CN110996806B

CN110996806B - Emergency auxiliary device of surgical operation system

Info

Publication number: CN110996806B
Application number: CN201880050662.6A
Authority: CN
Inventors: F·E·谢尔顿四世; G·J·巴克斯; J·L·哈里斯
Original assignee: Ethicon LLC
Current assignee: Ethicon LLC
Priority date: 2017-08-03
Filing date: 2018-07-30
Publication date: 2023-05-02
Anticipated expiration: 2038-07-30
Also published as: CN110996806A; JP2020529255A; BR112020001931A2; JP7230000B2

Abstract

A surgical system including a surgical instrument attachment assembly and a transmission assembly is disclosed. The surgical instrument attachment assembly includes a shaft and an end effector. The transmission assembly is configured to be operably attached to and detached from the surgical robot, wherein the surgical instrument attachment assembly is configured to be operably attached to and detached from the transmission assembly. The transmission assembly includes a drive system including a drive member movable in a first direction during a drive stroke and movable in a second direction during a return stroke. The transmission assembly further includes a manually operated emergency assistance device configured to selectively move the drive member in the first direction and the second direction when the transmission assembly is attached to the surgical robot.

Description

Emergency auxiliary device of surgical operation system

Background

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

Drawings

The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the following drawings:

FIG. 1 is a perspective view of a surgical instrument configured to be operably coupled with a robotic surgical system according to at least one embodiment;

FIG. 2 is a front view of the surgical instrument of FIG. 1;

FIG. 3 is a partial perspective view of the surgical instrument of FIG. 1 shown in a disassembled state;

FIG. 4 is a perspective view of an interconnection between a shaft assembly and a transmission assembly of the surgical instrument of FIG. 1;

FIG. 5 is a perspective view of the interconnect of FIG. 4 in a disassembled state;

FIG. 6 is an exploded view of a shaft assembly of the surgical instrument of FIG. 1;

FIG. 7 is a partially exploded view of a transmission assembly of the surgical instrument of FIG. 1;

FIG. 8 is an exploded view of the interconnect of FIG. 4;

FIG. 9 is an elevation view of an end effector of the shaft assembly of the surgical instrument of FIG. 1 shown in an open, undamped configuration;

FIG. 10 is a front view of the end effector of FIG. 9 shown in a closed clamping configuration;

FIG. 11 is a plan view of the end effector of FIG. 9 shown in an articulated configuration;

FIG. 12 is a plan view of the end effector of FIG. 9 shown in a non-articulated configuration;

FIG. 13 is a cross-sectional elevation view of a transmission assembly and housing assembly of the surgical instrument of FIG. 1;

FIG. 13A is a partial perspective view of the slider assembly of the transport assembly of FIG. 13;

FIG. 13B is a partial perspective view of the slider assembly of FIG. 13A shown with some components removed;

FIG. 13C is a cross-sectional elevation view of the slider assembly of FIG. 13A, corresponding to the open configuration of the end effector shown in FIG. 9;

FIG. 13D is a cross-sectional elevation view of the slider assembly of FIG. 13A, corresponding to the closed configuration of the end effector shown in FIG. 10;

FIG. 14 is a plan view of the housing assembly of FIG. 13 shown with some components removed;

FIG. 15 is a partial cross-sectional view of the surgical instrument of FIG. 1 corresponding to the closed clamping configuration of the end effector shown in FIG. 10;

FIG. 16 is a partial cross-sectional view of the surgical instrument of FIG. 1 corresponding to the open, unclamped configuration of the end effector shown in FIG. 9;

FIG. 17 is a partial cross-sectional view of the housing assembly of FIG. 13 showing a portion of the closure system emergency auxiliary device;

FIG. 18 is a partial cross-sectional view of the housing assembly of FIG. 13 showing the closure system emergency assist device of FIG. 17 in an actuated configuration;

FIG. 19 is a partial perspective view of the surgical instrument of FIG. 1 illustrating another closure system emergency assist device;

FIG. 20 is a perspective view of the transmission assembly and housing assembly of FIG. 13 shown with some components removed;

FIG. 21 is a perspective view of the transmission assembly and housing assembly of FIG. 13 showing the closure system emergency auxiliary device of FIG. 19 in a released configuration;

FIG. 22 is a perspective view of the transmission assembly and housing assembly of FIG. 13 shown with some components removed;

FIG. 23 is a perspective view of the transmission assembly and housing assembly of FIG. 13 showing the closure system emergency assist device of FIG. 19 in the released configuration of FIG. 21;

FIG. 24 is a cross-sectional end view of the slider assembly of FIG. 13A and the closure system emergency assistance device of FIG. 19;

FIG. 25 is a cross-sectional end view of the slider assembly of FIG. 13A and the closure system emergency assist device of FIG. 19 in the released configuration of FIG. 21;

FIG. 26 is a partial cutaway perspective view of the surgical instrument of FIG. 1 shown in the open configuration of FIG. 9;

FIG. 27 is a partial cross-sectional plan view of the transfer assembly of FIG. 13, showing the slider assembly of FIG. 13A;

FIG. 28 is another partial cross-sectional plan view of the transfer assembly of FIG. 13, showing the slider assembly of FIG. 13A;

FIG. 29 is a partial cutaway plan view of the transmission assembly of FIG. 13 shown in an articulated configuration;

FIG. 30 is a partial plan view of the firing system in the housing assembly of FIG. 13;

FIG. 31 is a partial plan view of the firing system of FIG. 30 showing the firing system emergency assistance device operably engaged with the firing system;

FIG. 32 is a partial plan view of the firing system of FIG. 30 retracted by the firing system emergency assist device of FIG. 31;

FIG. 33 is a perspective view of a surgical instrument configured to be operably coupled with a robotic surgical system according to at least one embodiment;

FIG. 34 is a perspective view showing the shaft assembly of the surgical instrument of FIG. 33 detached from the transmission assembly and housing assembly of the surgical instrument of FIG. 33;

FIG. 35 is an exploded perspective view of the shaft assembly of FIG. 34;

FIG. 36 is an exploded perspective view of the spine of the shaft assembly of FIG. 34;

fig. 37 is an exploded perspective view of the transfer assembly of fig. 34;

FIG. 38 is a perspective view of the interconnection between the shaft assembly and the transfer assembly of FIG. 34;

FIG. 39 is a perspective view of the interconnect of FIG. 38 in a broken configuration;

FIG. 40 is a cross-sectional view of the interconnect of FIG. 38;

FIG. 41 is a perspective view of the interconnect of FIG. 38 shown in a broken configuration with some components removed;

