exchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which can be effectively used with the same handle assembly 500 to perform different surgical procedures. Referring now to FIGS. 16-18, the exchangeable surgical tool assembly 3000 includes a surgical end effector 3500 including a first jaw 3600 and a second jaw 3800. In one configuration, the first jaw includes an elongated channel 3602 configured to operably support a surgical staple/fastening element cartridge 3700 therein. The second jaw 3800 includes an anvil 3810 pivotally supported relative to the elongated channel 3602. The exchangeable surgical tool assembly 3000 may include an articulation system 3300 including an articulation joint 3302 and an articulation lock 3400 that may be configured to releasably retain a surgical end effector 3500 in a desired articulated position relative to the shaft axis _SA2 . Details regarding the construction and operation of the articulation lock 3400, as well as details of alternative locking constructions and operations, can be found in U.S. patent application Ser. No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014/0263541, the disclosure of which is incorporated herein by reference in its entirety. Further details regarding articulation lock 3400 can also be found in U.S. patent application Ser. No. 15/019,196, filed Feb. 9, 2016, and entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the disclosure of which is incorporated by reference herein in its entirety.

17, the exchangeable surgical tool assembly 3000 includes a tool frame assembly 3200 including 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, or the like. The exchangeable 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 the anvil 3810 of the surgical end effector 3500, as described in further detail below. Additionally, the exchangeable 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 disclosed in U.S. Patent Application Serial No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," the disclosure of which is incorporated herein by reference in its entirety. For example, the spine assembly 3250 may include an elastic spine member 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 a tension mechanism 3282 formed therebetween. Additionally, an extension limiting insert 3284 is supported to be held between the distal end 3280 and the proximal end 3253. In different configurations, the elastic spine assembly 3250 can be made from a suitable polymeric material, rubber, or the like, having 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 circumstances, the stretch limiting insert 3284 also includes a pair of extensible limiters 3285 (only one is shown in FIG. 17). The stretch limiters 3285 can have a modulus of elasticity for reference purposes of ME _3. In at least one configuration, ME ₃ < ME ₂ < ME _1. Further details regarding at least one implementation of the elastic spine assembly 3250 and the stretch limiting insert 3284 can be found in U.S. Patent Application Serial 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 the proximal end portion 3253 of the spine assembly 3250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 3210. Such a configuration facilitates rotatable mounting of the spine assembly 3250 to the tool chassis 3210, allowing the spine assembly 3250 to be selectively rotated about the shaft axis _SA2 relative to the tool chassis 3210. In particular, in one configuration, for example, the proximal end portion 3253 of the spine assembly 3250 includes two diametrically opposed projection seats 3254 (only one is visible in FIG. 17 ), each configured to receive a corresponding nozzle projection (not shown) extending inwardly from each of the nozzle portions 3242, 3244. Such a configuration facilitates rotation of the spine assembly 3250 about the shaft axis SA2 by rotating the actuator wheel portion ₃₂₄₆ of the nozzle assembly 3240.

18, the distal end 3280 of the elastic spine assembly 3250 is attached to a distal frame portion 3286 that operably supports an articulation lock 3400 therein. The spine assembly 3250 is configured to (1) slidably support the firing member assembly 4110 therein, and (2) slidably support a proximal closure tube 3910 that extends around the spine assembly 3250. The spine assembly 3250 may also be configured to slidably support a proximal articulation driver 3310. As seen in FIG. 18, the distal frame segment 3286 is pivotally coupled to the elongated channel 3602 by an end effector attachment assembly 3290. In one configuration, for example, a pivot pin 3288 is formed in the distal end of the distal frame portion 3286. The pivot pin 3288 is adapted to be pivotally received within a pivot hole 3292 formed in a pivot base 3291 of the end effector mounting assembly 3290. The end effector mounting assembly 3290 is mounted to the proximal end 3610 of the elongated channel 3602 by a spring pin 3620 or other suitable member received within a mounting hole 3611 in the proximal end portion 3610. The pivot pin 3288 defines an articulation axis _AA2 transverse to the shaft axis _SA2 . See FIG. 18. Such a mechanism facilitates pivotal movement (i.e., articulation) of the surgical end effector 3500 about the articulation axis _AA2 relative to the elastic spine assembly 3250. The distal frame portion 3286 is further configured to support an articulation lock 3400 therein. A variety of articulation lock configurations may be used. At least one configuration for the articulation lock 3400 is described in further detail in U.S. patent application Ser. No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING AN ARTICLES LOCK," now U.S. Patent Application Publication No. 2014/0263541, the disclosure of which is incorporated herein by reference in its entirety. Further details regarding articulation locks can also be found in U.S. patent application Ser. No. 15/019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENT ARTICLES MECHANISM WITH SLOTTED SECONDARY CONSTRAINT."

In the illustrated example, the surgical end effector 3500 is capable of selectively articulating about an articulation axis _AA2 by an articulation system 3300. In one form, the articulation system 3300 includes a proximal articulation driver 3310 that operatively interfaces with an articulation lock 3400. The articulation lock 3400 includes an articulation frame 3402 adapted to operatively engage a drive pin 3293 on a pivot base 3291 of the end effector mounting assembly 3290. Additionally, a cross link 3294 may be coupled to the drive pin 3293 and the articulation frame 3402 to assist in articulation of the surgical end effector 3500. As noted above, further details regarding the operation of the articulation lock 3400 and the articulation frame 3402 can be found in U.S. Patent Application Serial No. 13/803,086, now U.S. Patent Application Publication No. 2014/0263541. Further details regarding the end effector attachment assembly and cross link 3294 can be found in U.S. Patent Application Serial No. 15/019,245, filed February 9, 2016, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," the disclosure of which is incorporated by reference herein in its entirety. As further described herein, and in other disclosures incorporated by reference herein, axial movement of the proximal articulation driver 3310 engages/disengages the articulation lock 3400, thereby applying articulation to the elongated channel 3602, which in turn articulates the surgical end effector 3500 relative to the spine assembly 3250 about articulation axis _AA2 .

The anvil 3810 in the illustrated example includes an anvil body 3812 terminating in an anvil mounting portion 3820. The anvil mounting portion 3820 is movably or pivotally supported on the elongated channel 3602 for selective pivotal movement about a fixed anvil pivot axis _PA2 (FIG. 18) that is transverse to the shaft axis _SA2 . In the illustrated configuration, anvil trunnions 3822 extend laterally from each lateral side of the anvil mounting portion 3820 and are received within corresponding trunnion pivot holes 3613 formed in an upstanding wall 3612 of a proximal end portion 3610 of the elongated channel 3602. Movement of the anvil 3810 relative to the elongated channel 3602 is effected by axial movement of the proximal closure assembly 3900 and the distal closure assembly 4000. In the illustrated configuration, the proximal closure assembly 3900 includes a proximal closure tube 3910 having a proximal end 3912 and a distal end 3914. The proximal end 3912 is rotatably supported within a closure shuttle 3940 that is slidably supported within the tool chassis 3210, thereby allowing axial movement relative to the tool chassis. In one form, the closure shuttle 3940 has a pair of proximal protruding hooks 3942 configured to be attached to a transverse mounting pin 516 that is attached to a closure coupling assembly 514 of the handle assembly 500. The proximal end 3912 is coupled to the closure shuttle 3940 for rotation relative thereto. For example, a U-shaped connector 3944 is inserted into an annular slot 3916 in the proximal end 3912 and retained within a vertical slot 3946 in the closure shuttle 3940. Such a configuration serves to attach the proximal closure assembly 3900 to the closure shuttle 3940 for axial movement therewith, while allowing the proximal closure tube 3910 to rotate relative to the closure shuttle 3940 about shaft axis _SA2 . As described above in connection with the exchangeable surgical tool assembly 1000, a closure spring (not shown) extends over the proximal end 3912 of the proximal closure tube 3910 to bias the closure shuttle 3940 in the proximal direction PD, which can function to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to an inactivated position when the exchangeable surgical instrument assembly 3000 is operably coupled to the handle assembly 500 as described above.

18, the distal end 3914 of the proximal closure tube 3910 is attached to the distal closure assembly 4000. The distal end 3914 includes an upper protrusion 3917 and a lower protrusion 3918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 4030. The distal closure tube portion 4030 includes an upper protrusion 4032 and a lower protrusion 4034 projecting proximally from its proximal end. As discussed above, an upper double pivot link 4060 pivotally connects the upper protrusion 3917 to the upper protrusion 4032, and a lower double pivot link 4064 pivotally connects the lower protrusion 3918 to the lower protrusion 4034 together. Distal advancement of the distal closure tube portion 4030 on the anvil mounting portion 3820 effects closing or pivoting movement of the anvil 3810 about the fixed anvil pivot axis _PA2 toward the elongated channel 3602. In the illustrated configuration, the distal closure tube portion 4030 also includes a positive jaw or anvil opening mechanism 4040 configured to cooperate with a surface or angled portion of the anvil mounting portion 3820 such that the anvil 3810 pivots from a closed position to an open position as the distal closure tube portion 4030 moves proximally back to the starting position. Other embodiments may not use a positive jaw opening mechanism, but may rely on a spring or other biasing mechanism to bias the anvil toward the open position when the distal closure tube portion is retracted to its proximal-most starting position. Further details regarding the construction and operation of the anvil opening mechanism can be found in U.S. patent application Ser. No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS."

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

In addition to the above, the exchangeable tool assembly 3000 can include a shifter assembly 4200 that can be configured to selectively and releasably couple the proximal articulation driver 3310 to the firing member assembly 4110 in a manner as described above. 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, which can be rotated between an engaged position in which the locking sleeve 4210 couples the proximal articulation driver 3310 to the firing member assembly 4110 and a disengaged position in which the proximal articulation driver 3310 is not operably coupled to the firing member assembly 4110. As described above, the intermediate firing shaft portion 4120 of the firing member assembly 4110 has a drive notch 4126 formed therein. The locking sleeve 4210 includes a cylindrical, or at least approximately cylindrical, body including a longitudinal opening 4212 configured to receive the intermediate firing shaft portion 4120 therethrough. As described in further detail above, the locking sleeve 4210 may include diametrically opposed, inwardly directed locking projections 4214, 4216 that are received for engagement within corresponding portions of the drive notch 4126 of the intermediate firing shaft portion 4120 when the locking sleeve 4210 is in one position and are not received within the drive notch 4126 when the locking sleeve 4210 is in another position, thereby allowing relative axial movement between the locking sleeve 4210 and the intermediate firing shaft 4120. The locking sleeve 4210 further includes a locking member 4218 that is sized to be movably received within a notch 3319 on the proximal end of the proximal articulation driver 3310. When the locking sleeve 4210 is in its engaged position, the locking projections 4214, 4216 are disposed within the drive notch 4126 of the intermediate firing shaft portion 4120 such that a distal pushing force and/or a proximal pulling force may be transferred from the firing member assembly 4110 to the locking sleeve 4210. Such axial pushing or pulling motion is then transmitted from the locking sleeve 4210 to the proximal articulation driver 3310, thereby articulating the surgical end effector 3500.

As noted above, in the illustrated example, the relative movement of the locking sleeve 4210 between the engaged and disengaged positions can be controlled by a shifter assembly 4200 interconnected with the proximal closure tube 3910 of the proximal closure assembly 3900. The shifter assembly 4200 further includes a shifter key 4240 configured to be slidably received within a keyway (similar to the keyway 2217 illustrated in FIG. 8) formed on the outer periphery of the locking sleeve 4210. Such a configuration allows the shifter key 4240 to move axially relative to the locking sleeve 4210. The operation of the shifter assembly 4200 can be the same as that of the shifter assembly 2200, which has been described in more detail above and will not be repeated again for brevity. Further details, alternative configurations, and drive configurations that can be used are disclosed in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," U.S. Patent Application 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 exchangeable tool assembly 3000 may include a slip ring assembly 3230 that may be configured, for example, to transfer power to and/or from the surgical end effector 3500 and/or communicate signals to and/or from the surgical end effector 3500 back to the handle assembly 500 or to a microprocessor 560 within a robotic system controller. Further details regarding the slip ring assembly 3230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541) and U.S. Patent Application No. 15/019,196, each of which is incorporated by reference in its entirety, and U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014/0263552), each of which is incorporated by reference in its entirety.

The illustrated interchangeable surgical tool assembly 3000 also employs a latch system 3220 for releasably coupling the interchangeable surgical tool assembly 3000, for example, to the handle frame 506 of the handle assembly 500. The latch system 3220 may be the same as the latch system 1220 described in detail above. The knife bar 4130 may include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands, which are interconnected, for example, by welding or pinning to each other at their proximal ends and/or elsewhere along their length. In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to expand relative to each other when the end effector is articulated. With such a configuration, the knife bar 4130 may be sufficiently flexible to accommodate the articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," which is incorporated by reference herein in its entirety. As can also be seen in FIG. 18 , the firing shaft support assembly 4300 is used to provide lateral support to the knife bar 4130 as the central support member flexes to accommodate articulation of the surgical end effector 3500. Further details regarding the operation of the firing shaft support assembly 4300 and alternative knife bar support mechanisms can be 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. No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR," each of which is incorporated by reference herein in its entirety.

As also seen in FIG. 18 , a firing member or knife member 4140 is attached to the distal end of the knife bar 4130. The firing member 4140 is configured to operably interconnect with a sled assembly 4150 operably supported within the body 3702 of the surgical staple/fastening element cartridge 3700. The sled assembly 4150 is slidably displaceable within the surgical staple/fastening element cartridge body 3702 from a proximal start position adjacent the proximal end 3704 of the cartridge body 3702 to an end position adjacent the distal end 3706 of the cartridge body 3702. The cartridge body 3702 operably supports therein a plurality of staple drivers (not shown) aligned with rows on either side of a centrally located slot 3708. The centrally located slot 3708 allows the firing member 4140 to pass therethrough and cut tissue clamped between the anvil 3810 and the staple cartridge 3700. The drivers are associated with corresponding staple pockets 3712 that open 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). The 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 the slot 3708.

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

Referring again now to Figure 1, as discussed above, the surgical system 10 illustrated therein includes four exchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which can be effectively used with the same handle assembly 500 to perform different surgical procedures. Referring now to Figures 19-21, the exchangeable surgical instrument assembly 5000 includes a surgical end effector 5500 including 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/fastening element cartridge 5700 therein. The second jaw 5800 includes an anvil 5810 movably supported relative to the elongated channel 5602. The exchangeable surgical instrument assembly 5000 may include an articulation system 5300 including an articulation joint 5302 and an articulation lock 5400 that may be configured to releasably retain a surgical end effector 5500 in a desired articulated position relative to the shaft axis _SA3 . Details regarding the construction and operation of the articulation lock 5400, as well as details of alternative locking mechanisms and operations, may be found in U.S. patent application Ser. No. 15/385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCK OUT," the disclosure of which is incorporated herein by reference in its entirety. Alternative articulation locking configurations can also be found in U.S. patent application Ser. No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUCTION COMPRESSING AN ARTICLES LOCK," now U.S. Patent Application Publication No. 2014/0263541, and U.S. patent application Ser. No. 15/019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUCTION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the disclosures of each of which are incorporated by reference herein in their entirety.

20, the exchangeable surgical tool assembly 5000 includes a tool frame assembly 5200 including 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, or the like. The exchangeable 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 the anvil 5810 of the surgical end effector 5500, as described in more detail below. Additionally, the exchangeable surgical tool assembly 5000 includes a spine assembly 5250 that operably supports the proximal closure assembly 5900 and is coupled to the surgical end effector 5500. In the illustrated configuration, the spine assembly 5250 includes a distal end portion 5280 having an opening 5281 for ease of assembly. A spine cap 5283 may be attached to cover the opening 5281 after the various internal components are assembled. In the assembled configuration, the proximal end portion 5253 of the spine assembly 5250 is rotatably supported within the tool chassis 5210. In one configuration, for example, the proximal end of the proximal end portion 5253 of the spine assembly 5250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 5210. Such a configuration facilitates rotatable mounting of the spine assembly 5250 to the tool chassis 5210, allowing the spine assembly 5250 to be selectively rotated about the shaft axis _SA3 relative to the tool chassis 5210. In particular, in one configuration, for example, the proximal end portion 5253 of the spine assembly 5250 includes two diametrically opposed projection seats 5254 (only one is visible in FIG. 20 ) each configured to receive a corresponding nozzle projection (not shown) extending inwardly from each of the nozzle portions 5242, 5244. Such a configuration facilitates rotation of the spine assembly 5250 about the shaft axis SA3 by rotating the actuator wheel portion ₅₂₄₆ of the nozzle assembly 5240.

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. The spine assembly 5250 is configured to (1) slidably support the firing member assembly 6110 therein, and (2) slidably support a proximal closure tube 5910 that extends around the spine assembly 5250. The spine assembly 5250 may also be configured to slidably support a first articulation driver 5310 and a second articulation driver 5320. As seen in FIG. 21 , the distal frame segment 5286 is pivotally coupled to a proximal end 5610 of the elongated channel 5602. In one configuration, for example, a pivot pin 5288 is formed in the distal end of the distal frame portion 5286. The pivot pin 5288 is adapted to be pivotally received within a pivot hole 5611 formed in the proximal end portion 5610 of the elongated channel 5602. The pivot pin 5288 defines an articulation axis _AA3 transverse to the shaft axis _SA3 . See FIG. 21 . Such a mechanism facilitates pivoting (i.e., articulation) of the surgical end effector 5500 about the articulation axis _AA3 relative to the spine assembly 5250. The distal frame portion 5286 is further configured to support an articulation lock 5400 therein.

In the illustrated configuration, the distal end 5314 of the first articulation driver 5310 has a loop 5316 formed therein adapted to receive a first articulation pin 5618 formed in the proximal end portion 5610 of the elongated channel 5602. Similarly, the distal end 5324 of the second articulation driver 5320 has a loop 5326 adapted to receive a second articulation pin 5619 formed in the proximal end portion 5610 of the elongated channel 5602. In one configuration, for example, the first articulation driver 5310 further includes a proximal teeth rack 5315 that meshes with an idler gear 5330 rotatably supported within the spine assembly 5250. Similarly, the second articulation driver 5320 further includes a proximal teeth rack 5325 that meshes with the idler gear 5330. Thus, in such an arrangement, 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. Such movement of the first articulation drive driver 5310 and the second articulation drive driver 5320 thus articulates the surgical end effector 5500 about articulation axis _AA3 by simultaneously imparting a pushing motion and a pulling motion to the surgical end effector 5500.

The anvil 5810 in the illustrated example includes an anvil body 5812 terminating in an anvil mounting portion 5820. The anvil mounting portion 5820 is movably supported on the elongated channel 5602 for selective pivotal and vertical movement relative thereto. In the illustrated configuration, anvil trunnions 5822 extend laterally from each lateral side of the anvil mounting portion 5820 and are received within corresponding "open ended" vertical cradles 5613 formed in the upstanding walls 5612 of the proximal end portion 5610 of the elongated channel 5602. Movement of the anvil 5810 relative to the elongated channel 5602 is effected by axial movement of the proximal closure assembly 5900 and the distal closure assembly 6000. In the illustrated configuration, the proximal closure assembly 5900 includes a proximal closure tube 5910 having a proximal end 5912 and a distal end 5914. The proximal end 5912 is rotatably supported within a closure shuttle 5940 that is slidably supported within the tool chassis 5210, thereby allowing axial movement relative to the tool chassis. In one form, the closure shuttle 5940 includes a pair of proximal projecting hooks 5942 configured to be attached to a transverse mounting pin 516 that is attached to a closure coupling assembly 514 of the handle assembly 500. The proximal end 5912 of the proximal closure tube 5910 is coupled to the closure shuttle 5940 for relative rotation therewith. For example, a U-shaped connector 5944 is inserted into an annular slot 5916 in the proximal end 5912 and retained within a vertical slot 5946 in the closure shuttle 5940. Such a configuration serves to attach the proximal closure assembly 5900 to the closure shuttle 5940 for axial movement therewith, while allowing the proximal closure tube 5910 to rotate relative to the closure shuttle 5940 about shaft axis _SA3 . As described above in connection with the exchangeable surgical tool assembly 1000, a closure spring (not shown) extends over the proximal end 5912 of the proximal closure tube 5910 to bias the closure shuttle 5940 in the proximal direction PD, which can function to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to a non-actuated position when the exchangeable surgical tool assembly 5000 is operably coupled to the handle assembly 500 as described above.

21, the distal end 5914 of the proximal closure tube 5910 is attached to the distal closure assembly 6000. The distal end 5914 includes an upper protrusion 5917 and a lower protrusion 7918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 6030. The distal closure tube portion 6030 includes an upper protrusion 6032 and a lower protrusion 6034 projecting proximally from its proximal end. An upper double pivot link 6060 pivotally connects the upper protrusion 5917 to the upper protrusion 6032, and a lower double pivot link 6064 pivotally connects the lower protrusion 5918 to the lower protrusion 6034, in the manner described above. The distal closure tube portion 6030 includes an internal cam surface 6036 configured to cam engage the anvil cam surface 5821 of the anvil mounting portion 5820. Distal advancement of the distal closure tube portion 6030 on the anvil mounting portion 5820 causes the anvil 5810 to close or pivot toward the elongated channel 5602. In the illustrated configuration, an upstanding anvil tab 5827 is formed on the anvil mounting portion 5820 and configured to contact two positive jaw opening tabs 6038 extending inwardly within the distal closure tube portion 6030. Each positive jaw opening tab 6038 is configured to engage a corresponding one of the anvil tabs 5827 to pivot the anvil 5810 to an open position when the distal closure tube portion 6030 is moved axially in the proximal direction PD.

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

In addition to the above, the exchangeable surgical tool assembly 5000 can include a shifter assembly 6200 that can be configured to selectively and releasably couple the first articulation driver 5310 to the firing member assembly 6110 in a manner as described above. In one form, the shifter assembly 6200 includes a locking collar, or locking sleeve 6210, disposed about the intermediate firing shaft portion 6120 of the firing member assembly 6110, which can be rotated between an engaged position in which the locking sleeve 6210 couples the first articulation driver 5310 to the firing member assembly 6110 and a disengaged position in which the first articulation driver 5310 is not operably coupled to the firing member assembly 6110. As described above, the intermediate firing shaft portion 6120 of the firing member assembly 6110 has a drive notch 6126 formed therein. The locking sleeve 6210 includes a cylindrical, or at least approximately cylindrical, body including a longitudinal opening configured to receive the intermediate firing shaft portion 6120 therethrough. As described in further detail above, the locking sleeve 6210 may include diametrically opposed, inwardly directed locking projections 6214, 6216 that are received for engagement within corresponding portions of the drive notch 6126 of the intermediate firing shaft portion 6120 when the locking sleeve 6210 is in one position and are not received within the drive notch 6126 when the locking sleeve 6210 is in another position, thereby allowing relative axial movement between the locking sleeve 6210 and the intermediate firing shaft 6120. The locking sleeve 6210 further includes a locking member 6218 that is sized to be movably received within a notch 5319 on the proximal end of the first articulation driver 5310. When the locking sleeve 6210 is in its engaged position, the locking projections 6214, 6216 are disposed within the drive notch 6126 of the intermediate firing shaft portion 6120 such that a distal pushing force and/or a proximal pulling force may be transferred from the firing member assembly 6110 to the locking sleeve 6210. Such axial pushing or pulling motion is then transferred from the locking sleeve 6210 to the first articulation driver 5310. Axial motion of the first articulation driver 5310 causes opposing axial motion of the second articulation driver 5320, thereby articulating the surgical end effector 5500.

As noted above, in the illustrated example, the relative movement of the locking sleeve 6210 between its engaged and disengaged positions can be controlled by a shifter assembly 6200 interconnected with the proximal closure tube 5910 of the proximal closure assembly 5900. The shifter assembly 6200 further includes a shifter key 6240 configured to be slidably received within a keyway (similar to the keyway 2217 shown in FIG. 8) formed on the outer periphery of the locking sleeve 6210. Such a configuration allows the shifter key 6240 to move axially relative to the locking sleeve 6210. The operation of the shifter assembly 6200 can be the same as that of the shifter assembly 2200, which has been described in more detail above and will not be repeated again for brevity. Further details, alternative configurations, and drive configurations that can be used are disclosed in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," U.S. Patent Application 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 exchangeable tool assembly 5000 may include a slip ring assembly 5230 that may be configured, for example, to transfer power to and/or from the surgical end effector 5500 and/or communicate signals to and/or from the surgical end effector back to the handle assembly 500 or to a microprocessor 560 in a robotic system controller. Further details regarding the slip ring assembly 5230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, each of which is incorporated by reference in its entirety, and U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014/0263552), each of which is incorporated by reference in its entirety.

The illustrated interchangeable surgical tool assembly 5000 also employs a latch system 5220 for releasably coupling the interchangeable surgical tool assembly 5000, for example, to the handle frame 506 of the handle assembly 500. The latch system 5220 may be the same as the latch system 1220 described in detail above. The knife bar 6130 may include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands, which are interconnected, for example, by welding or pinning to each other at their proximal ends and/or elsewhere along their length. In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to expand relative to each other when the end effector is articulated. With such a configuration, the knife bar 6130 may be flexible enough to accommodate the articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," which is incorporated by reference herein in its entirety. As can also be seen in FIG. 21 , the firing shaft directing assembly 6300 is used to provide lateral support to the knife bar 6130 as the central support member flexes to accommodate articulation of the surgical end effector 5500. Further details regarding the operation of the firing shaft support assembly 6300 and alternative knife bar support mechanisms can be 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. No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR," each of which is incorporated by reference herein in its entirety.

21 and 50, a firing member or knife member 6140 is attached to the distal end of the knife bar 6130. The firing member 6140 is configured to operably interconnect with a sled assembly 6150 operably supported within the body 5702 of the surgical staple/fastening element cartridge 5700. The sled assembly 6150 is slidably displaceable within the surgical staple/fastening element cartridge body 5702 from a proximal start position adjacent the proximal end 5704 of the cartridge body 5702 to an end position adjacent the distal end 5706 of the cartridge body 5702. The cartridge body 5702 operably supports therein a plurality of staple drivers (not shown) aligned with rows on either side of a centrally located slot 5708. The centrally located slot 5708 allows the firing member 6140 to pass therethrough and cut tissue clamped between the anvil 5810 and the staple cartridge 5700. The drivers are associated with corresponding staple pockets that open into the top 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 corresponding to a particular line of fastening elements or drivers located on the side of the slot 5708.

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

Referring again now to Figure 1, as discussed above, the surgical system 10 illustrated therein includes four exchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each of which can be effectively used with the same handle assembly 500 to perform different surgical procedures. Referring now to Figures 22-24, the exchangeable surgical instrument assembly 7000 includes a surgical end effector 7500 including a first jaw 7600 and a second jaw 7800. In one configuration, the first jaw includes an elongated channel 7602 configured to operably support a surgical staple/fastening element cartridge 7700 therein. The second jaw 7800 includes an anvil 7810 movably supported relative to the elongated channel 7602. The exchangeable surgical instrument assembly 7000 may further include an articulation system 7300 including an articulation joint 7302 and an articulation lock 7400 that may be configured to releasably retain the surgical end effector 7500 in a desired articulated position relative to the shaft axis _SA4 . Details regarding the construction and operation of the articulation lock 7400, as well as details of alternative locking mechanisms and operations, can be found in U.S. patent application Ser. No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014/0263541, the disclosure of which is incorporated by reference herein in its entirety. Further details regarding articulation lock 7400 and/or alternative articulation locking mechanisms can also be found in U.S. patent application Ser. No. 15/019,196, filed Feb. 9, 2016, and entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT," the disclosure of which is incorporated by reference herein in its entirety.

24, the exchangeable surgical tool assembly 7000 includes a tool frame assembly 7200 including 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, or the like. The exchangeable 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 the anvil 7810 of the surgical end effector 7500, as described in more detail below. Additionally, the exchangeable surgical tool assembly 7000 includes a spine assembly 7250 that operably supports the proximal closure assembly 7900 and is coupled to the surgical end effector 3500. In the illustrated configuration, the spine assembly 7250 has a distal end portion 7280 having an opening 7281 therein for ease of assembly. A spine cap 7283 may be attached to cover the opening 7281 after the various internal components are assembled. In the assembled configuration, the proximal end portion 7253 of the spine assembly 7250 is rotatably supported within the tool chassis 7210. In one configuration, for example, the proximal end of the proximal end portion 7253 of the spine assembly 7250 is attached to a spine bearing (not shown) configured to be supported within the tool chassis 7210. Such a configuration facilitates rotatable mounting of the spine assembly 7250 to the tool chassis 7210, allowing the spine assembly 7250 to be selectively rotated about shaft axis _SA4 relative to the tool chassis 7210. In particular, in one configuration, for example, the proximal end portion 7253 of the spine assembly 7250 includes two diametrically opposed projection seats 7254 (only one is visible in FIG. 23 ) each configured to receive a corresponding nozzle projection (not shown) extending inwardly from each of the nozzle portions 7242, 7244. Such a configuration facilitates rotation of the spine assembly 7250 about shaft axis _SA4 by rotating the actuator wheel portion 7246 of the nozzle assembly 7240.

24, a distal end 7280 of the spine assembly 7250 is attached to a distal frame portion 7286 that operably supports an articulation lock 7400 therein. The spine assembly 7250 is configured to (1) slidably support a firing member assembly 8110 therein, and (2) slidably support a proximal closure tube 7910 that extends around the spine assembly 7250. The spine assembly 7250 may also be configured to slidably support a proximal articulation driver 7310. As seen in FIG. 24, the distal frame segment 7286 is pivotally coupled to the elongated channel 7602 by an end effector attachment assembly 7290. In one configuration, for example, a pivot pin 7288 is formed in the distal end of the distal frame portion 7286. The pivot pin 7288 is adapted to be pivotally received within a pivot hole 7292 formed in a pivot base 7291 of the end effector mounting assembly 7290. The end effector mounting assembly 7290 is mounted to the proximal end portion 7610 of the elongated channel 7602 by a spring pin 7620 or other suitable member received within a mounting hole 7611 of the proximal end portion 7610. The pivot pin 7288 defines an articulation axis _AA4 transverse to the shaft axis _SA4 . See FIG. 24 . Such a mechanism facilitates pivotal movement (i.e., articulation) of the surgical end effector 7500 about the articulation axis _AA4 relative to the spine assembly 7250. The distal frame portion 7286 is further configured to support an articulation lock 7400 therein. A variety of articulation lock configurations may be used. At least one form of articulation lock 7400 is described in further detail in U.S. patent application Ser. No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING AN ARTICULATION LOCK," now U.S. Patent Application Publication No. 2014/0263541, the disclosure of which is incorporated herein by reference in its entirety. Further details regarding articulation locks can also be found in U.S. patent application Ser. No. 15/019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT."

In the illustrated example, the surgical end effector 7500 is capable of selectively articulating about an articulation axis _AA4 by an articulation system 7300. In one form, the articulation system 7300 includes a proximal articulation driver 7310 operably interconnected with an articulation lock 7400. The articulation lock 7400 has an articulation frame 7402 adapted to operably engage a drive pin 7293 on a pivot base 7291 of the end effector mounting assembly 7290. Additionally, a cross link 7294 may be coupled to the drive pin 7293 and the articulation frame 7402 to assist in articulation of the surgical end effector 7500. As noted above, further details regarding the operation of the articulation lock 7400 and the articulation frame 7402 may be found in U.S. Patent Application Serial No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541). Further details regarding the end effector attachment assembly and cross link 7294 can be found in U.S. patent application Ser. No. 15/019,245, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," the disclosure of which is incorporated by reference herein in its entirety. As further described herein, and in other disclosures incorporated by reference herein, axial movement of the proximal articulation driver 7310 engages/disengages the articulation lock 7400, thereby applying articulation to the elongated channel 7602, which in turn articulates the surgical end effector 7500 relative to the spine assembly 7250 about articulation axis _AA4 .

The anvil 7810 in the illustrated example includes an anvil body 7812 terminating in an anvil mounting portion 7820. The anvil mounting portion 7820 is movably supported on the elongated channel 7602 for selective pivotal and axial movement relative thereto. In the illustrated configuration, anvil trunnions 7822 extend laterally from each lateral side of the anvil mounting portion 7820 and are received within corresponding "kidney-shaped" openings 7613 formed in the upstanding walls 7612 of the proximal end portion 7610 of the elongated channel 7602. Movement of the anvil 7810 relative to the elongated channel 7602 is effected by axial movement of the proximal closure assembly 7900 and the distal closure assembly 8000. In the illustrated configuration, the proximal closure assembly 7900 includes a proximal closure tube 7910 having a proximal end 7912 and a distal end 7914. The proximal end 7912 is rotatably supported within a closure shuttle 7940 that is slidably supported within the tool chassis 7210 to allow axial movement relative to the tool chassis. In one form, the closure shuttle 7940 includes a pair of proximal protruding hooks 7942 configured to be attached to a transverse mounting pin 516 that is attached to the closure coupling assembly 514 of the handle assembly 500. The proximal end 7912 of the proximal closure tube 7910 is coupled to the closure shuttle 7940 for relative rotation therewith. 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 a vertical slot 7946 of the closure shuttle 7940. Such a configuration serves to attach the proximal closure assembly 7900 to the closure shuttle 7940 for axial movement therewith, while allowing the proximal closure tube 7910 to rotate relative to the closure shuttle 7940 about shaft axis _SA4 . As described above in connection with the exchangeable surgical tool assembly 1000, a closure spring (not shown) extends over the proximal end 7912 of the proximal closure tube 7910 to bias the closure shuttle 7940 in the proximal direction PD, which can function to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to an inactivated position when the exchangeable surgical tool assembly 7000 is operably coupled to the handle assembly 500 in the manner described above.

24, the distal end 7914 of the proximal closure tube 3910 is attached to the distal closure assembly 8000. The distal end 7914 includes an upper protrusion 7917 and a lower protrusion 7918 configured to be movably coupled to an end effector closure sleeve or distal closure tube portion 8030. The distal closure tube portion 8030 includes an upper protrusion 8032 and a lower protrusion 8034 protruding proximally from its proximal end. In the manner described above, an upper double pivot link 8060 pivotally connects the upper protrusion 7917 to the upper protrusion 8032, and a lower double pivot link 8064 pivotally connects the lower protrusion 7918 to the lower protrusion 8034 together. Distal advancement of the distal closure tube portion 8030 over the anvil mounting portion 7820 effects closure or pivotal movement of the anvil 7810 toward the elongated channel 7602. In the illustrated configuration, an upstanding anvil tab 7824 is formed in the anvil mounting portion 7820 and extends into a horseshoe-shaped opening 8038. The opening 8038 defines an opening tab 8039 configured to operably interconnect with the anvil tab 7824 as the distal closure tube is distally retracted. Such interaction of the opening tab 8039 with the anvil tab 7824 imparts an opening motion to the anvil 7810, thereby moving the anvil 7810 to the open position.

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

In addition to the above, the exchangeable surgical tool assembly 7000 can include a shifter assembly 8200 that can be configured to selectively and releasably couple the proximal articulation driver 7310 to the firing member assembly 8110 in a manner as described above. In one form, the shifter assembly 8200 includes a locking collar, or locking sleeve 8210, disposed about the intermediate firing shaft portion 8120 of the firing member assembly 8110, which can be rotated between an engaged position in which the locking sleeve 8210 couples the proximal articulation driver 7310 to the firing member assembly 8110 and a disengaged position in which the proximal articulation driver 7310 is not operably coupled to the firing member assembly 8110. As described above, the intermediate firing shaft portion 8120 of the firing member assembly 8110 has a drive notch 8126 formed therein. The locking sleeve 8210 includes a cylindrical, or at least approximately cylindrical, body including a longitudinal opening configured to receive the intermediate firing shaft portion 8120 therethrough. As described in further detail above, the locking sleeve 8210 may include diametrically opposed, inwardly directed locking projections 8214, 8216 that are received for engagement within corresponding portions of the drive notch 8126 of the intermediate firing shaft portion 8120 when the locking sleeve 8210 is in one position and are not received within the drive notch 8126 when the locking sleeve 8210 is in another position, thereby allowing relative axial movement between the locking sleeve 8210 and the intermediate firing shaft 8120. The locking sleeve 8210 further includes a locking member 8218 that is sized to be movably received within a notch 7319 on the proximal end of the proximal articulation driver 7310. When the locking sleeve 8210 is in its engaged position, the locking projections 8214, 8216 are disposed within the drive notch 7126 of the intermediate firing shaft portion 8120 such that a distal pushing force and/or a proximal pulling force may be transferred from the firing member assembly 8110 to the locking sleeve 8210. Such axial pushing or pulling motion is then transmitted from the locking sleeve 8210 to the proximal articulation driver 7310, thereby articulating the 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 can be controlled by a shifter assembly 8200 interconnected with the proximal closure tube 7910 of the proximal closure assembly 7900. The shifter assembly 8200 further includes a shifter key 8240 configured to be slidably received within a keyway (similar to the keyway 2217 illustrated in FIG. 8) formed on the outer periphery of the locking sleeve 8210. Such a configuration allows the shifter key 8240 to move axially relative to the locking sleeve 8210. The operation of the shifter assembly 8200 may be the same as the operation of the shifter assembly 2200, which is described in more detail above and will not be repeated again for the sake of brevity. Further details, alternative configurations, and drive configurations that can be used are disclosed in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," U.S. Patent Application 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 exchangeable tool assembly 7000 may include a slip ring assembly 7230 that may be configured, for example, to transfer power to and/or from the surgical end effector 7500 and/or communicate signals to and/or from the surgical end effector back to the handle assembly 500 or the microprocessor 560 in the robotic system controller. Further details regarding the slip ring assembly 7230 and associated connectors can be found in U.S. Patent Application No. 13/803,086 (now U.S. Patent Application Publication No. 2014/0263541), and U.S. Patent Application No. 15/019,196, each of which is incorporated by reference in its entirety, and U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now U.S. Patent Application Publication No. 2014/0263552), each of which is incorporated by reference in its entirety.