FIG. 42 is a partial cross-sectional elevation view of the housing assembly of FIG. 34;

FIG. 43 is a partial cross-sectional elevation view of the transfer assembly of FIG. 34, showing the slider assembly;

FIG. 44 is a partial cross-sectional elevation view of the transmission assembly of FIG. 34 shown in an articulated configuration;

FIG. 45 is a perspective view of the transport assembly and housing assembly of FIG. 34 shown with some components removed;

FIG. 46 is a partial front view of the transport assembly and housing assembly of FIG. 34;

FIG. 47 is an end cross-sectional view of the transfer assembly of FIG. 34 taken along line 47-47 of FIG. 46;

FIG. 47A is a partial cross-sectional view of the first slider of the slider assembly of FIG. 43, taken along line 47A-47A in FIG. 47, illustrating a closure system emergency assist device;

FIG. 47B is a partial cross-sectional view of the first slider of FIG. 47A shown in a closed or clamped configuration, taken along line 47A-47A in FIG. 47;

FIG. 47C is a partial cross-sectional view of the first slider of FIG. 47A taken along line 47A-47A in FIG. 47, illustrating the closure system emergency assist device in a released configuration;

FIG. 48 is a partial perspective view of the surgical instrument of FIG. 33 showing the end effector of the shaft assembly of FIG. 34 in a closed or clamped configuration;

FIG. 49 is a partial perspective view of the surgical instrument of FIG. 33 showing the end effector of FIG. 48 in an open or undamped configuration and the closure system emergency assist device of FIG. 47A in the released configuration of FIG. 47C;

FIG. 50 is a partial cross-sectional bottom view of the transfer assembly of FIG. 34;

FIG. 51 is a partial perspective view of the housing assembly of FIG. 34, showing some components of the firing system removed;

FIG. 52 is a partial perspective view of the housing assembly of FIG. 34 showing the firing system emergency assistance device;

FIG. 53 is a partial cross-sectional view of the housing assembly of FIG. 34 showing the firing system emergency assist device of FIG. 52 in an actuated configuration;

FIG. 54 illustrates a portion of the firing system of FIG. 51 and the firing system emergency assist device of FIG. 52;

FIG. 55 illustrates the firing system emergency assist device of FIG. 52 in a released configuration;

FIG. 56 illustrates the firing system emergency assist device of FIG. 52 in the actuated configuration of FIG. 53;

FIG. 57 is a partial bottom perspective view of the housing assembly of FIG. 34 showing the emergency auxiliary door in a closed configuration;

FIG. 58 is a partial bottom perspective view of the housing assembly of FIG. 34 showing the emergency auxiliary door of FIG. 57 in an open configuration;

FIG. 59 is a cross-sectional end view of the housing assembly of FIG. 34 showing the emergency auxiliary door of FIG. 57 in the closed configuration of FIG. 57;

FIG. 60 is a cross-sectional end view of the housing assembly of FIG. 34 showing the emergency auxiliary door of FIG. 57 in the open configuration of FIG. 58;

FIG. 61 is a partial bottom cross-sectional view of the housing assembly of FIG. 34 showing the emergency auxiliary door of FIG. 57 in the closed configuration of FIG. 57;

FIG. 62 is a bottom plan view of the surgical instrument of FIG. 33, showing the end effector of FIG. 48 in an articulated configuration and the emergency auxiliary door of FIG. 57 in the open configuration of FIG. 58;

FIG. 63 is a bottom plan view of the surgical instrument of FIG. 33 showing the end effector of FIG. 48 articulated in an opposite direction and the emergency auxiliary door of FIG. 57 in the open configuration of FIG. 58;

FIG. 64 is a bottom plan view of the surgical instrument of FIG. 33 showing the articulation emergency assistance system actuated to move the end effector of FIG. 48 to a non-articulated configuration;

FIG. 65 is a partial perspective view of the surgical instrument of FIG. 33 shown with some components removed, illustrating the articulation emergency assistance system of FIG. 64 in a disengaged configuration;

FIG. 65A is a partial perspective view of the surgical instrument of FIG. 33 shown with some components removed, illustrating the articulation emergency assistance system of FIG. 64 in the disengaged configuration of FIG. 65;

FIG. 66 is a partial perspective view of the surgical instrument of FIG. 33 shown with some components removed, illustrating the articulation emergency assistance system of FIG. 64 in an engaged configuration;

FIG. 67 is a perspective view of a surgical instrument assembly including a surgical instrument and a sterile adapter, wherein the surgical instrument is configured to be attached to and detached from the sterile adapter, and wherein the surgical instrument is shown in a pre-assembled state, in accordance with at least one embodiment;

FIG. 68 is a perspective view of the drive system of the surgical instrument of FIG. 67;

FIG. 69 is a cutaway perspective view of the surgical instrument assembly of FIG. 67;

FIG. 70 is a cross-sectional perspective view of the surgical instrument assembly of FIG. 67 with the surgical instrument shown in a partially attached state;

FIG. 71 is a cross-sectional perspective view of the surgical instrument assembly of FIG. 67 with the surgical instrument shown in a fully attached state;

FIG. 72 is a perspective view of a surgical instrument assembly including a surgical instrument and a sterile adapter, wherein the surgical instrument is configured to be attached to and detached from the sterile adapter, and wherein the surgical instrument is shown in a pre-assembled state, in accordance with at least one embodiment;

FIG. 73 is a cutaway perspective view of the surgical instrument assembly of FIG. 72;

FIG. 74 is a cross-sectional perspective view of the surgical instrument assembly of FIG. 72 with the surgical instrument shown in a partially attached state;

FIG. 75 is a cross-sectional perspective view of the surgical instrument assembly of FIG. 72 with the surgical instrument shown in a fully attached state;

FIG. 76 is a cross-sectional perspective view of the surgical instrument assembly of FIG. 72 with the surgical instrument shown in a partially separated state;

FIG. 77 is a cross-sectional perspective view of the surgical instrument assembly of FIG. 72 with the surgical instrument shown in a disassembled state; and

fig. 78 is a perspective view of a surgical robot.

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

Detailed Description

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

U.S. patent application serial No. __________, entitled "METHOD FOR OPERATING A SURGICAL SYSTEM BAILOUT"; agent record number END8172USNP/170111M;

U.S. patent application Ser. No. ________, entitled "SURGICAL SYSTEM SHAFT INTERCONNECTION"; agent record number END8173USNP/170114; and

U.S. patent application serial No. __________, entitled "SURGICAL SYSTEM COMPRISING AN ARTICULATION BAILOUT"; agent case number END8175USNP/170113.