The illustrated interchangeable surgical tool assembly 7000 also employs a latch system 7220 for releasably coupling the interchangeable surgical tool assembly 7000, for example, to the handle frame 506 of the handle assembly 500. The latch system 7220 may be the same as the latch system 1220 described in detail above. The knife bar 8130 may include a laminated beam structure including at least two beam layers. Such beam layers may include, for example, stainless steel bands, which are interconnected, for example, by welding or pinning to each other at their proximal ends and/or elsewhere along their length. In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the laminates or bands to expand relative to each other when the end effector is articulated. With such a configuration, the knife bar 8130 may be sufficiently flexible to accommodate the articulation of the end effector. Various stacked knife bar configurations are disclosed in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," which is incorporated by reference herein in its entirety. As can also be seen in FIG. 24 , the firing shaft support assembly 8300 is used 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. Further details regarding the operation of the firing shaft support assembly 8300 and alternative knife bar support mechanisms can be 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. No. 15/019,220, entitled "SURGICAL INSTRUMENTS WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR," each of which is incorporated by reference herein in its entirety.

As also seen in FIG. 24, a firing member or knife member 8140 is attached to the distal end of the knife bar 8130. The firing member 8140 is configured to operably interconnect with a sled assembly 8150 operably supported within the body 7702 of the surgical staple/fastening element cartridge 7700. See FIG. 51. The sled assembly 8150 is slidably displaceable within the surgical staple/fastening element cartridge body 7702 from a proximal start position adjacent the proximal end 7704 of the cartridge body 7702 to an end position adjacent the distal end 7706 of the cartridge body 7702. The cartridge body 7702 operably supports therein a plurality of staple drivers (not shown) aligned with rows on either side of a centrally located slot 7708. The centrally located slot 7708 allows the firing member 8140 to pass therethrough and cut tissue clamped between the anvil 7810 and the staple cartridge 7700. The drivers are associated with corresponding staple pockets that open into the top 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 corresponding to a particular line of fastening elements or drivers located on the side of the slot 7708.

In one exemplary form, the firing member 8140 includes a body portion 8142 that supports a knife or tissue cutting portion 8144. See FIG. 51. The body portion 8142 projects through an elongated slot 7604 of the elongated channel 7602 and terminates in foot members 8146 extending laterally on each side of the body portion 8142. When the firing member 8140 is driven distally through the surgical staple/fastening element cartridge 7700, the foot members 8146 are positioned within the passages 7622 of the elongated channel 7602 that are located below the staple cartridge 7700. The tissue cutting portion 8144 is disposed between the distally projecting upper nose portions 8143. As can be further seen in FIG. 24, the firing member 8140 can further include two upper laterally extending tabs, pins, or anvil engagement features 8147. When the firing member 8140 is driven distally, the upper portion of the body portion 8142 extends through the centrally located anvil slot 7814 and the anvil engagement mechanism 8147 rides on corresponding ledges 7816 formed on either side of the anvil slot 7814. Further details regarding the firing member 8140, the sled assembly 8150, and various alternatives thereof, as well as examples of their operation, are described in more detail below and can also be found in U.S. Patent Application No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS." The exchangeable surgical tool assembly 7000 can be operably coupled to the handle assembly 500 in the same manner as described above with respect to the exchangeable surgical tool assembly 1000.

As can be seen from the above description, the interchangeable surgical tool assemblies described herein can be operated by the same handle assembly, robotic system, or other automated actuation system. All of the interchangeable surgical tool assemblies described above include surgical cutting and fastening instruments having somewhat similar closure and firing elements. However, the closure and firing systems and elements of each of these tool assemblies have differences that may at first glance appear somewhat minor, but as further described below, such differences can result in significant improvements in the material composition, design, construction, manufacture, and use of such tools. As will become apparent from a reading of the "Description of the Invention" section of this specification, the interchangeable surgical tool assembly 1000 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 other interchangeable surgical tool assemblies 3000, 5000, 7000 described herein. Furthermore, the inventors have found that in some cases, there are synergies between certain element configurations used in the tool assembly 1000 that can further improve the overall efficiency and functionality of the tool assembly 1000. To better understand these differences and improvements, the specific elements and systems of each of the tool assemblies 1000, 3000, 5000, and 7000 are further described and compared to one another below.

For example, each of the interchangeable surgical tool assemblies 1000, 3000, 5000, 7000 must be capable of applying a closure force sufficient to clamp the jaws on the target tissue when the firing drive system is actuated such that the firing member can adequately treat the clamped tissue. For example, in the illustrated assembly, each closure system element must be capable of clamping the anvil and surgical staple/fastening element cartridge onto the target tissue such that the firing member can adequately cut the clamped tissue and eject a line of staples or fastening elements on either side of the tissue cut line. Depending on the thickness and composition of the target tissue, large closure and firing forces are often required. Thus, the closure and firing drive systems, such as the handle assembly housing, robot housing, etc., must be capable of generating such forces (e.g., by use of a motor or manually generated motion) sufficient to adequately close the jaws and fire the firing member through the clamped tissue. Such procedures further require that the elements within the interchangeable shaft assembly be robust enough to match the magnitude of the forces transmitted through the elements. In the past, due to the magnitude of these forces, it was often decided that the elements of the closure system, as well as the elements of the launch system, would be made of metal or other suitable materials having a relatively large cross-sectional thickness and a significantly reinforced construction.

Tissue loads acting during the clamping process typically generate large "moments" about the anvil pivot axis PA. Elements of the closure system must be designed to counteract these moments. In various situations, for example, an opposing moment about the anvil pivot axis PA is required. To maximize the efficiency of the system (e.g., to minimize the amount of force applied), a maximum actual moment arm is desirable. However, as discussed further below, establishing a large counter moment involves tradeoffs with other design variables. For example, in a closure system where the firing system and the closure system are separate and distinct, there is a balance between the distance from the articulation joint to the first staple and the length of the moment arm of the closure system. The larger the moment arm of the closure system, the more efficiently the closure system handles the clamp load and tissue compression. However, the distance between the articulation joint and the first staple can have a significant impact on the access of the surgical end effector when the surgical end effector is placed in a tight space in a laparoscopic environment.

25-32 illustrate exemplary moment arms for each of the surgical end effectors 1500, 3500, 5500, 7500. Referring initially to FIG. 25, as discussed above, the anvil trunnions 1822 extend laterally from each side of the anvil mounting portion 1820 and are received within corresponding trunnion cradles 1614 formed in the upstanding walls 1612 of the proximal end portion 1610 of the elongated channel 1602. The anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradles 1614 by a channel cap or anvil retainer 1630. The channel cap 1630 includes a pair of mounting projections 1636 configured to be retained and received within corresponding projection grooves or notches 1616 formed in the upstanding walls 1612 of the proximal end portion 1610 of the elongated channel 1602. With such a configuration, the anvil 1810 is constrained to only pivot about pivot axis _PA1 (see FIG. 3). With such a configuration, the anvil mounting portion 1820 does not move axially or vertically. As the distal closure tube portion 2030 advances in the distal direction DD under the horizontal closure force _FH1 (FIG. 26), a closure force _FCl is applied to the anvil cam surface 1821 by interaction between the inner cam surface 2036 of the distal closure tube portion 2030 and the anvil cam surface 1821 of the anvil mounting portion 1820. The closure force _FCl is comprised of forces resulting from the horizontal closure force _FH1 and the vertical closure force _FV1 , and is essentially "orthogonal" or perpendicular to the cam surface 1821 of the anvil mounting portion 1820. See FIG. 26. M _A1 represents the closing moment arm from the anvil pivot axis PA ₁ (which coincides with the center of the anvil trunnion 1822) to the point of contact between the inner cam surface 2036 of the distal closure tube portion 2030 and the anvil cam surface 1821 of the anvil mounting portion 1820 when the anvil 1810 is pivoted to the fully closed position. In one example, the closing moment arm M _A1 may be, for example, about 0.415 inches. M _A1 ×F _C1 =Closing moment C _M1 applied to the anvil mounting portion 1820.

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, the proximal end portion 1818 of the anvil body 1812 is formed with two tissue stop formations or tissue locating elements 1830 extending downwardly from each side of the anvil body 1812 (only one tissue stop formation 1830 is visible in FIGS. 25 and 26). When the anvil 1810 is opened to receive target tissue between the anvil's underside and the cartridge deck surface, the downwardly extending tissue stop 1830 functions to prevent the target tissue from extending proximally beyond the proximal-most staple/fastening element in the surgical staple/fastening element cartridge 1700. If the tissue extends proximally beyond the proximal-most staple/fastening element, that portion of the tissue may not be cut or fastened by the firing member during the firing process, which could lead to serious consequences. The downwardly extending tissue stop 1830 can prevent this from occurring. In the embodiment shown in FIG. 26, for example, the proximal-most staple/fastening element pocket 1720 is shown in phantom relative to the tissue stop 1830. As can be seen in this view, the tissue stop 1830 has a downwardly extending portion 1832 and a chamfered portion 1834. The contact of portions 1832, 1834 with the target tissue prevents the target tissue from extending proximally beyond the proximal-most staple/fastening element supported in the proximal-most staple/fastening element pocket 1720 of the staple/fastening element cartridge body 1702.

Returning again to FIG. 25 , as the anvil 1810 is pivoted closed onto target tissue (not shown) disposed between it and the underside or tissue contacting surface 1813 of the anvil body 1812, the tissue exerts a tissue force T _F1 on the underside 1813 of the anvil body 1812 which in turn exerts a tissue counter moment C _T1 on the anvil 1810 which must be overcome by a closure moment C _M1 established by the elements of the closure system. The example shown in FIG. 25 illustrates a tissue force T _F1 evenly distributed on the anvil 1810 and a tissue moment arm M _T1 established by the clamped tissue (clamped tissue is not shown in FIG. 25 for clarity). 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 (i.e., M _T1 >M _A1 ).

27 and 28, as discussed above, the anvil trunnions 3822 of the anvil 3810 of the exchangeable surgical tool assembly 3000 extend laterally from each side of the anvil mounting portion 3820 and are received within corresponding trunnion holes 3613 formed in the upstanding walls 3612 of the proximal end portion 3610 of the elongated channel 3602. With such a configuration, the anvil 3810 is constrained to only pivot about the pivot axis _PA2 (see FIG. 18). With such a configuration, the anvil mounting portion 3820 does not move axially or vertically. As the distal closure tube portion 4030 advances in the distal direction DD under the horizontal closure force _FH2 (FIG. 28), a closure force _FC2 is applied to the anvil cam surface 3821 by interaction between the inner cam surface 4036 of the distal closure tube portion 4030 and the anvil cam surface 3821 of the anvil mounting portion 3820. The closure force F _C2 is comprised of forces resulting from the horizontal closure force F _H2 and the vertical closure force F _V2 and is essentially "orthogonal" or perpendicular to the anvil cam surface 3821 of the anvil mounting portion 3820. See FIG. 28. M _A2 represents the closure moment arm from the anvil pivot axis PA ₂ (center of the anvil trunnion 3822) to the point of contact between the inner cam surface 4036 of the distal closure tube 4030 and the anvil cam surface 3821 of the anvil mounting portion 3820 when the anvil 3810 is pivoted to the fully closed position. In one example, the closure moment arm M _A2 may be, for example, about 0.539 inches. M _A2 ×F _C2 =Closing moment C _M2 applied to the anvil mounting portion 3820.

In the embodiment shown in FIGS. 27 and 28, the anvil body 3812 is formed with two tissue stop formations or tissue locating elements 3830 extending downwardly from each side of the anvil body 3812 (only one tissue stop formation 3830 is visible in FIGS. 27 and 28). When the anvil 3810 is opened to receive target tissue between the anvil's underside and the cartridge deck surface, the downwardly extending tissue stop formation 3830 functions to prevent the target tissue from extending proximally beyond the proximal-most staple/fastener element in the surgical staple/fastener/fastener cartridge 3700. In the embodiment shown in FIG. 28, for example, the proximal-most staple pocket 3720 is shown in phantom relative to the tissue stop formation 3830. As can be seen in this view, the tissue stop formation 3830 has a downwardly extending portion 3832 and a chamfered portion 3834. Contact of portions 3832, 3834 with the target tissue prevents the target tissue from extending proximally beyond the proximal-most staple/fastening element supported in the proximal-most staple/fastening element pocket 3720 of the staple/fastening element cartridge body 3702.

Returning again to FIGURE 27, as the anvil 3810 is pivoted closed onto target tissue (not shown) disposed between it and the underside or tissue contacting surface 3813 of the anvil body 3812, the tissue exerts a tissue force T _F2 on the underside 3813 of the anvil body 3812 which in turn exerts a tissue counter moment C _T2 on the anvil 3810 which must be overcome by a closure moment C _M2 established by the elements of the closure system. The example shown in FIGURE 27 illustrates a tissue force T _F2 evenly distributed on the anvil 3810 and a tissue moment arm M _T2 established by the clamped tissue (clamped tissue is not shown in FIGURE 27 for clarity). 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 (i.e., M _T2 >M _A2 ).

29 and 30 , as discussed above, the anvil trunnions 5822 of the anvil 5810 of the exchangeable surgical tool assembly 5000 extend laterally from each side of the anvil mounting portion 5820 and are received in corresponding “open ended” vertical cradles 5613 formed in the upright walls 5612 of the proximal end portion 5610 of the elongated channel 5602. In this configuration, the anvil trunnions 5822 are free to pivot within their corresponding cradles 5613 upon camming contact of the distal closure tube portion 6030 with the anvil cam surface 5821 of the anvil mounting portion 5820. In such configuration, the anvil 5810 does not move axially, but the anvil trunnions 5822 are free to move vertically (arrow V) within their corresponding cradles 5613. As the distal closure tube portion 6030 advances in the distal direction DD under the horizontal closure force F _H3 ( FIG. 30 ), an interaction between the inner cam surface 6036 of the distal closure tube portion 6030 and the anvil cam surface 5821 of the anvil mounting portion 5820 exerts a closure force F _C3 on the anvil cam surface 5821. The closure force F _C3 is comprised of forces resulting from the horizontal closure force F _H3 and the vertical closure force F _V3 and is essentially “orthogonal” or perpendicular to the anvil cam surface 5821 of the anvil mounting portion 5820. See FIG. 30 . M _A3 represents the closure moment arm from the anvil pivot axis PA ₃ (coincident with the center of the anvil trunnion 5822) to the point of contact between the inner cam surface 6036 of the distal closure tube 6030 and the anvil cam surface 5821 of the anvil mounting portion 5820 when the anvil 5810 is pivoted to the closed position. In one example, the closing moment arm M _A3 can be, for example, about 0.502 inches. M _A3 × F _C3 = Closing moment C _M3 applied to the anvil mounting portion 5820

In the embodiment shown in FIGS. 29 and 30, the anvil body 5812 is formed with two tissue stop formations or tissue locating elements 5830 extending downwardly from each side of the anvil body 5812 (only one tissue stop formation 5830 is visible in FIGS. 29 and 30). When the anvil 5810 is opened and target tissue is received between the anvil's underside and the cartridge deck surface, the downwardly extending tissue stop formation 5830 functions to prevent the target tissue from extending proximally beyond the proximal-most staple/fastener element in the surgical staple/fastener element cartridge 5700. In the embodiment shown in FIG. 29, for example, the proximal-most staple/fastener element pocket 5720 is shown in phantom relative to the tissue stop formation 5830. As can be seen in this view, the tissue stop formation 5830 has a downwardly extending portion 5832 and a chamfered portion 5834. Contact of portions 5832, 5834 with the target tissue prevents the target tissue from extending proximally beyond the proximal-most staple/fastening element supported in the proximal-most staple/fastening element pocket 5720 of the staple/fastening element cartridge body 5702.

Returning again to FIGURE 29, as the anvil 5810 is pivoted closed onto target tissue (not shown) disposed between it and the underside 5813 of the anvil body 5812, the tissue exerts a tissue force T _F3 on the underside or tissue contacting surface 5813 of the anvil body 5812 which exerts a counter tissue moment C _T3 on the anvil 5810 that must be overcome by a closure moment C _M3 established by the elements of the closure system. The example shown in FIGURE 29 illustrates a tissue force T _F3 evenly distributed on the anvil 5810 and a tissue moment arm M _T3 established by the clamped tissue (clamped tissue is not shown in FIGURE 29 for clarity). As can be seen from this figure, in this example, the tissue moment arm M _T3 is significantly longer than the closure moment arm M _A3 (i.e., M _T3 >M _A3 ).

31 and 32 , as discussed above, the anvil trunnions 7822 of the anvil 7810 of the exchangeable surgical tool assembly 7000 extend laterally from each side of the anvil mounting portion 7820 and are received in corresponding “kidney-shaped” openings 7613 formed in the upstanding walls 7612 of the proximal end portion 7610 of the elongated channel 7602. When the anvil 7810 is in the “fully” open position, the anvil trunnions 7822 may generally be located at the bottom 7613B of the kidney-shaped slots 7613. The anvil 7810 may be moved to a closed position by distally advancing the distal closure tube portion 8030 in the distal direction DD, causing the inner cam surface 8036 of the distal end 8035 of the distal closure tube portion 8030 to ride up against the anvil cam surface 7821 formed on the anvil mounting portion 7820 of the anvil 7810. As the internal cam surface 8036 of the distal end 8035 of the distal closure tube portion 8030 is advanced distally along the anvil cam surface 7821 of the anvil mounting portion 7820 under the horizontal closure force F _H4 ( FIG. 32 ), the distal closure tube portion 8030 pivots and axially moves the body portion 7812 of the anvil 7810 relative to the surgical staple/fastening element cartridge 7700 as the anvil trunnion 7822 moves upwardly and distally within the kidney-shaped slot 7613. As the distal closure tube portion 8030 reaches the end of its closure stroke, the distal end 8035 of the distal closure tube portion 8030 abuts/contacts the steep anvil ledge 7823, which serves to position the anvil 7810 such that a shaped pocket (not shown) in the underside or tissue contacting surface 7813 of the body portion 7812 is properly aligned with the staple/fastening element in the staple/fastening element cartridge 7700. Anvil shelf 7823 is defined between the anvil cam surface 7821 of the anvil mounting portion 7820 and the anvil body portion 7812. Stated another way, in this configuration, the anvil cam surface 7821 does not extend to the outermost surface 7817 of the anvil body 7812. When in that position, the anvil trunnion 7822 is located at the top 7613T of the kidney shaped slot 7613. M _A4 represents the moment arm from the anvil pivot axis PA ₄ (which coincides with the center of the anvil trunnion 7822) when the trunnion 7822 is located at the top 7613T of the kidney shaped slot 7613 as shown. In one example, the moment arm M _A4 may be, for example, approximately 0.184 inches. M _A4 ×F _H4 = Closing moment C _M4 applied to the anvil mounting portion 7820.

In the example shown in FIGS. 31 and 32, the anvil body 7812 is formed with two tissue stop or tissue locating formations 7830 extending downwardly from each side of the anvil body 7812 (only one tissue stop formation 7830 is visible in FIGS. 31 and 32). When the anvil 7810 is opened and target tissue is received between the anvil's underside and the cartridge deck surface, the downwardly extending tissue stop formation 7830 functions to prevent the target tissue from extending proximally beyond the proximal-most staple/fastening element in the surgical staple/fastening element cartridge 7700. In the embodiment shown in FIG. 31, for example, the proximal-most staple/fastening element pocket 7720 is shown in phantom relative to the tissue stop formation 7830. As can be seen in this view, the tissue stop formation 7830 has a downwardly extending portion 7832 and a chamfered portion 7834. Contact of portions 7832, 7834 with the target tissue prevents the target tissue from extending proximally beyond the proximal-most staple/fastening element supported in the proximal-most staple/fastening element pocket 7720 of the staple/fastening element cartridge body 7702.

31 , as the anvil 7810 is pivoted closed onto target tissue (not shown) disposed between it and the underside or tissue contacting surface 7813 of the anvil body portion 7812, the tissue exerts a tissue force T _F4 on the underside 7813 of the anvil body 7812 which exerts a counter tissue moment C _T4 on the anvil 7810 that must be overcome by a closure moment C _M4 established by the elements of the closure system. The example shown in FIG. 31 illustrates a tissue force T _F4 evenly distributed on the anvil 7810 and a tissue moment arm M _T4 established by the clamped tissue (clamped tissue is not shown in FIG. 31 for clarity). As can be seen from this figure, in this example, the tissue moment arm M _T4 is significantly longer than the closure moment arm M _A4 (i.e., M _T4 >M _A4 ).

The illustrated exemplary exchangeable surgical tool assemblies 1000, 3000, 5000, 7000 include surgical stapling devices that utilize "separate and separate" closure and firing systems. That is, the closure system used to close the jaws and the firing system used to drive a firing member through a surgical staple/fastening element cartridge to cut and fasten tissue can be actuated separately. These separate and separate closure and firing systems can be distinct from surgical stapling instruments in which actuation of the firing system to advance a firing member is required to move the jaws from an open position to a closed position. However, as described in more detail below, some firing members of the exchangeable surgical tool assemblies disclosed herein can also impart an additional closure motion to the anvil as the firing member is fired (i.e., advanced distally through the surgical end effector). As can be seen with reference to FIGS. 25-32, in the illustrated examples, M _A2 > M _A3 > M _A1 > M _A4 . 25, 27, 29 and 31 also show the resistive 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 a "counter" moment C _T that is applied to the anvil around the point/area where the distal closure tube portion cams into contact with the anvil cam surface of the anvil attachment portion. In these illustrated examples, the tissue moment arm of each surgical instrument (tool assembly) is generally greater than the closure moment arm of that instrument. It will be appreciated that due to the difference between the typical tissue moment arm acting in clamping tissue between the anvil and the surgical staple/fastening element cartridge and the closure moment arm of the instrument, a sufficient closure force must be applied to the anvil by the distal closure tube portion to adequately close the anvil against the tissue. Thus, the distal closure tube portion must be strong and sturdy enough to handle the large stresses that are generated therein during the closure process. To establish a stress state in the distal closure tube section closer to a "hoop stress" state instead of a "ring stress" state, the sidewalls of the distal closure tube section can be thickened to contact the corresponding elongated channel sidewalls and anvil attachment section. Such a configuration can also increase the strength of the overall hoop-like structure of the tube. Maximizing the thickness of the anvil side of the distal closure tube section increases the strength of the tube section (hoop) while allowing space for a large bearing or camming surface to cam the anvil down towards the cartridge. U.S. Patent Application Serial No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS," discloses several distal closure tube section configurations that can be used with the various interchangeable surgical tool assemblies disclosed herein.

The above discussion and comparison may indicate that designing a closure system with a large closing moment arm may lead to improved efficiency of each element of the closure system and reduce the amount of closure force required to achieve complete anvil closure on tissue. However, as discussed above, maximizing the closing moment arm may result in tradeoffs with other design variables. For example, another desirable attribute relates to "jaw opening.""Jawopening" may refer to the distance J A measured from the center of the distal-most staple or fastening element center along a line perpendicular to the corresponding distal-most staple forming pocket on the underside or tissue contacting surface of the anvil body portion. FIG. 33 illustrates jaw opening J _A1 of a surgical end effector 1500. In the illustrated example, the distal _- most staple/fastening element pocket 1730 houses the distal-most staple or fastening element (not shown) therein. Each of the distal-most staples or fastening elements corresponds to a distal-most staple/fastening element forming pocket 1815 (shown in phantom in FIG. 33 ) formed in the lower or tissue contacting surface 1813 of the anvil body 1812. The distance J _A1 between the distal-most staple/fastening element pocket 1730 and the corresponding distal-most staple/fastening element forming pocket 1815 is the "jaw opening" of the surgical end effector 1500. In at least one embodiment, for example, J _A1 is about 1.207 inches. FIG. 34 shows the jaw opening J _A2 of the surgical end effector 3500. In the illustrated example, the distal-most staple/fastening element pocket 3730 receives a distal-most staple or fastening element (not shown) therein. Each of the distal-most staples or fastening elements corresponds to a distal-most staple/fastening element forming pocket 3815 formed in the lower or tissue contacting surface 3813 of the anvil body 3812. The distance J _A2 between the distal-most staple/fastening element pocket 3730 and the corresponding distal-most staple/fastening element forming pocket 3815 is the "jaw opening" of the surgical end effector 3500. In at least one embodiment, for example, J _A2 is about 0.781 inches. FIG. 35 shows the jaw opening J _A3 of the surgical end effector 5500. In the illustrated example, the distal-most staple/fastening element pocket 5730 receives a distal-most staple/fastening element (not shown) therein. Each of the distal-most staples/fastening elements corresponds to a distal-most staple/fastening element forming pocket 5815 formed in the lower or tissue contacting surface 5813 of the anvil body 5812. The distance J _A3 between the distal-most staple/fastening element pocket 5730 and the corresponding distal-most staple/fastening element 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 the jaw opening J _A4 of the surgical end effector 7500. In the illustrated example, the distal-most staple/fastening element pocket 7730 houses a distal-most staple or fastening element (not shown) therein. Each of the distal-most staples or fastening elements corresponds to a distal-most staple/fastening element forming pocket 7815 formed in the lower or tissue contacting surface 7813 of the anvil body 7812. The distance J _A4 between the distal-most staple/fastening element pocket 7730 and the corresponding distal-most staple/fastening element forming pocket 7815 is the "jaw opening" of the surgical end effector 7500. In at least one embodiment, for example, J _A4 is about 0.717 inches. Thus, in these examples, J _A1 >J _A3 >J _A2 >J _A4 . Thus, by comparison, surgical end effector 1500 has the largest jaw opening.

In surgical end effector designs using separate and distinct closure and firing systems using an axially movable closure ring or distal closure tube portion, such as the examples described above, the interrelationship between the anvil or jaw pivot axis P _A and the distal end of the distal closure tube portion, as well as the sturdiness of the anvil mounting portion, can determine the size of the jaw opening that is feasible for each particular end effector design. These interrelationships can be better understood, for example, with reference to FIG. 37. FIG. 37 illustrates a surgical end effector 1500R using an anvil 1810R having an anvil mounting portion 1820R shown in solid lines. The anvil mounting portion 1820R includes an anvil trunnion 1822R that defines a reference pivot axis P _AR about which the anvil mounting portion 1820R can pivot relative to the elongated channel 1602R. The surgical end effector 1500R also employs a distal closure tube portion 2030R having a distal end 2035R configured for camming contact with the anvil mounting portion 1820R in the various manners described above. A surgical staple/fastening element cartridge 1700R is supported within the elongated channel 1602R and has a cartridge deck or tissue contacting surface 1710R. FIG. 37 illustrates the distance D _P between the reference pivot axis P _AR and the distal end 2035R of the distal closure tube portion 2030R. FIG. 37 illustrates the anvil 1810R in solid lines. The anvil body 1812R is in its maximum open position when the distal closure tube portion 2030R is in its proximal-most starting position relative to the anvil mounting portion 1820R. The maximum opening angle APA _R in that configuration is, for example, about 10°. This opening angle APA _R is typical of many end effector configurations. In another end effector configuration, the opening 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 , for example 22°, would require an unnecessarily reduced cross-sectional width M _W of the anvil mounting portion _1820R1 if there was no change in the relationship between the distal end 2035R of the distal closure tube portion 2030R and the reference pivot axis P _AR . The anvil _1810R1 is shown in phantom. As can be seen from this view, an abrupt shelf must be formed between the anvil body _1812R1 and the anvil mounting portion _1820R1 such that its cross-sectional width is reduced. The 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/fastening element cartridge 1700R. Such reduced robustness at the anvil attachment portion of the anvil leads to reduced reliability of the anvil, making it less desirable than anvils having an anvil attachment portion with a larger cross-sectional profile.

38 and 39, as the pivot point or pivot axis PA approaches the distal end of the distal closure tube portion's start or proximal position, an increase in jaw opening (or opening angle) can be more easily achieved. FIG. 38 shows a surgical end effector 1500' that is substantially similar to the surgical end effector 1500, except for the location of the pivot axis PA' relative to the distal end 2035 of the distal closure 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 closure tube portion 2030 when the distal closure tube portion 2030 is at its proximal-most start position is represented by DP', and the opening angle is APA. In other words, when the distal closure tube portion 2030 is at its start 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 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 opening angle APA can be about 10°.

38 illustrates the opening angle APA of the surgical end effector 1500' having a distance DP' between the reference pivot axis PA' and the distal end 2035 of the distal closure tube portion 2030. Referring now to FIG. 39, as can be seen in this figure, the distance DP between the pivot axis PA and the reference plane RF on which the distal end 2035 of the distal closure tube portion 2030 is located when the distal closure tube portion 2030 is at its proximal-most beginning position is less than the distance DP' and the opening angle APA ₁ is greater than APA. For example, in at least one embodiment, the distance DP is about 0.090 inches and the opening angle APA ₁ is about 22°. Thus, by moving the pivot axis PA closer to the distal end of the distal closure tube portion when the distal closure tube portion is at its proximal-most beginning position, the jaw opening can be significantly increased without having to reduce the cross-sectional width at the anvil attachment location. This may represent a significant improvement compared to other surgical end effector configurations. In various circumstances, the center of the anvil trunnion 1822 may be ideally located between 0.010 to 0.060 inches from the distal end 2035 of the distal closure tube portion 2030 when the distal closure tube portion is in its beginning (most proximal) position. The maximum distance in 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 stop 1830 stops approximately at the staple cartridge deck surface 1710 thereby preventing proximal movement of the target tissue during the clamping action.

40 and 41 show a tissue stop or tissue locating feature 1830 for use with one form of surgical end effector 1500. As discussed above, tissue stop 1830 includes a downwardly extending portion 1832 and a chamfered portion 1834. Downwardly extending portion 1832 includes a distal edge 1833 that terminates at a distal corner 1835. FIG. 40 shows the anvil 1810 in its fully open position. The underside 1813 of the anvil body 1812 is at an opening angle APA _1. In at least one configuration, opening angle APA ₁ is greater than twelve point twenty-five degrees (12.25°) and may be on the order of eighteen degrees (18°). The surgical end effector 1500 can further have a proximal opening P _APP1 when in its fully open position, which may be, for example, about 0.254 inches, in at least one configuration. The proximal opening defines how much tissue can be placed between the proximal portions of the jaws (anvil and cartridge). A large proximal opening can be most effective when cutting and fastening, for example, lung tissue that may be partially inflated when introduced between the anvil and cartridge. The proximal opening can be measured from the center of the most proximal fastening element pocket or pocket pair 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. 40, the distal corner 1835 does not extend above the cartridge deck surface 1710, thereby preventing tissue from moving proximally of the proximal-most staple in the proximal-most staple pocket 1720. In at least one embodiment, the upstanding channel locking portions 1619 extend upwardly from the sidewalls of the elongated channels 1602 to mate with their respective tissue stops 1830, thereby further preventing tissue from moving proximally between the tissue stops 1830 and the channel locking portions 1619. FIG. 41 illustrates the anvil 1810 in a fully closed position. In that position, the distal edge 1833 of the tissue stops 1830 is generally aligned or coincident with the location of the proximal-most staple/fastening element in the staple/fastening element cartridge 1700. The distance from the articulation axis AA ₁ to the proximal-most staple/fastening element is identified as T _SD1 . In one configuration, T _SD1 is, for example, about 1.044 inches. When the anvil 1810 is fully closed, the tissue stop 1830 can be sized and shaped relative to the proximal end portion 1610 of the elongated channel 1602 to facilitate easy insertion through a correspondingly sized standard trocar. In at least one example, the tissue stop 1830 of the anvil 1810 is sized and shaped relative to the elongated channel 1602 to allow the surgical end effector 1500 to be inserted through a conventional 12 mm trocar.

42 and 43 show a tissue locking mechanism 3830 for use with one configuration of the surgical end effector 3500. As discussed above, the tissue lock 3830 includes a downwardly extending portion 3832 and a chamfered portion 3834. The downwardly extending portion 3832 includes a distal edge 3833 that terminates at a distal corner 3835. FIG. 42 shows the anvil 3810 in a fully open position. The lower surface 3813 of the anvil body 3812 is at an opening angle APA _2. In at least one configuration, the opening angle APA ₂ is approximately thirteen and a half degrees (13.5°). The surgical end effector 3500 can further have a proximal opening P _APP2 when in its fully open position, which can be, for example, approximately 0.242 inches in at least one configuration. When the anvil 3810 is in the fully open position as shown in FIG. 42, the distal corner 3835 does not extend above the cartridge deck surface 3710, thereby preventing tissue from moving proximally of the proximal-most staple/fastening element in the proximal-most staple/fastening element pocket 3720. FIG. 43 shows the anvil 3810 in a fully closed position. In that position, the distal edge 3833 of the tissue stop 3830 approximately aligns or coincides with the location of the proximal-most staple/fastening element in the staple/fastening element cartridge 3700. The distance from the articulation axis _AA2 to the proximal-most staple/fastening element is identified as T _SD2 . In one configuration, T _SD2 is, for example, about 1.318 inches.

44 and 45 show a tissue locking mechanism 5830 for use with one configuration of the surgical end effector 5500. As discussed above, the tissue lock 5830 includes a downwardly extending portion 5832 and a chamfered portion 5834. The downwardly extending portion 5832 includes a distal edge 5833 that terminates at a distal corner 5835. FIG. 44 shows the anvil 5810 in its fully open position. The lower surface 5813 of the anvil body 5812 is at an opening angle APA _3. In at least one configuration, the opening angle APA ₃ is approximately eight degrees (8°). The surgical end effector 5500 can further have a proximal opening P _APP3 when in its fully open position, which can be, for example, approximately 0.226 inches in at least one configuration. When the anvil 5810 is in the fully open position as shown in FIG. 44, the distal corner 3835 extends slightly above the cartridge deck surface 5710. FIG. 45 shows the anvil 5810 in a fully closed position. When in that position, the distal edge 5833 of the tissue stop 5830 is approximately aligned or coincident with the location of the proximal-most staple/fastening element in the staple/fastening element cartridge 5700. The distance from the articulation axis _AA3 to the proximal-most staple/fastening element is identified as T _SD3 . In one configuration, T _SD3 is, for example, about 1.664 inches.

46 and 47 show a tissue locking mechanism 7830 for use with one configuration of the surgical end effector 7500. As discussed above, the tissue lock 7830 includes a downwardly extending portion 7832 and a chamfered portion 7834. The downwardly extending portion 7832 includes a distal edge 7833 that terminates at a distal corner 7835. FIG. 46 shows the anvil 7810 in its fully open position. The underside 7813 of the anvil body portion 7812 is at an opening angle APA _4. In at least one configuration, the opening angle APA ₄ is approximately ten degrees (10°). The surgical end effector 7500 can further have a proximal opening P _APP4 when in its fully open position, which can be, for example, approximately 0.188 inches in at least one configuration. When the anvil 7810 is in the fully open position as shown in FIG. 46, the distal angle 7835 extends slightly below the cartridge deck surface 7710, thereby preventing tissue from moving proximally of the proximal-most staple/fastening element in the proximal-most staple pocket 7720. FIG. 47 shows the anvil 7810 in a fully closed position. In that position, the distal edge 7833 of the tissue stop 7830 approximately aligns or coincides with the location of the proximal-most staple/fastening element in the staple/fastening element cartridge 7700. The distance from the articulation axis _AA4 to the proximal-most staple/fastening element is identified as T _SD4 . In one configuration, T _SD4 is, for example, about 1.686 inches.

In various circumstances, the relationship of the firing member to the articulation axis AA, as well as the jaw pivot axis PA about which the anvil pivots, may be affected by the length of the articulation joint mechanism. Naturally, a longer articulation joint mechanism may adversely affect the maneuverability of the end effector in tight spaces and may limit the size of the jaw opening that may ultimately be achieved by the end effector. FIG. 48 illustrates the surgical end effector 1500 in a fully open position, i.e., the anvil 1810 has been pivoted to its fully open position and the firing member 2140 is in its home or starting position. The distance between the distal end of each of the anvil engagement mechanisms 2147 and the 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 by way of comparison, the distance AJD ₂ between the distal end of each of the anvil engagement mechanisms 4147 and the articulation axis AA ₂ is approximately 0.744 inches in at least one example. 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 of the anvil engagement mechanisms 8147 and the articulation axis AA ₄ is approximately 1.096 inches in at least one example. Thus, as can be seen from this comparison, the articulation joint mechanism of surgical end effector 1500 (as measured by distances AJD ₁ , AJD ₂ , AJD ₃ , AJD ₄ ) is more compact than surgical end effectors 3500, 5500 and 7500, and therefore easier to maneuver in at least some surgical applications.