The applicant of the present application owns the following U.S. patent applications filed on date 28 of 2017, 6, and each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/635,693, entitled "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT";

U.S. patent application Ser. No. 15/635,729, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO";

U.S. patent application Ser. No. 15/635,785, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO";

U.S. patent application Ser. No. 15/635,808, entitled "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS";

U.S. patent application Ser. No. 15/635,837, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME";

U.S. patent application Ser. No. 15/635,941, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM";

U.S. patent application Ser. No. 15/636,029 entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT";

U.S. patent application Ser. No. 15/635,958, entitled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS";

U.S. patent application Ser. No. 15/635,981 entitled "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES";

U.S. patent application Ser. No. 15/636,009, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE";

U.S. patent application Ser. No. 15/635,663, entitled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT";

U.S. patent application Ser. No. 15/635,530, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS";

U.S. patent application Ser. No. 15/635,549, 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";

U.S. patent application Ser. No. 15/635,559, 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";

U.S. patent application Ser. No. 15/635,578, entitled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS";

U.S. patent application Ser. No. 15/635,594 entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT AXIS";

U.S. patent application Ser. No. 15/635,612, entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW";

U.S. patent application Ser. No. 15/635,621, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES";

U.S. patent application Ser. No. 15/635,631, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER";

U.S. patent application Ser. No. 15/635,521, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT";

U.S. design patent application Ser. No. 29/609,083, entitled "SURGICAL INSTRUMENT SHAFT";

U.S. design patent application Ser. No. 29/609,087, entitled "SURGICAL FORMING ANVI";

U.S. design patent application Ser. No. 29/609,093 entitled "SURGICAL FASTENER CARTRIDGE";

U.S. design patent application Ser. No. 29/609,121, entitled "SURGICAL INSTRUMENT";

U.S. design patent application Ser. No. 29/609,125, entitled "SURGICAL INSTRUMENT";

U.S. design patent application Ser. No. 29/609,128, entitled "SURGICAL INSTRUMENT"; and

U.S. design patent application Ser. No. 29/609,129, entitled "DISPLAY SCREEN PORTION OF A SURGICAL INSTRUMENT HAVING A GRAPHICAL USER INTERFACE".

The applicant of the present application owns the following U.S. patent applications filed on date 27 at 6.2017, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/634,024, entitled "SURGICAL ANVIL MANUFACTURING METHODS";

U.S. patent application Ser. No. 15/634,035, entitled "SURGICAL ANVIL ARRANGEMENTS";

U.S. patent application Ser. No. 15/634,046 entitled "SURGICAL ANVIL ARRANGEMENTS";

U.S. patent application Ser. No. 15/634,054 entitled "SURGICAL ANVIL ARRANGEMENTS";

U.S. patent application Ser. No. 15/634,068, entitled "SURGICAL FIRING MEMBER ARRANGEMENTS";

U.S. patent application Ser. No. 15/634,076, entitled "STAPLE FORMING POCKET ARRANGEMENTS";

U.S. patent application Ser. No. 15/634,090, entitled "STAPLE FORMING POCKET ARRANGEMENTS";

U.S. patent application Ser. No. 15/634,099, entitled "SURGICAL END EFFECTORS AND ANVILS"; and

U.S. patent application Ser. No. 15/634,117, entitled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS".

The applicant of the present application owns the following U.S. patent applications filed on day 2016, 12, 21, each of which is incorporated herein by reference in its entirety:

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

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

U.S. patent application Ser. No. 15/386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS";

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

U.S. patent application Ser. No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN";

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

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

U.S. patent application Ser. No. 15/385,905 entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT";

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

U.S. patent application Ser. No. 15/385,908 entitled "FIRING ASSEMBLY COMPRISING A FUSE";

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

U.S. patent application Ser. No. 15/385,920 entitled "STAPLE FORMING POCKET ARRANGEMENTS";

U.S. patent application Ser. No. 15/385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS";

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

U.S. patent application Ser. No. 15/385,893 entitled "BILATERRALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS";

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

U.S. patent application Ser. No. 15/385,911 entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS";

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

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

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

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

U.S. patent application Ser. No. 15/385,915, entitled "FIRING MEMBER PIN ANGLE";

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

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

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

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

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

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

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

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

U.S. patent application Ser. No. 15/386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES";

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

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

U.S. patent application Ser. No. 15/386,236 entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS";

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

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

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

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

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

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

U.S. patent application Ser. No. 15/385,895 entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS";

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

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

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

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

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

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

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

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

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

U.S. patent application Ser. No. 15/385,932 entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT";

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

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

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

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

the applicant of the present application owns the following U.S. patent applications filed on date 2016, 6, 24, and each incorporated herein by reference in its entirety:

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

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

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

U.S. patent application Ser. No. 15/191,788, entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES"; and

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

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

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

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

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

The applicant of the present application owns the following patent applications filed on date 2016, 4, 1 and each incorporated herein by reference in their entirety:

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

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

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

U.S. patent application Ser. No. 15/089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION";

U.S. patent application Ser. No. 15/089,262 entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM";

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

U.S. patent application Ser. No. 15/089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";

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

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

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

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

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

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

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

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

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

U.S. patent application Ser. No. 15/089,335, entitled "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS";

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

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

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

U.S. patent application Ser. No. 15/089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS";

U.S. patent application Ser. No. 15/089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES";

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

U.S. patent application Ser. No. 15/089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and

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

The applicant of the present application also owns the following identified U.S. patent applications filed on 12 months 31 2015, each of which is incorporated herein by reference in its entirety:

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

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

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

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

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

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

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

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

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

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

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

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

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

The applicant of the present application also owns the following identified U.S. patent applications filed on date 2016, 2, 12, each of which is incorporated herein by reference in its entirety:

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

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

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

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

The applicant of the present application owns the following patent applications filed on 18 th month 6 2015, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/742,925, now U.S. patent application publication 2016/0367256, entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS";

U.S. patent application Ser. No. 14/742,941, entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES," now U.S. patent application publication 2016/0367248;

U.S. patent application Ser. No. 14/742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0367255;

U.S. patent application Ser. No. 14/742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT," now U.S. patent application publication 2016/0367254;

U.S. patent application Ser. No. 14/742,885, entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0367246; and

U.S. patent application Ser. No. 14/742,876, entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0367245.