Another factor that may affect the length of the joint 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 the anvil 1810 of the surgical end effector 1500 in its fully open position. When in that position, the firing member 2140 is in its rest or "start position." As can be seen from this figure, one useful measure for comparing the "compactness" of the articulation joint mechanisms is the proximal tab distance TD ₁ between the proximal end 2149 of each of the upper anvil engagement mechanisms 2147 and the anvil pivot axis PA _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 proximal-most or start position, the proximal tab distance TD ₁ is greater than approximately thirty-five percent (35%) of the overall length TL ₁ of each of the anvil engagement mechanisms 2147. Stated another way, when the anvil 1810 and firing member 2140 are in the positions described above, at least 35% of each of the anvil engagement features 2147 extend proximally beyond the anvil pivot axis _PA1 . FIGURE 53 illustrates the end effector 1500 with the anvil 1810 in a closed position and the firing member 2140 in its proximal-most or start position. As can be seen in this figure, at least 35% of each of the anvil engagement features 2147 extend proximally beyond the anvil pivot axis PA1.

FIG. 54 illustrates 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 in this figure, each of the anvil engagement features 4147 is fully distal to the anvil pivot axis _PA2 , resulting in a longer articulation joint mechanism. Thus, the distance _TD2 is the distal distance between the proximal end 4149 of the anvil engagement feature 4147 and the anvil pivot axis _PA2 . FIG. 55 illustrates the position of the firing member 6140 of the surgical end effector 5500 when the anvil 5810 is in its fully open position and the firing member 6140 is in its most proximal or starting position. As can be seen in this figure, each of the anvil engagement features 6147 is fully distal to the anvil pivot axis _PA3 , resulting in a longer articulation joint mechanism. ₅₆ illustrates the position of the firing member 8140 of the surgical end effector 7500 when the anvil 7810 is in its fully open position and the firing member ₈₁₄₀ is in its proximal-most or start position. As can be seen in this view, each of the anvil engagement mechanisms 8147 is fully distal to the anvil pivot axis _PA4 , resulting in a longer articulation joint mechanism. Thus, distance _TD4 is the distal distance between the proximal end 8149 of the anvil engagement mechanism 8147 and the anvil pivot axis _PA4 . For comparison purposes, surgical end effector 1500 is the only surgical end effector in which 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 proximal-most or start position. The anvil engagement features of each of the firing members of surgical end effectors 3500, 5500 and 7500 are fully distal to their respective anvil pivot axis when the firing members are in their proximal-most or start positions. To further this comparison, for example, surgical end effector 1500 is the only surgical end effector in which at least thirty-five percent (35%) of the anvil engagement feature resides between the anvil pivot axis and the articulation axis when the firing member is in its start position and the anvil is fully open. A similar comparison can be made by comparing the same distance between the location of the lower channel engagement feature on the firing member and the jaw pivot axis when the firing member is in its proximal-most start position.

Another measure that can be used to assess the compactness of an articulation joint mechanism is a comparison of the ratio of the distance from the articulation axis to the distal end of the anvil engagement mechanism on the firing member (distances AJD ₁ , AJD ₂ , AJD ₃ , AJD ₄ - FIGS. 48-51 ) to the distance from the articulation axis to the distal edge of the tissue stop or the most proximal staple/fastening element (distances TSD ₁ , TSD ₂ , TSD ₃ , TSD ₄ - FIGS. 41, 43, 45, 47 ) for each end effector. For example, in a preferred configuration, AJD/TSD<0.500. The ratio of AJD/TSD is sometimes referred to herein as the "compactness ratio" for that particular surgical end effector. For example, in one configuration of end effector 1500, _AJD1 / _TSD1 = 0.517"/1.044" = 0.495. In one illustrated example of end effector 3500, _AJD2 / _TSD2 = 0.744"/1.318" = 0.564. In one illustrated example of end effector 5500, _AJD3 / _TSD3 = 1.045"/1.664" = 0.628. In one illustrated configuration, _AJD4 / _TSD4 = 1.096"/1.686" = 0.650. Thus, in at least one preferred configuration in which the articulation joint mechanism is most compact, has the largest jaw opening and is most maneuverable, the ratio of the distance from the articulation axis to the proximal end of the anvil engagement mechanism on the firing member to the distance from the articulation axis to the distal edge of the tissue stop or the proximal-most staple/fastening element is less than approximately 0.500.

57-61 show a progressive closure mechanism for moving the anvil 1810 of the surgical end effector 1500 from a fully open position to a closed position and then to an over-closed position. FIGS. 57 and 58 show the anvil 1810 in a 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 with the anvil cam surface 1821 of the anvil mounting portion 1820 causes the anvil 1810 to pivot to the closed position. As seen in FIG. 58, the staple forming underside 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/fastening element cartridge. When in its initial closed position, the firing member 2140 is in its starting position as seen in FIG. When in that position, the anvil engagement feature 2147 of the firing member 2140 is not engaged with the anvil 1810, but is generally horizontally aligned with the ledge 1816 formed on the anvil 1810. In at least one configuration, an angled portion 1829 is formed proximal to each of the horizontal anvil ledges 1816. FIG. 59 illustrates the position of the firing member 2140 after it has been advanced distally to a point where the anvil engagement feature 2147 first engages the horizontal anvil ledge 1816 of the anvil 1810, while FIG. 61 illustrates the position of the firing member 2140 and anvil 1810 where the anvil engagement feature is in full engagement with the anvil ledge 1816 and applies an “over-closure” force to the anvil 1810 as the firing member 2140 continues to advance distally. For example, in at least one configuration, as shown in FIG. 61, when the anvil 1810 is in a closed position (with no tissue clamped between the anvil and the cartridge), a distal portion of the anvil 1810 contacts the cartridge deck surface 1710. As a result of such a configuration, the force required to distally advance the firing member within the end effector from its start position to its end position may generally be less than other surgical end effector configurations that do not employ such a progressive closure mechanism.

62 shows the anvil 1810 of the surgical end effector 1500 in a fully open position. As mentioned above, each of the anvil trunnions 1822 is received in a corresponding trunnion cradle 1614 formed in the upright wall 1612 of the proximal end portion 1610 of the elongated channel 1602. The anvil trunnions 1822 are pivotally retained in their corresponding trunnion cradles 1614 by a channel cap or anvil retainer 1630. The channel cap 1630 includes a pair of mounting projections 1636 configured to be retained and received in corresponding projection grooves or notches 1616 formed in the upright wall 1612 of the proximal end portion 1610 of the elongated channel 1602. During a portion of the closing stroke of the anvil 1810 against the thick tissue, a reaction force established during the tissue clamping process attempts to push the anvil trunnions 1822 out of their respective trunnion cradles 1614. The channel cap 1630 includes a pair of slot cap portions 1632 corresponding to each trunnion cradle 1614. When the channel cap 1630 is installed on the proximal end portion 1610 of the elongated channel 1602, each slot cap portion 1632 functions to retain the anvil trunnion 1822 within the respective trunnion cradle 1614 during the closing 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. 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 may facilitate ease of assembly of the anvil 1810 to the elongated channel 1602. After the anvil trunnions 1822 are placed within their respective trunnion cradles 1614, the channel cap 1630 may be installed as shown in the figures. In at least one configuration, the distal closure tube portion 2030 functions to hold the channel cap 1630 in a position that functions to prevent the anvil trunnions 1822 from moving vertically within their corresponding trunnion cradles 1614 during closure as shown in FIG. 63. In another configuration, the mounting projections 1636 may be frictionally held within the respective notches 1616 or may be held 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 moving the anvil from the closed position to the fully open position. For example, the distal closure tube portion 4030 of the interchangeable tool assembly 3000 includes a positive jaw or anvil opening mechanism 4040 that corresponds to each of the side walls of the distal closure tube portion 4030 and projects inwardly from the side walls. The positive anvil opening mechanisms 4040 extend inwardly through corresponding openings in the transitional side walls and can be welded to the distal closure tube portion 4030. In this configuration, the positive anvil opening mechanisms are axially aligned with each other and are configured to operably interconnect with corresponding opening ramps formed on the underside of the anvil mounting portion 3820. When the anvil 3810 and distal closure tube portion 4030 are in their fully closed positions, each of the positive anvil opening mechanisms 4040 resides within a cavity established between the anvil opening ramp and the bottom of the elongated channel 3602. When in that position, the positive anvil opening mechanisms 4040 may not contact the anvil attachment portion 3820, or at least may not apply significant opening motion or force to the anvil attachment portion. When the distal closure tube portion 4030 is moved proximally, the anvil opening mechanisms 4040 contact the anvil opening ramp causing the anvil 3810 to pivot to the open position. Further details regarding the positive anvil opening mechanism 4040 can be found in U.S. patent application Ser. No. 15/385,911, entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS."

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

With respect to the surgical end effector 7500 of the tool assembly 7000, a positive anvil opening motion is applied to the anvil 7810 by the distal closure tube portion 8030 as the distal closure tube portion 8030 is moved in a proximal direction. As mentioned above, an upstanding anvil tab 7824 is formed on the anvil mounting portion 7820 and extends into a horseshoe-shaped opening 8038 of the distal closure tube portion 8030. See FIG. 24. The opening 8038 defines an opening tab 8039 configured to operably interconnect with the anvil tab 7824 as the distal closure tube portion 8030 retracts in a distal direction. Such interaction of the opening tab 8039 with the anvil tab 7824 applies an opening motion to the anvil 7810, thereby moving the 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 closure tube portion 2030 employs two axially offset proximal and distal positive jaw opening mechanisms 2040 and 2050, as shown in FIGS. 64-77. 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 to the right of the shaft axis _SA1 (as viewed by a user of the tool assembly). FIGS. 66, 72 and 73 show the location of the proximal positive jaw opening mechanism 2040 when the anvil 1810 is in the closed position. As seen in most detail in FIG 66, when in that position the proximal positive jaw opening feature 2040 resides within a right or first relief area 1825 formed in the anvil mounting portion 1820. FIGs 69, 72 and 73 show the location of the distal positive jaw opening feature 2050 when the anvil 1810 is in the closed position. As seen in most detail in FIG 69, when in that position the distal positive jaw opening feature contacts the stepped portion 1823 of the anvil cam surface 1821.

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 closure tube portion 2030 is moved in the proximal direction PD, the proximal positive jaw opening mechanism 2040 contacts the first or right jaw opening cam surface 1826 and begins to apply a jaw opening motion to the anvil 1810. See FIGS. 67, 74, and 75. As seen in FIGS. 70, 74, and 75, during such proximal movement of the distal closure tube portion 2030, the distal positive jaw opening mechanism 2050 is axially movable within the second or left relief region 1840 formed in the anvil attachment portion 1820. Thus, the proximal positive jaw opening mechanism 2040 applies a first or initial opening motion to the anvil attachment portion 1820, while the distal positive jaw opening mechanism 2050 does not apply any significant opening motion to the anvil 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 move the proximal positive jaw opening mechanism 2040 away from the jaw opening cam surface 1826. Thus, the proximal positive jaw opening mechanism 2040 is out of alignment with the anvil attachment portion 1820 and does not apply any further opening motion to the anvil attachment portion, while the distal positive jaw opening mechanism 2050 applies a second jaw opening motion to the anvil attachment portion 1820 to pivot the anvil 1810 to the fully open position shown in FIGS. 68, 71, 76 and 77.

FIG. 78 illustrates in graphical form the anvil or jaw opening process used in the exchangeable tool assembly 1000. As can be seen, the left axis or vertical axis of the graph represents the amount of jaw opening from about 0° to about 22° (the "anvil opening angle"), while the lower axis or horizontal axis represents the approximate proximal axial movement of the distal closure tube portion 2030 from a fully anvil closed position to a fully anvil open position. As noted above, the "anvil opening angle" or "jaw opening angle" can represent the angle between the cartridge deck surface or tissue contact surface of the surgical fastening element cartridge and, alternatively, the fastening element forming surface or tissue contact surface of the anvil or "second jaw". When the anvil is fully closed, the anvil opening angle can be, for example, about 0°. In the illustrated configuration, the distal closure tube portion 2030 can move proximally from a first position (1850 on the graph) corresponding to a fully closed position, e.g., a proximal distance of about 0.040 inches, to a first intermediate position (1852 on the graph) before the proximal positive jaw opening mechanism 2040 begins to apply a first jaw opening motion to the anvil 1810. As the distal closure tube portion 2030 continues to move proximally from the first intermediate position 1852 to a second intermediate position (1854 on the graph), e.g., a further proximal distance of about 0.040 inches to about 0.120 inches, the proximal positive jaw opening mechanism 2040 moves the anvil 1810 through an anvil opening angle of 0° to about 10°. The anvil remains at an anvil opening angle of about 10° as the distal closure tube portion 2030 continues to move proximally a further proximal distance (about 0.120 inches to about 0.140 inches) from the second intermediate position 1854 to a third intermediate position (1856 on the graph). As the distal closure tube portion 2030 moves proximally a further proximal distance (about 0.140 inches to about 0.240 inches) from the third intermediate position 1856 to a fourth intermediate position (1858 on the graph), the distal positive jaw opening mechanism 2050 begins to impart a second jaw opening motion to the anvil 1810. As the distal closure tube portion 2030 continues to move proximally a further proximal distance (e.g., about 0.140 inches to about 0.240 inches) from the third intermediate position 1856 to the fourth intermediate position (1858 on the graph), the distal positive jaw opening mechanism 2050 moves the anvil 1810 relative to the elongated channel 1602, increasing the anvil opening angle, for example, from about 10° to about 22°. As the distal closure tube portion 2030 continues to move proximally a further distance (e.g., about 0.240 inches to about 0.260 inches) from the fourth intermediate position 1858 to the final proximal position (1860 on the graph), the anvil 1810 remains in a fully open position with an anvil opening angle of about 22°.

The closure process of the illustrated example of the interchangeable tool assembly 1000 can be understood with reference to FIGS. 67-69 and 70-72, as well as FIG. 78. FIGS. 68 and 71 show the 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 mounting portion 1820, and the distal positive jaw opening mechanism 2050 is in contact with the left anvil opening tab 1842. When the anvil closure process is initiated, the closure drive system is actuated to move the distal closure tube portion 2030 in the distal direction DD. The anvil 1810 remains in its fully open position as the distal closure tube portion moves from the final proximal position 1860 to the fourth intermediate position 1858 (FIG. 78). Thus, when the closure process is initiated, in at least one example, the distal closure tube portion 2030 can move distally a first or initial predetermined axial closure distance before the anvil 1810 begins to move. Stated another way, the distal closure tube portion can move a first predetermined axial closure distance before any closure motion is applied to the anvil 1810. In at least one example, the first or initial predetermined closure distance can be approximately 0.020 inches. As the distal closure tube portion 2030 continues to move distally an intermediate axial closure distance, the distal end 2035 of the distal closure tube portion 2030 begins to contact the anvil cam surface 1821 of the anvil attachment portion 1820 until the internal cam surface 2036 of the distal closure tube portion 2030 begins to come into camming contact with the anvil cam surface 1821 ( FIGS. 67 and 70 ). As the inner cam surface 2036 rides up and moves against the anvil cam surface 1821, the anvil 1810 pivots to the fully closed position. The anvil cam surface 1821 and the inner cam surface 2036 can be configured to allow further distal movement of the distal closure tube portion 2030, for example, from a first intermediate point or position 1852 to a first position 1850 (FIG. 78). Thus, in at least one example, the distal closure tube portion 2030 can move distally a final predetermined axial closure distance during the closure process after the anvil 1810 reaches its fully closed position. In at least one example, the final predetermined axial closure distance can be approximately 0.040 inches.

In surgical stapling devices that use a firing member assembly that includes a firing member having a tissue-cutting surface, it may be desirable for the firing system and portions of the end effector to be configured in a manner that prevents inadvertent advancement of the firing member unless an unused staple cartridge is properly supported within the end effector. For example, if no staple cartridge is present and the firing member advances distally through the end effector, tissue will be cut but not stapled. Similarly, if a used 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 advances, tissue will be cut but may not be fully stapled, if at all. It will be apparent that the occurrence of such a phenomenon can lead to undesirable catastrophic results during a surgical procedure. U.S. Patent No. 6,988,649, entitled "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT"; U.S. Patent No. 7,044,352, entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING"; U.S. Patent No. 7,380,695, entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING" No. 2016-0367247-A1, entitled "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING" and U.S. Patent Application No. 15/385,958, entitled "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING" "UNLESS AND 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 including a first jaw 9020 and a second jaw 9120. In the illustrated configuration, for example, the first jaw 9020 includes an elongated channel 9022 configured to removably and operably support a surgical staple cartridge 9600 therein. The elongated channel 9022 is attached to an elongated shaft assembly 9300 of the surgical tool assembly. In the configuration shown in FIGS. 60C and 60D, for example, the elongated channel 9022 is pivotally coupled to a spine assembly 9310 of the elongated shaft assembly 9300 for selective articulation relative thereto. See FIGS. 60D, 60E, 60H, and 60I. The elongated shaft assembly 9300 can define a shaft axis SA. The second jaw 9120 includes an anvil 9122 that is movably supported on the elongated channel 9022 and movable between an open position and a closed position by the closure system 9400. The anvil 9122 includes an anvil body 9124 and an anvil mounting portion 9126 that is pivotally supported for pivotal movement relative to the proximal end 9024 of the elongated channel 9022. The closure system 9400 may include, for example, an axially movable distal closure tube portion 9410 configured to cam engage with a cam surface 9128 on the anvil mounting portion 9126 when the distal closure tube portion 9410 is axially advanced in the distal direction DD. The distal closure tube portion 9410 may also be configured to impart an opening motion to the anvil mounting portion 9126 when the distal closure tube portion 9410 is moved in the proximal direction PD. See FIGS. 60C and 60D.

The surgical tool assembly 9000 further includes a firing system 9500, which in the illustrated configuration includes a firing member assembly 9510 configured to receive a firing motion from a firing control system supported within the housing of, for example, a handheld or robotic control system. In the illustrated embodiment, one form of the 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. The firing member body 9522 is coupled to a firing or knife bar 9530 operably interconnected with a corresponding portion of the firing system 9500 to receive a firing motion from the firing control system. The firing member body 9522 can include a second jaw or anvil engagement mechanism 9526, which can include a laterally extending tab element configured to be received within a corresponding second jaw passage or slot 9125 of the anvil body 9124. Additionally, the firing member body 9522 may further include a first jaw or channel engagement feature or foot 9528 configured to be received within a corresponding first jaw passage or slot or opening 9023 of the elongated channel 9022.

The staple cartridge assembly 9600 includes a cartridge body 9602. See FIGS. 60H and 60I. The 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, the staple cartridge 9600 is positioned on a first side of tissue to be stapled and the anvil 9122 is positioned on a second side of the tissue. The anvil 9122 moves toward the staple cartridge 9600 to compress and clamp the tissue against the deck 9606. Staples or fastening elements removably stored in the cartridge body 9602 can then be deployed into the tissue. The cartridge body 9602 includes staple or fastening element cavities (not shown) defined therein, with the staples or fastening elements (not shown) removably stored within the staple cavities. 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 be possible.

The staples or fastening elements are supported by staple drivers (not shown) that are movably supported within the cartridge body 9602. The drivers are movable between a first or unfired position and a second or fired position that ejects the staples or fastening elements from the cavities. The drivers are retained within 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 against the cartridge body. The drivers can be moved between their unfired and fired positions by a sled 9610. The sled 9610 can be moved between a proximal or "unfired" position adjacent the proximal end 9604 and a distal or "fired" position (after firing) adjacent the distal end. As seen in FIG. 60G, the sled 9610 includes a plurality of ramps or cam surfaces 9620 configured to slide under the driver to lift the driver, and the staples or fastening elements supported thereon, toward the anvil. By "unfired," "unused," "new" or "fresh" staple cartridge 9600, it is meant herein that all of the staples or fastening elements of the staple cartridge 9600 are in a "ready to fire" position. When in that position, the sled assembly 9610 is located in its starting position or "unfired" position. The fresh staple cartridge 9600 is placed within the elongated channel 9022 and can be retained therein by snap elements of the cartridge body 9602 that are configured to retainingly engage corresponding portions of the elongated channel 9022. FIGS. 60G and 60H illustrate a portion of a surgical end effector 9010 with a fresh, or unfired, surgical staple cartridge 9600 placed therein. As can be seen in FIGS. 60G and 60H, the sled 9610 is in an unfired position. To prevent the firing system 9500 from being actuated unless an unfired or new surgical staple cartridge 9600 is properly positioned within the elongated channel 9022, or more precisely, to prevent the first firing member element 9520 from being driven distally through the surgical end effector 9010, the illustrated surgical tool assembly 9000 employs a firing member lockout system, generally designated 9700.

60E and 60F, in one form, the firing member lockout system 9700 includes a second firing member element or tilt element 9710 including a thread engagement portion 9720. In the illustrated configuration, the second firing member element 9710 is pivotally coupled to the firing member body 9522 by an attachment joint 9713 in the form of, for example, one or more pivot members 9714 pivotally received within corresponding pivot holes 9523 in the firing member body 9522 for pivotal movement about a pivot axis PA transverse to the shaft axis SA. 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, the firing member body 9522 includes a distal surface 9525 that is substantially perpendicular to the channel engagement feature 9528 and a lockout surface 9527 that is angled relative to the distal surface 9525. Additionally, the firing member body 9522 is formed with one or more support ramps 9529 that function to define corresponding landing surfaces 9531 for receiving the second firing member element 9710 when in the locked configuration. See FIG. 60E.

60F, when the second firing member element 9710 is in the unlocked position, a space generally shown as 9724 is provided between the proximal surface 9722 of the second firing member element 9710 and the distal surface 9525 of the firing member body 9522. 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. Now referring to FIGS. 60A-60D, the second firing member element 9710 further includes at least one lockout engagement portion 9730 including an angled lock end 9732 configured to engage a corresponding lockout notch 9026 formed in the elongated channel 9022 when the second firing member element 9710 is in the locked position. In one embodiment, for example, the second firing member element 9710 includes two lockout engagement portions 9730. As also seen in FIGS. 60A-60D, a lockout spring or biasing member 9740 is attached to the proximal end 9024 of the elongated channel 9022 and includes two spring arms 9742 that correspond respectively to the lockout engagement portions 9730. As shown in FIGS. 60B-60D, the spring arms 9742 function to bias the second firing member element 9710 to the locked position.

60G-60I, the sled 9610 includes an unlocking portion 9630 configured to engage with the sled engagement portion 9720 of the second firing member element 9710 when the sled 9610 is in the unfired position. Such 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 can pivot out of the corresponding lockout notch 9026 of the elongated channel 9022 to fire or distally advance the firing member assembly 9510 through the staple cartridge. When the staple cartridge loaded within the elongated channel 9022 has already been fired or partially fired, the sled 9610 is not in the unfired position, pivoting the second firing member element 9710 to the unlocked position. In such a case, the clinician will not be able to distally advance or fire the firing member assembly 9510. When in the unlocked position, actuation of the firing system 9500 causes the firing member assembly 9510 to move in a distal direction. As discussed above, when the firing member assembly 9510 is driven in a distal direction, the second firing member element 9710 contacts 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. Additionally, as seen in most detail in FIGS. 60E and 60F , the pivot hole 9523 of the firing member body 9522 is sized relative to the corresponding pivot member 9714 to provide a clearance C therebetween, such that load is transferred directly to the firing member body 9522 via the second firing member element rather than via the pivot member 9714. 60E , the angled lockout surface 9527 facilitates pivoting of the thread engagement portion 9720 to the locked position. If a clinician inadvertently applies a firing motion FM in the distal direction DD to the firing member assembly 9510 when the second firing member element 9720 is in the locked position, the engagement of the second firing member element 9720 with the lockout notch 9026 of the elongated channel 9022 will prevent distal advancement of the firing member assembly 9510 and a resulting unlocking load force UL will be applied to the second firing member element 9720. This unlocking load force UL will be applied to the angled lockout surface 9527 of the firing member body 9522 and not to the pivot member 9714. Such a configuration prevents loading or stress on the pivot member 9714 if a clinician inadvertently attempts to advance the firing member assembly 9510 when in the locked position. This configuration can therefore prevent the pivot member 9714 from being sheared when the firing member assembly 9510 is attempted to be so advanced.

Thus, the firing member assembly 9510 and firing member lockout assembly 9700 described above can provide several advantages. For example, as described above, the distal surface 9525 of the firing member body 9522 receives the load during firing and prevents such load from being transferred to the pivoting member that attaches the second firing member element 9710 to the first firing member element 9520. When in the locked or locked position, the load is received 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 specifically, the first firing member element 9520, which may inadvertently cause misalignment with the anvil and elongated channel when moved to the unlocked state for firing. Furthermore, because the first firing member element 9520 does not move vertically, the anvil engagement mechanism and the channel engagement mechanism can be advantageously shaped and designed to provide the desired engagement with the anvil and the channel during firing. 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 the knife bar at the distal end. Such weld configurations can be more compact in the longitudinal direction compared to conventional weld configurations, providing superior joint length. Other advantages can also be enjoyed from the above-described firing member and lockout system configurations.

While many of the surgical tool systems described herein are powered by electric motors, the surgical tool systems described herein may be powered in any suitable manner. In various instances, the surgical tool systems described herein may be powered by, for example, a manually operated trigger. In certain instances, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein may be utilized with a robotic surgical tool system. For example, U.S. Patent Application Serial No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Patent No. 9,072,535, discloses several examples of robotic surgical tool systems in more detail.

Although the surgical instrument systems described herein are described in connection with the deployment and deformation of staples, the embodiments described herein are not so limited. Various embodiments are contemplated using fastening elements other than staples, such as clamps or tacks. Additionally, various embodiments are contemplated utilizing any suitable means for sealing tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Also for example, end effectors according to certain embodiments may 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 elongated shaft assembly for selective articulation relative to the elongated 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 the elongated shaft assembly. A second end effector jaw is coupled to the first end effector jaw for selective pivotal movement relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis. One of the first end effector jaw and the second end effector jaw is configured to operably support therein a surgical fastener cartridge including a proximal-most fastener position. One of the first and second end effector jaws can be moved between an open position and a fully closed position by an axially movable closure member including a closure member cam surface configured for cam contact with a jaw cam surface of one of the first and second effector jaws. A first distance between the articulation axis and a cam contact area of the closure member cam surface and the jaw cam surface divided by a second distance from the articulation axis to a proximal-most fastening element location is less than 0.5.

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

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

Example 4 - A surgical instrument as described in Example 1, 2 or 3, in which the jaw pivot axis is fixed.

Example 5 - A surgical instrument as described in Example 3, wherein the anvil includes at least one tissue engaging member that includes a distal tissue contacting surface that corresponds to the proximal-most fastening element position when the anvil is in a fully closed position.

Example 6 - A surgical instrument as described in Examples 3 or 5, in which the anvil includes an anvil body and an anvil mounting portion including a jaw cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings in the first end effector jaw.

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 cam surface.

Example 8 - A surgical instrument as described in Example 7, in which the elongated shaft assembly includes a spine assembly operably coupled to the first end effector jaw, and a proximal obturator tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to an axially movable distal obturator tube portion.

Example 9 - A surgical instrument as described in Example 8, in which the proximal closure tube assembly is operatively interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

Example 10 - A surgical instrument as described in Example 9, wherein the closure system is supported by a hand-held housing.

Example 11 - A surgical instrument as described in Example 10, wherein the closure system is supported by a housing operably interconnected with a robotically controlled actuator.

Example 12 - A surgical instrument including an elongated shaft assembly defining a shaft axis and further including a surgical end effector operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel coupled to an articulation joint coupled to the elongated shaft assembly. The elongated channel is configured to operably support a surgical fastener cartridge. The surgical fastener cartridge includes a proximal-most fastener location. The surgical end effector further includes an anvil pivotally coupled to the elongated channel for selective pivotal movement relative to the elongated channel about a fixed anvil pivot axis transverse to the shaft axis. The anvil is movable between an open position and a fully closed position by an axially movable closure member including a closure member cam surface configured for camming contact with an anvil cam 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 proximal fastening element position is less than 0.5.

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

Example 14 - A surgical instrument as described in Example 12 or 13, wherein the anvil includes at least one tissue engaging member that includes a distal tissue contacting surface that corresponds to the proximal-most fastening element position when the anvil is in a fully closed position.

Example 15 - The surgical instrument of Examples 12, 13 or 14, wherein the anvil includes an anvil body and an anvil mounting portion having an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings in the elongated channel.

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

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

Example 18 - The surgical instrument of Example 17, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

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 elongated shaft assembly operably and removably connectable to the housing such that a proximal closure portion of the elongated shaft assembly is configured to receive an axial closure movement from the closure system. The elongated shaft assembly defines a shaft axis. A surgical end effector is operably connected to the elongated shaft assembly for selective articulation relative to the elongated 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 connected to the elongated shaft assembly. A second end effector jaw is coupled to the first end effector jaw for selective pivotal movement relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis. One of the first end effector jaw and the second end effector jaw is configured to operably support a surgical fastener cartridge having a proximal-most fastener position. One of the first and second end effector jaws is movable between an open position and a fully closed position by an axially movable distal closure member operably coupled to a proximal closure portion of the elongate shaft assembly. The distal closure member includes a closure member cam surface configured to cam contact a jaw cam surface of one of the first and second end effector jaws. A first distance between the articulation axis and a cam contact area of the closure member cam surface and the jaw cam surface divided by a second distance from the articulation axis to a proximal-most fastening element position 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 elongated shaft assembly for selective articulation relative to the elongated 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 elongated shaft assembly. A second end effector jaw is coupled to the first end effector jaw for selective pivotal movement relative to the first end effector jaw about a jaw pivot axis transverse to the shaft axis. The surgical instrument further includes an axially movable firing member including at least one jaw engagement mechanism configured to impart a closing motion to the second end effector jaw when the axially movable firing member is moved from a start position to a finish position within the first end effector jaw. 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 a start position.

Example 22 - The surgical instrument of Example 21, wherein a portion of 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 a start position and the second end effector jaw is in a fully open position.

Example 23 - A surgical instrument as described in Example 21 or 22, in which 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 a starting position.

Example 24 - A surgical instrument as described in Example 22, wherein at least 35% of each jaw engagement mechanism is between the jaw pivot axis and the articulation axis when the axially movable firing member is in a start position and the second jaw of the end effector is in a fully open position.

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

Example 26 - The surgical instrument of Example 25, wherein the axially movable closure member includes a closure member cam surface configured for cam contact with the jaw cam 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 comprises a tissue cutting surface.

Example 28 - The surgical instrument of Example 21, 22, 23, 24, 25, 26 or 27, 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.

Example 29 - A surgical instrument as described in Examples 21, 22, 23, 24, 25, 26, 27 or 28, in which the jaw pivot axis is fixed.

Example 30 - A surgical instrument including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel coupled to the elongated 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 about a fixed jaw pivot axis transverse to the shaft axis. The surgical instrument further includes an axially movable firing member including at least one anvil engagement mechanism configured to apply a closing motion to the anvil when the axially movable firing member is movable from a start position to an end position within the elongated channel. 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 start position.

Example 31 - The surgical instrument of Example 30, wherein a portion of 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 a start position and the anvil is in a fully open position.

Example 32 - A surgical instrument as described in Example 30 or 31, in which 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 a starting position.

Example 33 - A surgical instrument as described in Example 30, 31 or 32, 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 a start position.

Example 34 - The surgical instrument of Example 30, wherein 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 a start position and the anvil is in a fully open position.

Example 35 - The surgical instrument of Example 30, 31, 32, 33 or 34, further comprising an axially movable closure member independently movable relative to the axially movable firing member and configured to selectively impart a further closure motion to the anvil.

Example 36 - The surgical instrument of Example 35, wherein the axially movable closure member includes a closure member cam surface configured for cam contact with the anvil cam surface of the anvil.

Example 37 - A surgical instrument as described in Example 30, 31, 32, 33, 34, 35 or 36, wherein the firing member comprises a tissue cutting surface.

Example 38 - The surgical instrument of Example 30, 31, 32, 33, 34, 35 or 36, wherein the firing member comprises a firing member body including a tissue cutting surface, and the at least one anvil engagement mechanism comprises a first anvil engagement tab protruding from a first side of an upper portion of the firing member body and a second anvil engagement tab protruding from a second side of an upper portion 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 - A surgical system including a housing operably supporting a closure system and a firing system. The closure system and the firing system are independently operable relative to one another. The surgical system further includes an exchangeable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that a proximal closure portion of the elongated shaft assembly is configured to receive an axial closure motion from the closure system and a proximal firing member of the elongated shaft assembly is configured to receive a firing motion from the firing system. The elongated shaft assembly defines a shaft axis. A surgical end effector is operably connected to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel coupled to the elongated 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 about a jaw pivot axis transverse to the shaft axis. An axially movable firing member is operably coupled to the proximal firing member and includes at least one anvil engagement mechanism configured to apply a closing motion to the anvil when the axially movable firing member is movable from a start position to a finish position within the elongated channel. 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 start position.

Example 41 - A surgical instrument as described in Example 40, wherein the housing comprises a 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 coupled to the first end effector jaw for selective pivotal movement relative to the first end effector jaw between a fully open position and a fully closed position about a fixed jaw pivot axis that is transverse to and extends through the shaft axis. The elongated shaft assembly includes a closure member axially movable between a start position corresponding to the fully open position of the second end effector jaw and an end position corresponding to the fully closed position of the second end effector jaw relative to the first end effector jaw. When the closure member is in the start 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 equal to or less than 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 with 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 surgical instrument of Example 42, 43 or 44, wherein the closure member includes an axially movable distal closure tube portion, the axially movable distal closure tube portion including a closure cam surface configured for cam engagement with a jaw cam surface of the second end effector jaw when the axially movable distal closure tube portion can move from a start position to an end position.

Example 46 - The surgical instrument of Example 42, 43, 44 or 45, 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.

Example 47 - The surgical instrument of Example 46, wherein the anvil includes an anvil body and an anvil mounting portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within the anvil cam surface and corresponding openings in the elongated channel.

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

Example 49 - The surgical instrument of Example 48, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel and a proximal obturator tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to an axially movable distal obturator tube portion.

Example 50 - The surgical instrument of Example 49, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

Example 51 - A surgical instrument as described in Example 50, wherein the closure system is supported by a hand-held housing.

Example 52 - A surgical instrument as described in Example 50, wherein the closure system is supported by a housing operably interconnected with a robotically controlled actuator.

Example 53 - A surgical instrument including an elongated shaft assembly defining a shaft axis. An elongated channel is configured to operably support a surgical fastening element cartridge therein and is operably coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. An anvil is pivotally 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 fixed jaw pivot axis transverse to the shaft axis. The elongated shaft assembly includes a closure member axially movable between a start position corresponding to the fully open position of the anvil and an end position corresponding to the fully closed position of the anvil. When the closure member is in the start 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 equal to or less than 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 with the jaw pivot axis.

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

Example 56 - The surgical instrument of Example 53, 54 or 55, wherein the anvil includes an anvil body and an anvil mounting portion including an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings in the elongated channel.

Example 57 - The surgical instrument of Example 53, 54, 55 or 56, wherein the closure member includes an axially movable distal closure tube portion including a closure cam surface configured for cam engagement with an anvil cam surface of the anvil when the axially movable distal closure tube portion can move from a start position to an end position.

Example 58 - The surgical instrument of Example 57, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel and a proximal closure tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to an axially movable distal closure tube portion.

Example 59 - A surgical instrument as described in Example 58, in which the proximal closure tube assembly is supported by a handheld housing and operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

Example 60 - The surgical instrument of example 58, wherein the proximal closure tube assembly is operatively interconnected with a closure system supported by a housing configured to interface 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 elongated shaft assembly operably and removably connectable to the housing such that a proximal closure portion of the elongated shaft assembly is configured to receive an axial closure movement from the closure system. The elongated shaft assembly defines a shaft axis. The surgical end effector is operably connected to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel coupled to the elongated 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 jaw pivot axis transverse to the shaft axis. The elongated shaft assembly includes a closure member axially movable between a start 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 that is spaced distally from the jaw pivot axis by a distance measured along the shaft axis that is equal to or less than 0.090 inches.

Example 62 - A surgical stapling apparatus including an elongated shaft assembly defining a shaft axis. A surgical end effector is operably coupled to the elongated 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. The surgical end effector includes a surgical staple cartridge operably supporting a plurality of surgical staples therein. An 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 corresponding to the surgical staples in the surgical staple cartridge. The surgical stapling apparatus further includes an axially movable firing member including at least one anvil engagement mechanism configured to engage the anvil when the anvil is in the closed position as the axially movable firing member is movable from a proximal-most position to a distal-most position. The surgical stapling apparatus 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 the joint 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 a proximal-most position.

Example 63 - The surgical stapling apparatus of Example 62, wherein the means for augmenting includes a closure member configured to apply a closure motion to the anvil, the closure member being axially movable between a start 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 anvil. When the closure member is in the start position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is spaced distally from the distal end of the anvil engagement mechanism by a horizontal distance within the range of 0.4 to 0.9 inches.

Example 64 - The surgical stapling device 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 - The surgical stapling apparatus of Example 62, 63 or 64, wherein the closure member includes an axially movable distal closure tube portion including a closure cam surface configured for camming engagement with a cam surface of the anvil as the axially movable distal closure tube portion can move from a start position to an end position.

Example 66 - A surgical stapling device as described in Examples 62, 63, 64 or 65, wherein the surgical fastening element cartridge is removably supported within an elongated channel operably connected to the elongated shaft assembly by an articulation joint.

Example 67 - A surgical stapling apparatus as described in Example 66, wherein the anvil includes an anvil body and an anvil mounting portion including a pair of laterally extending anvil trunnions configured to be pivotally supported within the anvil cam surface and corresponding openings in the elongated channel.