The applicant of the present application owns the following patent applications filed on 3/6/2015, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT", now U.S. patent application publication 2016/0256184;

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

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

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

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

U.S. patent application Ser. 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 2016/0256187;

U.S. patent application Ser. No. 14/640,817, entitled "INTERACTIVE FEEDBACKSYSTEM FOR POWERED SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0256186;

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

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

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

U.S. patent application Ser. No. 14/640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT," now U.S. patent application publication 2016/0256162; and

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

The applicant of the present application owns the following patent applications filed on 27 months 2.2015 and each incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION", now U.S. patent application publication 2016/0249949;

U.S. patent application Ser. No. 14/633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now U.S. patent application publication 2016/0249115;

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

U.S. patent application Ser. No. 14/633,566, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY", now U.S. patent application publication 2016/0249218;

U.S. patent application Ser. No. 14/633,555, entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED", now U.S. patent application publication 2016/0249316;

U.S. patent application Ser. No. 14/633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2016/0249508;

U.S. patent application Ser. No. 14/633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249009;

U.S. patent application Ser. No. 14/633,526, entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE," now U.S. patent application publication 2016/0249945;

U.S. patent application Ser. No. 14/633,541, entitled "MODULAR STAPLING ASSEMBLY", now U.S. patent application publication 2016/0249977; and

U.S. patent application Ser. No. 14/633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER", now U.S. patent application publication 2016/0249117;

the applicant of the present application owns the following patent applications filed on date 18 of 12 of 2014, each of which is incorporated herein by reference in its entirety:

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

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

U.S. patent application Ser. No. 14/575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0174978;

U.S. patent application Ser. No. 14/575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS," now U.S. patent application publication 2016/0174976;

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

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

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

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

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

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

The applicant of the present application owns the following patent applications filed on 1-3 of 2013, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE Pathways FOR SIGNAL COMMUNICATION," now U.S. patent application publication 2014/024671;

U.S. patent application Ser. No. 13/782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/024672;

U.S. patent application Ser. No. 13/782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/024957;

U.S. patent application Ser. No. 13/782,499, entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY Arrangement", now U.S. patent application publication 9,358,003;

U.S. patent application Ser. No. 13/782,460, entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL Instruments," now U.S. Pat. No. 9,554,794;

U.S. patent application Ser. No. 13/782,358, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 9,326,767;

U.S. patent application Ser. No. 13/782,481, entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR", now U.S. patent application publication 9,468,438;

U.S. patent application Ser. No. 13/782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now U.S. patent application publication 2014/024675;

U.S. patent application Ser. No. 13/782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM," now U.S. patent application publication 9,398,911; and

U.S. patent application Ser. No. 13/782,536, entitled "SURGICAL INSTRUMENT SOFT STOP," now U.S. patent application publication 9,307,986.

The applicant of the present application also owns the following patent applications filed on date 14 of 3.2013, each of which is incorporated herein by reference in its entirety:

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

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

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

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

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

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

U.S. patent application Ser. No. 13/803,066, now U.S. Pat. No. 9,629,623, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS";

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

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

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

The applicant of the present application also owns the following patent applications filed on 7.3.2014 and incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. Pat. No. 9,629,629.

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

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

U.S. patent application Ser. No. 14/226,099, entitled "STERILIZATION VERIFICATION CIRCUIT," now U.S. patent application publication 2015/0272581;

U.S. patent application Ser. No. 14/226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT," now U.S. patent application publication 2015/0272580;

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

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

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

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

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

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

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

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

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

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

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

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

The applicant of the present application also owns the following patent applications filed on 5.9.2014 and each of which is incorporated herein by reference in its entirety:

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

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

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

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

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

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

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

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

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

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

U.S. patent application Ser. No. 14/248,581, entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT," now U.S. Pat. No. 9,649,110;

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

U.S. patent application Ser. No. 14/248,588, entitled "POWERED LINEAR SURGICAL STAPLE/FASTENER", now U.S. patent application publication 2014/0309666;

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

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

U.S. patent application Ser. No. 14/248,587, entitled "POWERED SURGICAL STAPLE/FASTENER", now U.S. patent application publication 2014/0309665;

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

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

The applicant of the present application also owns the following patent applications filed on date 16 of 2013, 4, and each of which is incorporated herein by reference in its entirety:

U.S. provisional patent application Ser. No. 61/812,365 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";

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

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

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

U.S. provisional patent application Ser. No. 61/812,372 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

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

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

The terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician, and the term "distal" refers to the portion located away from the clinician. It will also be appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" 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 can be used in a variety of surgical procedures and applications, including, for example, in connection with open surgical procedures. With continued reference to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural orifice, through an incision or puncture formed in tissue, etc. The working portion or end effector portion of the instrument may be inserted directly into the patient or may be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

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

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

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

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

A surgical instrument 1000 is illustrated in fig. 1-32. The surgical instrument 1000 includes a surgical stapling instrument configured for use with a robotic surgical system. Various robotic surgical systems are disclosed in U.S. patent 2012/0298719 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" filed 5.27.2011, now U.S. patent 9,072,535, the entire disclosure of which is incorporated herein by reference. Referring primarily to fig. 1 and 2, the surgical instrument 1000 includes a housing assembly 2000 configured to be attached to a robotic surgical system and additionally includes a transmission assembly 3000 mounted to the housing assembly 2000. Surgical instrument 1000 also includes a shaft assembly 4000 configured to attach to transmission assembly 3000. In use, the robotic surgical system may transmit rotational and/or linear inputs to the housing assembly 2000 and/or the transmission assembly 3000 to operate the shaft assembly 4000, as described in more detail below.

Shaft assembly 4000 includes a shaft 4100, an end effector 4200, and the like. End effector 4200 includes a first jaw 4210 comprising, for example, a cartridge channel configured to receive a staple cartridge, such as staple cartridge 4230. The end effector 4200 further comprises a second jaw 4220 comprising an anvil configured to deform staples of the staple cartridge. The second jaw 4220 is rotatable relative to the first jaw 4210 between an open undamped position (fig. 9) and a closed clamped position (fig. 10). The shaft assembly 4000 further includes a closure tube 4120 that is movable distally along the longitudinal axis LA of the shaft 4100 to close the second jaw 4220. As described in greater detail below, the transmission assembly 3000 is operably coupled to a first linear input of the robotic surgical system that is configured to distally push the closure tube 4120 and to close the second jaw 4220 to clamp the end effector 4200 to tissue of a patient. The transmission assembly 3000 is also operably coupled to a second linear input of the robotic surgical system that is configured to push the closure tube 4120 proximally and to open or loosen the second jaw 4220. The first and second linear inputs of the robotic surgical system may be selectively actuated as desired to open and close the end effector 4200.

In various alternative embodiments, the first jaw 4210 can be rotatable relative to the second jaw 4220. In such embodiments, both the jaw movement and the staple firing movement occur on the same side of the end effector.

The shaft assembly 4000 also includes an articulation joint 4300 that rotatably couples the end effector 4200 to the shaft 4100. As described in greater detail below, the transmission assembly 3000 is operably coupled to a third linear input of the robotic surgical system that is configured to, for example, articulate the end effector 4200 in a first direction, such as to the right (fig. 11). The transmission assembly 3000 is operably coupled to a fourth linear input of the robotic surgical system that is configured to, for example, articulate the end effector 4200 in a second direction, such as to the left. In use, the third and fourth linear inputs of the robotic surgical system can be selectively actuated as desired to rotate the end effector 4200 between the non-articulated configuration (fig. 12) and the articulated configuration or between two different articulated configurations in order to properly position the end effector 4200 within the surgical site relative to the tissue of the patient.

Shaft assembly 4000 may also be rotated about longitudinal axis LA to position end effector 4200 within a surgical site relative to tissue of a patient. As discussed in more detail below, the shaft assembly 4000 is rotatably supported by the housing 3100 of the transmission assembly 3000 and is operably coupled with an end effector rotational drive system 2900 in the housing assembly 2000. The end effector rotational drive system 2900 includes a drive input that is accessible through an opening 2180 defined on the housing 2100 of the housing assembly 2000. When the surgical instrument 1000 is assembled to the robotic surgical system, the end effector rotational drive system 2900 is operably coupled to a first rotational input of the robotic surgical system. When the drive input of the end effector rotational drive system 2900 rotates in a first direction, the shaft assembly 4000 rotates about the longitudinal axis LA in the first direction (such as clockwise). When the drive input of the end effector drive system 2900 is rotated in a second direction or an opposite direction, the shaft assembly 4000 is rotated about the longitudinal axis LA in a second direction (such as a counterclockwise direction). End effector drive system 2900 may be selectively operated multiple times in first and second directions as needed to properly position end effector 4200 relative to target tissue.

Shaft assembly 4000 further includes a staple firing system configured to eject staples from staple cartridge 4230. The staple firing system of the shaft assembly 4000 is operably coupled with the staple firing drive system 2500 in the housing assembly 2000. The staple firing drive system 2500 includes a drive input that is accessible through an opening 2150 defined in the housing 2100 of the housing assembly 2000. The staple firing drive system 2500 is operably coupled to a second rotational input of the robotic surgical system when the surgical instrument 1000 is assembled to the robotic surgical system. When the drive input of the staple firing drive system 2500 is rotated in a first direction, the firing bar of the staple firing system is advanced distally through, or at least partially through, the staple firing stroke. When the drive input of the staple firing drive system 2500 is rotated in a second direction or an opposite direction, the firing bar is retracted proximally through a retraction stroke. In various circumstances, if desired, at least a partially fired or depleted staple cartridge 4230 can be replaced with an unconsumed staple cartridge and the staple firing system 2500 can be operated again to perform another staple firing stroke.

During various surgical procedures, the end effector 4200 of the surgical instrument 4000 is placed in a closed and non-articulated configuration and then inserted through a trocar into a surgical site within a patient. In various instances, the trocar includes a tube including a sharpened tip at a distal end thereof configured to be pushed through an incision in a patient and a sealing port at a proximal end thereof configured to sealingly receive the end effector 4200 and to seal against the shaft 4100 of the surgical instrument 1000. Once the end effector 4200 is positioned at the surgical site by the robotic surgical system, the shaft assembly 4000 may be rotated about its longitudinal axis LA to properly orient the end effector 4200. Once the articulation joint 4000 of the shaft assembly 4300 clears the distal end of the trocar, the end effector 4200 may be articulated. In many cases, the end effector 4200 is rotated about the longitudinal axis LA before the end effector 4200 is articulated about the articulation joint 4300; however, in some cases, it may be possible to articulate the end effector about the articulation joint 4300 before the end effector 4200 is rotated about the longitudinal axis LA and/or while the end effector 4200 is rotated about the longitudinal axis LA.

In many cases, the end effector 4200 is in its closed configuration when rotated and/or articulated as described above; however, in some cases, the end effector 4200 may be in its open configuration when rotated and/or articulated as described above. The robotic surgical system and/or surgical instrument 1000 may include one or more latches configured to prevent articulation and/or rotation of the end effector 4200 when the end effector 4200 is in its closed configuration. Such latches may be, for example, mechanical and/or electronic latches. Further, such an arrangement may reduce the likelihood that the end effector 4200 will twist patient tissue after the end effector 4200 is clamped to the patient. Alternatively, the robotic surgical system and/or surgical instrument 1000 may include one or more latches configured or programmed to prevent rotation and/or articulation of the end effector 4200 unless the end effector 4200 is in its closed configuration. In any event, the end effector 4200 is opened by the robotic surgical system before the target tissue is positioned between the

jaws

4210 and 4220 of the end effector 4200, and then closed after the tissue is properly positioned between the jaws. The robotic surgical system then operates or may be controlled to operate the staple firing system of the surgical instrument 1000 to perform a staple firing stroke. Similar to the above, the robotic surgical system and/or surgical instrument 1000 can include one or more mechanical and/or electronic latches configured to prevent the staple firing stroke from being performed unless the end effector 4200 is in its closed configuration or a properly closed configuration.

Once the staple firing stroke is complete or at least partially completed, the robotic surgical system may use the staple firing system 2500 to retract the firing bar of the staple firing system. In various instances, the robotic surgical system and/or surgical instrument 1000 can include one or more latches configured to prevent the second jaw 4220 from being opened until the firing member is fully or at least fully retracted. That is, the surgical instrument 1000 may include one or more emergency assistance systems that may overcome such latches, as described in more detail below. Once the end effector 4200 has been released from the tissue, the robotic surgical system may be moved or controlled to move the end effector 4200 away from the tissue and again close and straighten the end effector 4200 before pulling the end effector 4200 back through the trocar. In various circumstances, the robotic surgical system may fully retract the end effector 4200 out of the trocar, but in some circumstances the surgical instrument 1000 may need to be separated from the robotic surgical instrument and manually removed from the trocar.

In some cases, the robotic surgical system and surgical instrument 1000 may be used to perform open surgery. In such procedures, a large incision is made in the patient's body to access the surgical site without the use of a trocar.

Additional details of the closure system, articulation system, rotation system, and staple firing system of the surgical instrument 1000 are provided below. However, in various circumstances, one or more of these systems may become malfunctioning during use. Furthermore, robotic surgical systems may become malfunctioning during use, which may prevent one or more systems of the surgical instrument 1000 from being operated, or at least properly operated. As described in greater detail below, the surgical instrument 1000 includes an emergency assistance system configured to manually operate the surgical instrument 1000, at least to some extent, to allow a clinician to perform operations such as removing the surgical instrument 1000 from a surgical site. Such manually operated emergency assistance systems also assist in maneuvering the surgical instrument 1000 when the surgical instrument 1000 is separated from the surgical robotic system.