Example 68 - The surgical stapling device of Example 63, 64, 65, 66 or 67, wherein the elongate shaft assembly includes an axially movable proximal closure tube assembly and the closure member includes an axially movable distal closure tube portion operably coupled to the axially movable proximal closure tube assembly.

Example 69 - The surgical stapling device of Example 68, wherein the axially movable distal closure tube portion includes a closure cam surface configured for cam engagement with the anvil cam surface of the anvil as the axially movable distal closure tube portion can move from a start position to an end position.

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

Example 71 - A surgical stapling device as described in Example 70, wherein the closure system is supported by a hand-held housing.

Example 72 - A surgical stapling device as described in Example 70, wherein the closure system is supported by a housing operably interconnected with a robotically controlled actuator.

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

Example 74 - The surgical instrument of Example 73, wherein when the closure member is in the starting position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is spaced distally from the distal end of the anvil engagement mechanism by a horizontal distance within the range of 0.4 to 0.9 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 - The surgical instrument of Example 73, 74 or 75, wherein the closure member includes an axially movable distal closure tube portion including a closure cam surface configured for cam engagement with an anvil cam surface of the anvil when the axially movable distal closure tube portion can move from a start position to an end position.

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 closure tube assembly is movably supported for axial movement relative to the spine assembly and is pivotally coupled to an axially movable distal closure tube portion.

Example 78 - A surgical instrument as described in Example 77, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

Example 79 - A surgical instrument as described in Example 78, wherein the closure system is supported by a hand-held housing.

Example 80 - A surgical instrument as described in Example 78, wherein the closure system is supported by a housing operably interconnected with a robotically controlled 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 elongated shaft assembly operably and removably connectable to the housing such that a proximal closure portion of the elongated shaft assembly is configured to receive an axial closure movement from the closure system. The elongated shaft assembly defines a shaft axis. The surgical tool assembly further includes a surgical end effector operably connected to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes an elongated channel coupled to the elongated 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 and configured to impart a closing motion to the anvil as the distal closure member is moved from the start position to the end position to move the anvil between a fully open position and a fully closed position. The axially movable firing member includes at least one anvil engagement mechanism configured to impart an additional closing motion to the anvil as the axially movable firing member is movable from a proximal-most position to a distal-most position within the elongate channel. When the distal closure member is in the start position and the axially movable firing member is in the proximal-most position, a distal end of the distal closure member is located distal to a 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 between a fully open position and a fully closed position about a fixed jaw pivot axis. The second jaw includes a second tissue contacting surface facing the first tissue contacting surface. At least one tissue locating element is on the second jaw and extends downwardly beyond the second tissue contacting surface and is configured to prevent tissue received between the first and second tissue contacting surfaces from extending proximally beyond a distal end portion of the at least one tissue locating element when the second jaw is in the fully closed position. When the second jaw is in the fully open position, a distal end portion of each tissue locating element is positioned relative to a corresponding portion of the first tissue contacting surface to prevent a gap therebetween. When the second jaw is in a 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 - A surgical instrument as described in Example 82, wherein a distal end portion of each tissue locator element is located less than 0.750 inches from the fixed jaw pivot axis when the second jaw is in a fully closed position.

Example 84 - The surgical instrument of example 82 or 83, wherein the first jaw includes an elongated channel configured to operably support a surgical fastener cartridge therein, and the first tissue contacting surface includes a deck surface of the surgical fastener cartridge.

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 that forms an underside of a portion of the anvil.

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

Example 87 - The surgical instrument 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 a fully closed position.

Example 88 - A surgical instrument as described in Examples 82, 83, 84, 85, 86 or 87, further comprising a means for applying an opening and closing motion to the second jaw.

Example 89 - The surgical instrument of example 88, wherein the means for imparting an opening and closing motion includes 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 a jaw cam surface of the second jaw to impart a closing motion to the second jaw, and at least one jaw opening mechanism configured to impart a jaw opening motion to the second jaw when the axially movable closure tube is moved in a proximal direction.

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

Example 91 - A surgical instrument as described in Example 90, in which 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 - A surgical instrument as described in Example 90, 91, or 92, further comprising a means for applying an opening and closing motion to the anvil.

Example 94 - The surgical instrument of example 93, wherein the means for imparting an opening and closing motion includes an axially movable closure tube. The axially movable closure tube includes a closure cam surface at a distal end configured to cam engage an anvil cam surface of the anvil to impart a closing motion to the anvil. At least one jaw opening mechanism is configured to impart a jaw opening motion to the anvil when the axially movable closure tube is moved in a proximal direction.

Example 95 - A surgical instrument as described in Examples 90, 91, 92, 93 or 94, wherein the surgical end effector is operably coupled to an elongated shaft assembly defining a shaft axis.

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

Example 97 - The surgical instrument of Example 90, 91, 92, 93, 94, 95 or 96, wherein a distal end portion of each tissue stop is positioned relative to a corresponding portion of the tissue contacting surface to prevent a gap therebetween when the anvil is in a fully open position.

Example 98 - A surgical instrument as described in Example 97, in which a portion of each tissue stop is flush with or extends below the tissue contact surface when the anvil is in a fully open position, thereby preventing tissue on the tissue contact surface from extending proximally beyond the tissue stop.

Example 99 - A surgical instrument according to Examples 90, 91, 92, 93, 94, 95, 96, 97 or 98, in which a portion of each tissue stop is flush with or extends below the tissue contacting surface when the anvil is in a fully open position, thereby preventing tissue on the tissue contacting surface from extending proximally beyond the tissue stop.

Example 100 - A surgical system including a housing operably supporting a closure system. An exchangeable surgical tool assembly including an elongated shaft assembly operably and removably connectable to the housing such that a proximal closure portion thereof is configured to receive an axial closure motion from the closure system, the elongated shaft assembly defining a shaft axis. A surgical end effector is operably connected to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis. The surgical end effector includes a surgical fastening element cartridge including a cartridge body operably supporting a plurality of surgical fastening elements therein and defining a tissue contact surface from which the surgical fastening elements are ejected. An anvil is pivotally supported relative to the surgical fastening element cartridge for selective pivotal movement relative to the surgical fastening element cartridge between a fully open position and a fully closed position about a fixed jaw pivot axis. The anvil includes an anvil body defining a fastener forming surface including a plurality of fastener forming formations, each fastener forming formation corresponding to one of the surgical fasteners in the surgical fastener cartridge. The fastener forming surface faces a tissue contacting surface of the surgical fastener cartridge. At least one tissue stop protrudes from the anvil body and extends downwardly beyond the fastener forming surface and is configured to prevent tissue received between the tissue contacting surface and the fastener forming surface from extending proximally beyond a distal end portion of the at least one tissue stop when the anvil is in a fully closed position. When the anvil is in a fully closed position, a distal end portion of each tissue stop is spaced an axial distance of less than 0.750 inches from the fixed jaw pivot axis, and when the anvil is in a fully open position, a vertical distance between a distal-most one of the fastener elements in the surgical cartridge and a corresponding one of the fastener forming formations on the fastener forming 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 upper end. A second jaw is movably supported for selective pivotal 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 in a corresponding one of the vertical slots of the first jaw such that the pivot members can pivot therein to facilitate pivotal movement of the second jaw relative to the first jaw. The surgical instrument further includes a retainer member configured to operably engage the proximal end portion of the first jaw to retain the pivot members in the corresponding vertical slots as the second jaw moves between the fully open position and the fully closed position. The axially movable closure member is configured to impart an opening and closing movement to the second jaw and to hold the retainer member in retaining engagement with the proximal end of the first jaw.

Example 104 - The surgical instrument of example 103, wherein 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 an open end into the vertical slot. Each slot cap has an arcuate bottom configured to pivotally receive a corresponding pivot pin therein.

Example 105 - The surgical instrument of example 103, wherein each vertical slot is formed in a corresponding upstanding vertical wall portion of the first jaw, and the retainer member includes a retainer body sized to span between the vertical wall portions. The retainer member further includes a slot cap corresponding to each vertical slot and sized to extend through an open end into the vertical slot. A mounting formation is on the retainer body and corresponds to each upstanding vertical wall portion and is configured to rest within a correspondingly shaped mounting opening in the upstanding vertical wall portion.

Example 106 - A surgical instrument as described in Example 105, wherein the attachment formation is located proximal to the slot cap.

Example 107 - The surgical instrument of example 103, 104, 105 or 106, wherein the axially movable closure member includes an axially movable distal closure tube portion sized to slidably move on the retainer member to impart an opening and closing movement to the second jaw and to hold the retainer member in retaining engagement with the proximal end portion of the first jaw.

Example 108 - A surgical instrument as described in Example 107, wherein the first jaw is operably connected to the elongated 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 is pivotally coupled to an axially movable distal obturator tube portion.

Example 110 - The surgical instrument of Example 109, wherein the proximal closure tube assembly is operably interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly.

Example 111 - A surgical instrument as described in Example 110, wherein the closure system is supported by a handheld housing.

Example 112 - A surgical instrument as described in Example 110, wherein the closure system is supported by a housing operably interconnected with a robotically controlled actuator.

Example 113 - A surgical instrument including an elongated 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. An anvil is movably supported for selective pivotal 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 projecting laterally from an anvil mounting portion of the anvil body. Each anvil trunnion is pivotally received within a corresponding vertical slot of the elongated channel such that the anvil trunnions can pivot therein to facilitate pivotal movement of the anvil relative to the elongated channel. The surgical instrument further includes a retainer member supported on the proximal end portion of the elongated channel and configured to pivotally retain each anvil trunnion within the corresponding vertical slot as the anvil moves between the fully open position and the fully closed position. An axially movable closure member is configured to apply an opening and closing movement to the anvil to hold the retainer member in retaining engagement with the proximal end portion of the elongated channel.

Example 114 - The surgical instrument of 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 an open end into the vertical slot. Each slot cap has an arcuate bottom configured to pivotally receive a corresponding anvil trunnion therein.

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

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 the corresponding vertical slot.

Example 117 - The surgical instrument 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.

Example 118 - The surgical instrument of Example 113, 114, 115, 116 or 117, wherein the axially movable closure member includes an axially movable distal closure tube portion sized to slidably move on the retainer member to impart an opening and closing motion to the anvil and to hold the retainer member in retaining engagement with the proximal end portion of the elongated channel.

Example 119 - A surgical instrument as described in Examples 113, 114, 115, 116, 117 or 118, wherein the elongated channel is operably connected to the elongated shaft assembly.

Example 120 - The surgical instrument of Example 119, wherein the elongated shaft assembly includes a spine assembly operably coupled to the elongated channel, and a proximal closure tube assembly movably supported for axial movement relative to the spine assembly and pivotally coupled to an axially movable closure member.

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 elongated shaft assembly operably and removably connectable to the housing such that a proximal closure portion of the elongated shaft assembly is configured to receive an axial closure movement from the closure system. The exchangeable surgical tool assembly further includes a surgical end effector including an elongated channel configured to operably support a surgical fastener cartridge therein, the elongated channel including a pair of laterally aligned vertical slots formed in a proximal end portion of the elongated channel. Each vertical slot includes an open upper end. The anvil is movably supported for selective pivotal 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 projecting laterally from an anvil mounting portion of the anvil body. Each anvil trunnion is pivotally received within a corresponding vertical slot of the elongated channel such that the anvil trunnions can pivot therein to facilitate pivotal movement of the anvil relative to the elongated channel. The surgical system further includes a retainer member supported on the proximal end portion of the elongated channel and configured to pivotally retain each anvil trunnion in a corresponding vertical slot as the anvil moves between a fully open position and a fully closed position. An axially movable closure member is configured to apply an opening and closing movement to the anvil to retain the retainer member in retaining engagement with the proximal end portion of the elongated channel.

Example 122 - The surgical system of example 121, wherein the axially movable closure member includes an axially movable distal closure tube portion sized to slidably move on the retainer member to impart an opening and closing motion to the anvil and to hold the retainer member in retaining engagement with the proximal end portion of the elongated channel. The elongated shaft assembly further includes a spine assembly operably coupled to the elongated channel, and 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.

Example 123 - A surgical instrument including a first jaw and a second jaw coupled to the first jaw for selective pivotal movement relative to the first jaw between a fully open position and a fully closed position. An axially movable closure member is selectively axially movable in a closing direction that moves the second jaw from the fully open position to the fully closed position and an axially opening direction that moves the second jaw from the fully closed position to the fully open position. The axially movable closure member includes a first jaw opening mechanism configured to impart a first jaw opening motion to the second jaw. The second jaw opening mechanism is axially spaced from the first jaw opening mechanism such that when the closure member moves in the axial opening direction, the first jaw opening mechanism applies a first jaw opening motion to the second jaw, and when the closure member moves axially a predetermined axial distance in the axial opening direction, the first jaw opening mechanism ceases applying the first jaw opening motion, and the second 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 - A surgical instrument as described in Example 123, wherein the first jaw opening mechanism is axially proximal to the second jaw opening mechanism.

Example 125 - A surgical instrument as described in Example 123 or 124, wherein 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 at a first side thereof, and the second jaw opening mechanism is spaced on the closure member from the central jaw axis at a second side thereof opposite the first side.

Example 126 - The surgical instrument of example 123, 124 or 125, wherein the second jaw includes a second jaw mounting portion pivotally supported on the first jaw. The second jaw mounting portion includes a second jaw cam surface on the second jaw mounting portion configured to be axially cammed by the first jaw opening mechanism as the closure member is moved axially in the axial opening direction over the predetermined axial distance. The second jaw cam 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 the predetermined axial distance. The second jaw mounting portion further includes a second jaw cam surface configured to be axially cammed by the second jaw opening mechanism as the closure member continues to move in the axial opening direction over the predetermined axial distance.

Example 127 - The surgical instrument of Example 126, wherein the closure member is axially movable in an axial opening direction 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 motion to the closure member.

Example 128 - The surgical instrument of example 127, wherein the first jaw opening mechanism imparts a first jaw opening motion to the second jaw to move the second jaw relative to the first jaw through a second jaw opening angle when the closure member is moved axially in the axial opening direction from the first intermediate axial position to the second intermediate axial position.

Example 129 - A surgical instrument as described in Example 128, in which the second jaw opening angle is 10°.

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

Example 131 - The surgical instrument of Example 130, wherein the second jaw opening mechanism imparts a second jaw opening motion to the second jaw by axial movement of the closure member in the axial opening direction from the third intermediate axial position to the fourth intermediate axial position.

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

Example 133 - A surgical instrument as described in Example 132, in which the second jaw opening angle is 22°.

Example 134 - A surgical instrument as described in Example 131, 132 or 133, in which 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 cease applying the first jaw opening movement to the second jaw.

Example 135 - The surgical instrument of Example 134, wherein 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 cease applying the second jaw opening movement to the second jaw.

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

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 pivotal 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 in a closing direction to move the anvil from the fully open position to the fully closed position and an axial opening direction to move the anvil from the fully closed position to the fully open position. 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 such that when the closure member is moved in the axial opening direction, the proximal jaw opening mechanism applies the first jaw opening motion to the anvil, and when the closure member moves axially a predetermined axial distance in the axial opening direction, the proximal jaw opening mechanism ceases applying the first jaw opening motion and the distal jaw opening mechanism applies a second jaw opening motion to the anvil to move the anvil to the fully open position.

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

Example 139 - A surgical instrument as described in Example 138, in which the first jaw opening angle is 10°.

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

Example 141 - The surgical instrument of Example 140, wherein 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 move the anvil through a second jaw opening angle that is greater than the first jaw opening angle.

Example 142 - 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 pivotal movement relative to the elongated channel between a fully open position and a fully closed position. An axially movable distal closure tube portion is selectively axially movable in a closing direction that moves the anvil from the fully open position to the fully closed position and an axially opening direction that moves the anvil from the fully closed position to the fully open position. The axially movable distal closure tube includes a proximal jaw opening mechanism formed on the distal closure tube portion and configured to apply a first jaw opening motion to the anvil. The distal jaw opening mechanism is formed on the distal closure tube portion and is axially spaced from the proximal jaw opening mechanism such that when the distal closure tube portion is moved axially in the opening direction, the proximal jaw opening mechanism applies a first jaw opening motion to the anvil, and when the distal closure tube portion is moved axially a predetermined axial distance in the opening direction, the proximal jaw opening mechanism ceases applying the first jaw opening motion, and the distal jaw opening mechanism applies a second jaw opening motion to the anvil to move the anvil to a fully open position.

Example 143 - A surgical instrument including a first jaw and a second jaw coupled to the first jaw for selective pivotal movement relative to the first jaw between a fully open position and a fully closed position. The closure member is configured to impart a closure motion to the second jaw when the closure member is movable axially in a distal direction from a start position corresponding to the fully open position of the second jaw to an end position corresponding to the fully closed position of the second jaw. The closure member is further configured to move distally an initial predetermined axial closure distance from the start position prior to imparting the closure motion to the second jaw.

Example 144 - A surgical instrument as described in Example 143, wherein the initial predetermined axial closure distance is 0.020 inches.

Example 145 - The surgical instrument of example 143 or 144, wherein the closure member is configured to move distally through a final predetermined axial closure distance after the second jaw is moved to a fully closed position.

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

Example 147 - The surgical instrument of Example 143, 144, 145 or 146, wherein the closure member includes a closure cam surface configured to cam engage the jaw cam surface of the second jaw to impart a closure motion to the second jaw.

Example 148 - The surgical instrument of Example 143, 144, 145, 146 or 147, wherein the closure member further comprises 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.

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

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 pivotal movement relative to the elongated channel between a fully open position and a fully closed position. A closure member is configured to apply a closure motion to the anvil when the closure member is axially movable distally from a start position corresponding to the fully open position of the anvil to an end position corresponding to the fully closed position of the anvil. The closure member is configured to move distally an initial predetermined axial closure distance from the start position prior to applying the closure motion to the anvil.

Example 151 - A surgical instrument as described in Example 150, wherein the initial predetermined axial closure distance is 0.020 inches.

Example 152 - The surgical instrument 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 a fully closed position.

Example 153 - A surgical instrument as described in Example 152, wherein the final predetermined axial closure distance is 0.040 inches.

Example 154 - The surgical instrument of Example 152 or 153, wherein the closure member is configured to impart a closure motion to the anvil as the closure member moves distally through an intermediate predetermined axial closure distance after the closure member has traveled an initial predetermined axial closure distance and before the closure member has traveled a final predetermined axial closure distance.

Example 155 - A surgical instrument as described in Example 154, wherein the intermediate predetermined axial closure distance is 0.200 inches.

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

Example 157 - The surgical instrument of Example 150, 151, 152, 153, 154, 155, 156 or 157, wherein the closure member further comprises means for applying an opening motion to the anvil as the closure member moves axially proximally from the end position to the start position.