As described above, the transmission assembly 3000 of the surgical instrument 1000 is configured to receive four linear inputs from the robotic surgical system. That is, other embodiments are contemplated in which the transmission assembly of the surgical instrument includes more or less than four linear inputs. Referring primarily to fig. 21-29, the transmission assembly 3000 includes a slider assembly 3700 configured to transmit four linear motions provided by the robotic surgical system to the end effector closure and articulation system of the surgical instrument 1000. More specifically, the slider assembly 3700 includes a first slider 3710 and a second slider 3720 configured to receive a first linear input and a second linear input, respectively, of the robotic surgical system to operate a closure system of the surgical instrument 1000. The slider assembly 3700 further includes a third slider 3730 and a fourth slider 3740 configured to receive a third linear input and a fourth linear input, respectively, of the robotic surgical system to operate the articulation system of the surgical instrument 1000.

Referring primarily to fig. 21-29, the first slider 3710 includes a first input socket or cup 3712 extending therefrom. First input socket 3712 is configured to be pushed proximally by a first linear actuator of the robotic surgical system to push first slider 3710 proximally. Notably, the first linear actuator is not attached to the first input socket 3712 in a manner that allows the first linear actuator to pull the first slider 3710 distally. Similarly, the second slider 3720 includes a second input socket or cup 3722 extending therefrom. Second input socket 3722 is configured to be pushed proximally by a second linear actuator of the robotic surgical system to push second slider 3720 proximally. Notably, the second linear actuator is not attached to the second input socket 3722 in a manner that allows the second linear actuator to pull the second slider 3720 distally. Referring to fig. 27-29, housing 3100 of transmission assembly 3000 is configured to constrain movement of

sliders

3710 and 3720 to a longitudinal, or at least substantially longitudinal, path within housing 3100.

In addition to the above, referring to fig. 21-25, the first slider 3710 includes a first longitudinal rack 3716 defined thereon. Similarly, the second slider 3720 includes a second longitudinal rack 3726 defined thereon. The first longitudinal rack 3716 is parallel, or at least substantially parallel, to the second longitudinal rack 3726. The first longitudinal rack 3716 is operably coupled to the second rack 3726 by pinion 2896 such that when the first slider 3710 is pushed proximally by the robotic surgical system, the second slider 3720 is pushed distally by the first slider 3710. Correspondingly, as second slider 3720 is pushed proximally by the robotic surgical system, first slider 3710 is pushed distally by second slider 3720. In either case, pinion 2896 rotates about an axis defined by a shaft or pin 2890 extending therefrom. As discussed in more detail below, pinion 2896 can be moved away from

racks

3716 and 3726 to operably disengage first slider 3710 and second slider 3720 (fig. 25), thereby allowing

sliders

3710 and 3720 to be operated independently of each other to manually assist in the closure system of surgical instrument 1000.

In addition to the above, referring to fig. 13 to 13D, the second slider 3720 includes a driving portion 3724 coupled to the driving disk 3820. More specifically, referring primarily to fig. 13A and 13B, the drive portion 3724 of the second slider 3720 engages an annular groove 3824 defined on the drive disk 3820. As second slider 3720 is pushed proximally by the robotic surgical system, second slider 3720 pushes drive disk 3820 proximally. Similarly, as second slider 3720 moves distally, second slider 3720 pushes drive disk 3820 distally. In addition, drive disk 3820 is rotatable relative to second slider 3720. Thus, as shaft assembly 4000 rotates about longitudinal axis LA, drive disk 3820 may rotate with shaft assembly 4000 and relative to second slider 3720. As will be described in greater detail below, drive disk 3820 is part of a drive disk array 3800 configured to perform various functions of surgical instrument 4000. It is noted that first slider 3710 does not directly engage any drive disks of drive disk array 3800. Instead, first slider 3710 is engaged with drive disk 3820 via only pinion 2896 and second slider 3720.

Referring to fig. 13C, a drive disk 3820 is mounted to the closure tube 3120 of the transfer assembly 3000. More specifically, the closure tube 3120 includes a hexagonal tube portion 3128 that extends through a hexagonal aperture defined on the drive disk 3820, the hexagonal tube portion being mounted to the drive disk 3820 via a set screw. The closure tube 3120 is mounted to the drive disk 3820 such that the closure tube 3120 translates and rotates with the drive disk 3820. In use, the closure tube 3120 can be moved from a proximal position (fig. 13C) to a distal position (fig. 13D) during a closing stroke that closes the second jaw 4220 of the end effector 4200. Correspondingly, the closure tube 3120 can be moved from a distal position (fig. 13D) to a proximal position (fig. 13C) during an opening stroke that opens the second jaw 4220. The housing 3100 of the transfer assembly 3000 is configured to limit the closing and opening strokes of the closure tube 3120. More specifically, the transmission assembly housing 3100 includes a cavity 3116 defined therein that includes a distal end wall configured to limit a closing stroke and a proximal end wall configured to limit an opening stroke. A flange or stop 3126 extending from the closure tube 3120 is configured to engage the distal end wall and the proximal end wall, respectively, during a closing stroke and an opening stroke.

In addition to the above, the closure tube 3120 of the delivery assembly 3000 does not directly engage the second jaw 4220. In contrast, referring primarily to fig. 3, the closure tube 3120 is operably coupled to the closure tube 4120 of the shaft assembly 4000 that engages the second jaw 4220. The closure tube 3120 includes a distal end 3122 that is configured to mate with the proximal end 4122 of the closure tube 4120 such that the closure tube 3120 and the closure tube 4120 translate and rotate together. Referring primarily to fig. 6, the closure tube 4120 includes an elongated tube portion 4123 and additionally includes a distal tube portion 4128 rotatably connected to a distal end 4124 of the elongated tube portion 4123. More specifically, distal tube portion 4128 is rotationally coupled to elongate tube portion 4123 by one or more couplings 4126 configured to allow end effector 4200 to be articulated relative to shaft 4100. Referring primarily to fig. 9 and 10, the distal tube portion 4128 includes a cam 4129 defined thereon that is configured to engage a cam surface 4229 defined on the second jaw 4220 and to rotate the second jaw 4220 from an open, unclamped position (fig. 9) to a closed, clamped position (fig. 10) as the closure tube 4120 is advanced distally. Referring to fig. 11 and 12, the distal tube portion 4125 includes one or more windows 4127 defined therein, and the second jaw 4220 includes one or more tabs 4227 extending into the windows 4127. When the closure tube 4120 is retracted proximally, the distal end wall of the window 4127 engages the tab 4227 of the second jaw 4220 and rotates the second jaw 4220 from the closed clamped position (fig. 10) to the open unclamped position (fig. 9).

Referring again to fig. 21-29, the third slider 3730 of the slider assembly 3700 includes a third input socket or cup 3732 extending therefrom. Third input socket 3732 is configured to be pushed proximally by a third linear actuator of the robotic surgical system to push third slider 3730 proximally. Notably, the third linear actuator is not attached to the third input socket 3732 in a manner that allows the third linear actuator to pull the third slider 3730 distally. Similarly, fourth slider 3740 includes a fourth input socket or cup 3742 extending therefrom. Fourth input socket 3742 is configured to be pushed proximally by a fourth linear actuator of the robotic surgical system to push fourth slider 3740 proximally. Notably, the fourth linear actuator is not attached to the fourth input socket 3742 in a manner that allows the fourth linear actuator to pull the fourth slider 3740 distally. Referring primarily to fig. 27-29, housing 3100 of transmission assembly 3000 is configured to constrain movement of

sliders

3730 and 3740 to a longitudinal or at least substantially longitudinal path within housing 3100.

In addition to the above, referring mainly to fig. 13C, 13D, and 28, the drive disk array 3800 further includes a drive disk 3830 and a drive disk 3840. The third slider 3730 includes a drive portion 3734 that engages an annular groove 3834 defined on the drive disk 3830. As third slider 3730 is pushed proximally by the robotic surgical system, third slider 3730 pushes drive disk 3830 proximally. In addition, drive disk 3830 can rotate relative to third slider 3730. Thus, as shaft assembly 4000 rotates about longitudinal axis LA, drive disk 3830 can rotate with shaft assembly 4000 and relative to slider 3730. Similarly, fourth slider 3740 includes a drive portion 3744 that engages an annular groove 3844 defined on drive disk 3840. As fourth slider 3740 is pushed proximally by the robotic surgical system, fourth slider 3740 pushes drive disk 3840 proximally. In addition, drive disk 3840 is rotatable relative to fourth slider 3740. Thus, as shaft assembly 4000 rotates about longitudinal axis LA, drive disk 3840 may rotate with shaft assembly 4000 and relative to fourth slider 3740.

Referring primarily to fig. 11, 12 and 28, the first articulation drive 3410 is mounted to a drive disk 3830. The first articulation drive 3410 includes a proximal end 3414 (fig. 7) that is secured to the drive disk 3830 such that the first articulation drive 3410 and the drive disk 3830 translate and rotate together. When the drive disk 3830 is moved proximally by the third slider 3730, as described above, the first articulation drive 3410 is pulled proximally to articulate the end effector 4200 in a first direction or to the right (fig. 11). That is, the first articulation drive 3410 is not directly engaged with the end effector 4200. In contrast, referring primarily to fig. 6 and 7, the first articulation driver 3410 of the transmission assembly 3000 is operably coupled to the first articulation driver 4410 of the shaft assembly 4000 wherein the first articulation driver 4410 is directly engaged with the end effector 4200. The first articulation drive 4410 includes a proximal end 4412 that is operably engaged with the distal end 3412 of the first articulation drive 3410 and further includes a distal end 4414 that is operably engaged with the first jaw 4210 of the end effector 4200.

Referring primarily to fig. 29, the second articulation drive 3420 is mounted to a drive disk 3840. The second articulation drive 3420 includes a proximal end 3424 (fig. 7) that is secured to the drive disk 3840 such that the second articulation drive 3420 and the drive disk 3840 translate and rotate together. When the drive disk 3840 is moved proximally by the fourth slider 3740, the second articulation drive 3420 is pulled proximally to articulate the end effector 4200 in a second direction or to the left as described above. That is, the second articulation driver 3420 is not directly engaged with the end effector 4200. In contrast, referring primarily to fig. 6 and 7, the second articulation driver 3420 of the transmission assembly 3000 is operably coupled to the second articulation driver 4420 of the shaft assembly 4000 wherein the second articulation driver 4420 is directly engaged with the end effector 4200. The second articulation drive 4420 includes a proximal end 4422 that is operably engaged with the distal end 3422 of the second articulation drive 3420 and further includes a distal end 4424 that is operably engaged with the first jaw 4210 of the end effector 4200.

In addition to the above, referring again to fig. 29, as the

first articulation drivers

3410 and 4410 articulate the end effector 4200 to the right, the

second articulation drivers

3420 and 4420 are back driven by the end effector 4200. In other words, as the

first articulation drivers

3410 and 4410, the third slider 3730, and the drive disk 3830 are pushed proximally, the

second articulation drivers

3420 and 4420, the fourth slider 3740, and the drive disk 3840 are pulled distally. Correspondingly, as the

second articulation drivers

3420 and 4420 articulate the end effector 4200 to the left, the

first articulation drivers

3410 and 4410 are back driven by the end effector 4200. In other words, as the

second articulation drivers

3420 and 4420, the fourth slider 3740, and the drive disk 3840 are urged proximally, the

first articulation drivers

3410 and 4410, the third slider 3730, and the drive disk 3830 are urged distally.

Surgical instrument 1000 also includes an articulation lock configured to lock end effector 4200 in place and to prevent end effector 4200 from articulation relative to shaft 4100. The articulation lock includes a proximal locking portion 3610 (fig. 7) on the transmission assembly 3000 and a distal locking portion 4610 (fig. 6) on the shaft assembly 4000. The proximal locking portion 3610 includes a proximal end 3614 mounted to the drive disk 3820 and additionally includes a distal end 3612. The distal locking portion 4610 includes a proximal end 4612 that engages the distal end 3612 of the proximal locking portion 3610, and additionally includes a distal end 4614 that is configured to engage the first jaw 4210 of the end effector 4200. As a result of the above, the articulation lock may be moved with the closure system of the surgical instrument 1000. More specifically, as second slider 3720 is urged proximally to open second jaw 4220 of end effector 4200, the articulation lock moves away from end effector 4200 such that end effector 4200 can be articulated about articulation joint 4300, as described above. Further, as the first slider 3710 is pushed proximally to close the second jaw 4220 of the end effector 4200, the articulation lock moves toward the end effector 4200 to lock the end effector 4200 in place, regardless of whether the end effector 4200 is in the articulated or non-articulated position.