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

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 elongated shaft assembly operably and detachably connectable to the housing such that a proximal closure portion of the elongated shaft assembly is configured to receive an axial closure motion from the closure system. The exchangeable surgical tool assembly further includes a surgical end effector operably connected to the elongated shaft assembly. The surgical end effector includes an elongated channel coupled to the elongated 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 receive the axial closure motion. A distal closure member is operably connected to the proximal closure member and configured to apply an axial closure motion to the anvil when the distal closure member is axially movable in a distal direction from a start position corresponding to a fully open position of the anvil to an end position corresponding to a fully closed position of the anvil. The distal closure member is configured to move distally an initial predetermined axial closure distance from a starting position before applying a closure motion to the anvil.

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

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 including a firing member assembly configured to move distally from a start position when a firing motion is applied to the firing member assembly. The firing member assembly includes a first firing member element and a second firing member element pivotally coupled to the first firing member element at a mounting joint. The second firing member element is configured to move between a locked position in which the second firing member element is in locking engagement with a lockout portion of the first jaw to prevent the firing member assembly from moving distally from the start position when a firing motion is applied to the firing member assembly, and an unlocked position in which the firing member assembly is advanceable distally from the start position when a firing motion is applied to the firing member assembly. The surgical tool assembly further includes means for preventing an unlocking load from being applied to the mounting joint when the second firing member is in the locked position and a firing motion is applied to the first firing member element.

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

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 - The surgical tool assembly of Example 161, 162 or 163, wherein the first firing member element includes at least one first jaw engagement mechanism configured to be movably received within a corresponding first jaw passage and at least one second jaw engagement mechanism configured to be movably received within a corresponding second jaw passage.

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

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

Example 167 - The surgical tool assembly of any of Examples 161, 162, 163, 164, 165 or 166, wherein the first jaw is configured to operably support a removable surgical component that operably supports the movable component element therein. 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.

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

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

Example 170 - The surgical instrument of Examples 161, 162, 163, 164, 165, 166, 168 or 169, wherein the first jaw is configured to operably support a surgical staple cartridge operably supporting a sled therein. 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 in the first jaw and the sled is in the unfired position.

Example 171 - The surgical tool assembly of Examples 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. The distal surface is configured relative to a 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 element is in the unlocked position. The proximal surface abuts the lockout surface when the second firing member element is in the locked position.

Example 172 - The surgical tool assembly of Example 161, 162, 163, 164, 165, 166, 167, 168, 169, 170 or 171, wherein the mounting joint includes at least one pivot member on the second firing member element and pivotally received within a corresponding pivot bore of the first firing member element.

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

Example 174 - A staple fastening assembly including an anvil jaw and a staple cartridge jaw including a lockout surface. The firing member includes a distal end including an anvil cam portion and a channel cam portion. The firing member further includes a distal edge including 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 is configured to engage the lockout surface of the staple cartridge jaw to prevent advancement of the firing member when no staple cartridge is 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 firing member and the lockout member are configured to prevent application of an unlocking load to the pivot member when the lockout member engages the lockout surface and a firing motion is applied to the firing member.

Example 175 - The stapling assembly of example 174, wherein the staple cartridge jaws include a staple cartridge including a sled 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 to prevent the lockout member from moving relative to the firing member and engaging the lockout surface.

Example 176 - The staple fastening assembly of Examples 174 or 175, further comprising a spring configured to bias the lockout member to a locked configuration relative to the firing member when a partially used staple cartridge is present and when no staple cartridge is present.

Example 177 - The staple fastening assembly of Examples 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 fastening instrument further includes a firing system including a firing member assembly configured to move axially between a start position and an end position. The firing member assembly includes a firing member including a cutting surface and a tilt element pivotally connected to the firing member by an attachment joint. The tilt element is configured to move relative to the firing member between a locked position, in which the tilt element is in locking engagement with a lockout portion of the first jaw to prevent the firing member assembly from moving distally from the start position when a firing motion is applied to the firing member assembly, and an unlocked position, in which the firing member assembly is advanceable distally from the start position when a firing motion is applied to the firing member assembly. The firing member and the tilt element are configured to prevent an unlocking load from being applied to the attachment joint when the tilt element is in the locked position and when a firing motion is applied to the firing member assembly. The surgical fastening instrument further includes means for biasing the tilt element into a locked engagement state when an unfired surgical fastening element cartridge is not operably supported within the first jaw.

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

Example 180 - The surgical fastening instrument of Example 179, further comprising a gap between each pivot member and its corresponding pivot hole such that an unlocking load is not transmitted to each pivot member when the tilt element is in the locked position and a firing motion is applied to the firing member assembly.

While many of the surgical tool systems described herein are powered by electric motors, the surgical tool systems described herein may be powered in any suitable manner. In various instances, the surgical tool systems described herein may be powered by, for example, a manually operated trigger. In certain instances, the motors disclosed herein may comprise part of a robotic control system. Additionally, any of the end effectors and/or tool assemblies disclosed herein may be utilized with a robotic surgical tool system. For example, U.S. Patent Application Serial No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Patent No. 9,072,535, discloses several examples of robotic surgical tool systems in more detail.

Although the surgical tool systems described herein are described in connection with the deployment and deformation of staples, the embodiments described herein are not so limited. Various embodiments are contemplated for deploying fastening elements other than staples, such as clamps or tacks. Additionally, various embodiments are contemplated for utilizing any suitable means for sealing tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Also for example, end effectors according to certain embodiments may apply vibrational energy to seal tissue.

The entire disclosures of the following are incorporated herein by reference:
- U.S. Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE," issued April 4, 1995;
No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS," issued on February 21, 2006;
- U.S. Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", issued on September 9, 2008;
- U.S. Patent No. 7,464,849, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIIL ALIGNMENT COMPONENTS," issued December 16, 2008;
- U.S. Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", issued March 2, 2010;
No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS," issued on July 13, 2010;
No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE," issued on March 12, 2013;
- U.S. Patent Application Serial No. 11/343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES," now U.S. Patent No. 7,845,537;
- 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 Serial No. 12/031,873, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT," filed February 15, 2008, now U.S. Patent No. 7,980,443;
- U.S. Patent Application Serial No. 12/235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now U.S. Patent No. 8,210,411;
- U.S. Patent Application Serial No. 12/249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," now U.S. Patent No. 8,608,045;
- U.S. Patent Application Serial No. 12/647,100, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY," filed December 24, 2009, now U.S. Patent No. 8,220,688;
- U.S. Patent Application Serial No. 12/893,461, entitled "STAPLE CARTRIDGE," filed September 29, 2012, now U.S. Patent No. 8,733,613;
- U.S. Patent Application Serial No. 13/036,647, entitled "SURGICAL STAPLING INSTRUMENT," filed February 28, 2011, now U.S. Patent No. 8,561,870;
- U.S. Patent Application Serial No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Patent No. 9,072,535;
- U.S. Patent Application No. 13/524,049, filed June 15, 2012, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRESSING A FIRING DRIVE," now U.S. Patent No. 9,101,358;
- U.S. Patent Application No. 13/800,025, filed March 13, 2013, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," now U.S. Patent No. 9,345,481;
- U.S. Patent Application No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM," filed March 13, 2013, now U.S. Patent Application Publication No. 2014/0263552;
- U.S. Patent Application Publication No. 2007/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM," filed Jan. 31, 2006; and - U.S. Patent Application Publication No. 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR," filed Apr. 22, 2010, now U.S. Patent No. 8,308,040.

Although various devices have been described herein with specific embodiments, modifications and variations may be implemented to those embodiments. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic illustrated or described with respect to one embodiment may be combined in whole or in part with the feature, structure, or characteristic of one or more other embodiments, without limitation. Also, although materials are disclosed with respect to particular components, other materials may be used. Moreover, multiple components may be substituted for a single component, and multiple components may be substituted for a single component, to perform a given function(s), according to various embodiments. It is intended that the foregoing description and the following claims encompass all such modifications and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular parts of the device, and then reassembly of the device. Specifically, a reconditioning facility and/or surgical team can disassemble the device, clean and/or replace particular parts of the device, and then reassemble the device for subsequent use. One of ordinary skill in the art will appreciate that reconditioning of a 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 the present application.

The devices disclosed herein may be processed prior to surgery. First, new or used instruments may be obtained and cleaned if necessary. The instruments may then be sterilized. In one sterilization technique, the instruments are placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instruments may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high energy electrons. The radiation can kill bacteria on the instruments and in the container. The sterilized instruments may then be stored in the sterile container. The sealed container can keep the instruments sterile until they are opened in the medical facility. The devices 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 an exemplary 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 herein by reference in their entirety or in part are incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, descriptions, or other disclosures set forth in this disclosure. As such, and to the extent necessary, the disclosures explicitly set forth in this specification shall take precedence over any conflicting statements incorporated herein by reference. Any documents, or portions thereof, that are incorporated herein by reference but that conflict with existing definitions, descriptions, or other disclosure documents set forth herein shall be incorporated only to the extent that no conflict arises between the incorporated document and the existing disclosures.

[Embodiment]
(1) A surgical stapling device, comprising:
an elongated shaft assembly defining a shaft axis;
a surgical end effector operatively 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;
a surgical staple cartridge operatively supporting a plurality of surgical staples therein;
a surgical end effector including an anvil supported for selective pivotal movement relative to said surgical staple cartridge between a fully open position and a closed position, said anvil including a plurality of staple forming pockets corresponding to said surgical staples in said surgical staple cartridge, said surgical instrument comprising:
an axially movable firing member including at least one anvil engagement mechanism configured to engage the anvil when the anvil is in the closed position as the axially movable firing member is moved from a proximal-most position to a distal-most position;
means for increasing a 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 a joint distance between the articulation axis and a distal end of the anvil engagement mechanism of the axially movable firing member when the axially movable firing member is in the proximal-most position.
2. The surgical stapling apparatus of claim 1, wherein the means for increasing includes a closure member configured to impart a closure motion to the anvil, the closure member being axially movable between a start position corresponding to the fully open position of the second end effector jaw and an end position corresponding to a fully closed position of the anvil, and wherein when the closure member is in the start position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is spaced distally from the distal end of the anvil engagement mechanism a horizontal distance in the range of 0.4 to 0.9 inches.
3. The surgical stapling apparatus of claim 2, wherein the horizontal distance is measured along a horizontal line that is parallel to or coincident with the shaft axis.
(4) The surgical stapling apparatus of claim 1, wherein the closure member includes an axially movable distal closure tube portion including a closure cam surface configured for camming engagement with a cam surface of the anvil when the axially movable distal closure tube portion is moved from the start position to the end position.
5. The surgical stapling apparatus of claim 2, wherein the surgical fastening element cartridge is removably supported within an elongated channel operatively connected to the elongated shaft assembly by the articulation joint.

(6) The anvil is
An anvil body;
and an anvil mounting portion including an anvil cam surface and a pair of laterally extending anvil trunnions configured to be pivotally supported within corresponding openings of the elongated channel.
7. The surgical stapling apparatus of claim 6, wherein the elongate shaft assembly includes an axially moveable proximal closure tube assembly, and the closure member includes an axially moveable distal closure tube portion operatively connected to the axially moveable proximal closure tube assembly.
(8) The surgical stapling apparatus of claim 7, wherein the axially movable distal closure tube portion includes a closure cam surface configured for cam engagement with the anvil cam surface of the anvil when the axially movable distal closure tube portion is moved from the start position to the end position.
9. The surgical stapling apparatus of claim 8, wherein the elongated shaft assembly includes a spine assembly operatively coupled to the elongated channel and movably supporting at least a portion of the proximal closure tube assembly, the proximal closure tube assembly being operatively interconnected with a closure system configured to selectively impart axial opening and closing movement to the proximal closure tube assembly.
10. The surgical stapling apparatus of claim 9, wherein the closure system is supported by a hand-held housing.

11. The surgical stapling apparatus of claim 9, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.
(12) A surgical instrument comprising:
an elongated shaft assembly;
an elongated channel coupled to the elongated shaft assembly and configured to operatively support a surgical fastening element cartridge therein;
an anvil pivotally coupled to the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions about a fixed jaw pivot axis;
a closure member configured to impart a closing motion to the anvil as the closure member is moved from a start position to an end position to move the anvil between the fully open position and the fully closed position;
and an axially movable firing member including at least one anvil engagement mechanism configured to impart an additional closure motion to the anvil as the axially movable firing member is moved from a proximal-most position to a distal-most position within the elongated channel, wherein a distal end of the closure member is distal to a distal end of the at least one anvil engagement mechanism when the axially movable firing member is in the start position and when the axially movable firing member is in the proximal-most position.
13. The surgical instrument of claim 12, wherein when the closure member is in the start position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is spaced distally from the distal end of the at least one anvil engagement mechanism a horizontal distance in the range of 0.4 to 0.9 inches.
14. The surgical instrument of claim 13, wherein the elongate 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.
15. The surgical instrument of claim 12, wherein the closure member includes an axially moveable distal closure tube portion including a closure cam surface configured for cam engagement with an anvil cam surface of the anvil when the axially moveable distal closure tube portion is moved from the start position to the end position.

(16) The elongated shaft assembly
a spine assembly operably coupled to the elongated channel;
16. The surgical instrument of claim 15, comprising: a proximal obturator tube assembly movably supported for axial movement relative to the spine assembly and pivotally connected to the axially movable distal obturator tube portion.
17. The surgical instrument of claim 16, wherein the proximal closure tube assembly is operatively interconnected with a closure system configured to selectively impart an axial opening and closing movement to the proximal closure tube assembly.
18. The surgical instrument of claim 17, wherein the closure system is supported by a hand-held housing.
19. The surgical instrument of claim 17, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator.
(20) A surgical system comprising:
a housing that operably supports the closure system;
1. An exchangeable surgical tool assembly, comprising:
an elongate shaft assembly operably and removably connectable to the housing such that a proximal closure portion thereof is configured to receive an axial closure motion from the closure system, the elongate shaft assembly defining a shaft axis;
a surgical end effector operatively coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis,
an elongated channel coupled to the elongated shaft assembly and configured to operatively support a surgical fastening element cartridge therein;
and an anvil coupled to the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions about a jaw pivot axis transverse to the shaft axis, wherein the elongated shaft assembly comprises:
a distal closure member operably coupled to the proximal closure portion and configured to impart a closing motion to the anvil as the distal closure member is moved from a start position to a finish position to move the anvil between the fully open position and the fully closed position;
and an axially movable firing member including at least one anvil engagement mechanism configured to impart an additional closure motion to the anvil as the axially movable firing member is moved from a proximal-most position to a distal-most position within the elongated channel, wherein a distal end of the distal closure member is located distal to a distal end of the at least one anvil engagement mechanism when the distal closure member is in the start position and when the axially movable firing member is in the proximal-most position.

Claims (11)

1. A surgical instrument comprising:
an elongated shaft assembly;
an elongated channel coupled to the elongated shaft assembly and configured to operatively support a surgical fastening element cartridge therein;
an anvil pivotally coupled to the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions about a fixed jaw pivot axis;
a closure member configured to impart a closing motion to the anvil as the closure member is moved from a start position to an end position to move the anvil from the fully open position to an initial closed position in which a tissue contacting surface of the anvil is not in contact with a cartridge deck surface of the surgical fastening element cartridge;
and an axially movable firing member configured to impart an additional closure motion to the anvil as the axially movable firing member is moved from a proximal-most position to a distal-most position within the elongated channel with the anvil in the initial closed position to move the anvil to the fully closed position in which the tissue contacting surface of the anvil contacts the cartridge deck surface of the surgical fastening element cartridge , wherein when the closure member is in the start position and the axially movable firing member is in the proximal-most position, a distal end of the closure member resides distally relative to a distal end of the at least one anvil engagement mechanism. The surgical instrument of claim 1, wherein when the closure member is in the starting position and the axially movable firing member is in the proximal-most position, the distal end of the closure member is spaced distally from the distal end of the at least one anvil engagement mechanism by a horizontal distance within a range of 10.16-22.86 mm (0.4-0.9 inches). The surgical instrument of claim 2, 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. The surgical instrument of claim 1, wherein the closure member includes an axially movable distal closure tube portion, the axially movable distal closure tube portion including a closure cam surface configured to cam engage an anvil cam surface of the anvil when the axially movable distal closure tube portion is moved from the start position to the end position. the elongated shaft assembly comprising:
a spine assembly operably coupled to the elongated channel;
The surgical instrument of claim 4, comprising: a proximal obturator tube assembly movably supported for axial movement relative to the spine assembly and pivotally connected to the axially moveable distal obturator tube portion. The surgical instrument of claim 5, wherein the proximal closure tube assembly is operatively interconnected with a closure system configured to selectively apply an axial opening and closing movement to the proximal closure tube assembly. The surgical instrument of claim 6, wherein the closure system is supported by a handheld housing. The surgical instrument of claim 6, wherein the closure system is supported by a housing operatively interconnected with a robotically controlled actuator. 2. The surgical instrument of claim 1, wherein as the anvil pivots relative to the elongated channel, the surgical fastening element cartridge is maintained in a fixed, non-pivoting state relative to the elongated channel and the elongated channel is maintained in a fixed, non-pivoting state relative to the elongated shaft assembly. 1. A surgical system comprising:
a housing that operably supports the closure system;
1. An exchangeable surgical tool assembly, comprising:
an elongate shaft assembly operably and removably connectable to the housing such that a proximal closure portion thereof is configured to receive an axial closure motion from the closure system, the elongate shaft assembly defining a shaft axis;
a surgical end effector operatively coupled to the elongated shaft assembly for selective articulation relative to the elongated shaft assembly about an articulation axis transverse to the shaft axis,
an elongated channel coupled to the elongated shaft assembly and configured to operatively support a surgical fastening element cartridge therein;
and an anvil coupled to the elongated channel for selective pivotal movement relative to the elongated channel between fully open and fully closed positions about a jaw pivot axis transverse to the shaft axis, wherein the elongated shaft assembly comprises:
a distal closure member operably coupled to the proximal closure portion, the distal closure member configured to impart a closing motion to the anvil as the distal closure member is moved from a start position to a finish position to move the anvil from the fully open position to an initial closed position in which a tissue contacting surface of the anvil is not in contact with a cartridge deck surface of the surgical fastening element cartridge ;
and an axially movable firing member including at least one anvil engagement mechanism configured to impart an additional closure motion to the anvil as the axially movable firing member is moved from a proximal-most position to a distal-most position within the elongated channel with the anvil in the initial closed position to move the anvil to the fully closed position in which the tissue contacting surface of the anvil contacts the cartridge deck surface of the surgical fastening element cartridge, wherein a distal end of the distal closure member is located distal to a distal end of the at least one anvil engagement mechanism when the distal closure member is in the start position and the axially movable firing member is in the proximal-most position. 11. The surgical system of claim 10, wherein as the anvil pivots relative to the elongated channel, the surgical fastening element cartridge is maintained in a fixed, non-pivoting state relative to the elongated channel, and the elongated channel is maintained in a fixed, non-pivoting state relative to the elongated shaft assembly.

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