As described above, the articulation lock of the surgical instrument 1000 is automatically actuated by the closure system. Thus, the end effector 4200 of the surgical instrument 1000 must be articulated into place before the end effector 4200 is placed in its closed configuration, or alternatively, the end effector 4200 must be reopened so that the end effector 4200 can again be articulated. In such cases, the end effector 4200 is not capable of articulation when clamped to patient tissue. In various alternative embodiments, the articulation lock of the surgical instrument may be actuated alone and not automatically by any other system of the surgical instrument. In such embodiments, the end effector of the surgical instrument may articulate while in the closed configuration and, thus, may be able to access a smaller space within the surgical site.

As described above, the

slides

3710, 3720, 3730, and 3740 of the slide assembly 3700 can be pushed distally by the linear actuator of the robotic surgical system. In some cases, the linear actuator includes, for example, a solenoid that produces a linear output. In various cases, the linear actuator may include, for example, any suitable linear motor. As described above, the linear actuators of the robotic surgical system are configured to push but not pull the

sliders

3710, 3720, 3730, and 3740. In various other embodiments, the actuators of the robotic surgical system are configured to push and/or pull the

sliders

3710, 3720, 3730, and 3740. In such cases, the actuators of the operating blocks 3710 and 3720 can cooperate to control the closure system of the surgical instrument, and similarly, the actuators of the operating blocks 3730 and 3740 can cooperate to control the articulation system of the surgical instrument.

As described above, the shaft assembly 4000 of the surgical instrument 1000 is rotatable about its longitudinal axis LA relative to the housing assembly 2000. Referring primarily to fig. 20-23, 28, and 29, the housing assembly 2000 includes a rotational drive system 2900 configured to rotate the shaft assembly 4000 about the longitudinal axis LA. The rotational drive system 2900 includes a rotatable drive input 2980 operably engageable with a rotational output of the robotic surgical system. The rotatable drive input 2980 extends into an opening 2180 (fig. 22) defined in the housing 2100 of the housing assembly 2000. The drive input 2980 includes a shaft rotatably supported by the housing 2100 and rotatable in a first direction to rotate the shaft assembly 4000 in a first direction about the longitudinal axis LA and rotatable in a second direction to rotate the shaft assembly 4000 in a second direction about the longitudinal axis LA, as discussed in more detail below.

In addition to the above, rotary drive system 2900 includes a gear train configured to transmit rotation of drive input 2980 to output shaft 2940. The gear train includes a pinion 2970 fixedly mounted to the drive input 2980 and rotating with the drive input 2980. The gear train also includes an idler gear 2960 in meshing engagement with the pinion gear 2970, and additionally includes an output gear 2950 in meshing engagement with the idler gear 2960. The output gear 2950 is fixedly mounted to the output shaft 2940 and rotates with the output shaft 2940. Idler gear 2960 is rotatably mounted to housing 2100, and output shaft 2940 is rotatably supported by housing 2100 of housing assembly 2000 and/or housing 3100 of transmission assembly 3000. As a result of the above, when the robotic surgical instrument rotates the drive input 2980, the gear train transmits the rotation of the drive input 2980 to the output shaft 2940.

The rotary drive system 2900 also includes an elongated spur gear 2930 fixedly mounted to the output shaft 2940 and rotating with the output shaft 2940. The elongated spur gear 2930 is in meshing engagement with a ring gear 2920 fixedly mounted to the closure tube 3120 of the transmission assembly 3000 such that rotation of the output shaft 2940 is transmitted to the closure tube 3120. As described above, the closure tube 3120 is operably engaged with the closure tube 4120 of the shaft assembly 4000 such that the

closure tubes

3120 and 4120 rotate together. The closure tube 4120 is keyed and/or otherwise sufficiently coupled with the shaft 4100, the end effector 4200, and other components of the articulation joint 4300 such that when the closure tube 4120 is rotated by the rotational drive system 2900, the closure tube 4120 rotates the entire shaft assembly 4000 about the longitudinal axis LA.

As described above, the elongated spur gear 2930 is configured to transmit the motion of the rotary drive system 2900 to the closure tube 3120 via the ring gear 2920. The spur gear 2930 is elongated such that the spur gear 2930 remains operably engaged or intermeshed with the ring gear 2920 throughout the closing stroke of the closure tube 3120. In other words, the elongated spur gear 2930 is operably engaged with the ring gear 2920 when the closure tube 3120 is in its open position (fig. 13C and 27-29), its closed position (fig. 13D), and all positions therebetween. Thus, the rotary drive system 2900 can be used to rotate the shaft assembly 4000 about the longitudinal axis LA when the second jaw 4220 is in its open position, its closed position, and all partially closed positions therebetween. Thus, in each case, the elongated spur gear 2930 is at least as long as the closing stroke of the closure tube 3120.

As described above, the shaft assembly 4000 of the surgical instrument 1000 is configured to staple and incise tissue captured between the staple cartridge 4230 positioned on the first jaw 4210 and the anvil of the second jaw 4220. Referring primarily to fig. 20 and 28, the housing assembly 2000 includes a firing drive system 2500 configured to advance a firing drive 3500 distally through an end effector 4200 to staple and incise tissue. The firing drive system 2500 includes a rotatable drive input 2550 that is operably engaged with a rotational output of the robotic surgical system. Rotatable drive input 2550 extends into an opening 2150 (fig. 22) defined in housing 2100 of housing assembly 2000. The drive input 2550 includes a shaft rotatably supported by the housing 2100 and rotatable in a first direction to advance the firing drive 3500 distally and also rotatable in a second direction to retract the firing drive 3500 proximally.

The firing drive system 2500 also includes a first bevel gear 2540 fixedly mounted to the drive input 2550 such that the first bevel gear 2540 rotates with the drive input 2550. The firing drive system 2500 also includes a second bevel gear 2530 in meshing engagement with the first bevel gear 2540 such that the second bevel gear 2530 is rotated by the first bevel gear 2540. The second bevel gear 2530 is fixedly mounted to the transfer shaft 2520 such that the transfer shaft 2520 rotates with the second bevel gear 2530. The transmission shaft 2520 or at least one end of the transmission shaft 2520 is rotatably supported by the housing 2100. The firing drive system 2500 also includes a pinion 2510 fixedly mounted to the transfer shaft 2520 such that the pinion 2510 rotates with the transfer shaft 2520. Pinion 2510 meshes with rack 3510 of a firing drive 3500 that is driven proximally and distally by firing drive system 2500, as described in more detail below.

Referring primarily to FIG. 26, the rack 3510 of the firing drive 3500 is slidably positioned within an aperture 2190 defined on the housing 2100 of the housing assembly 2000. The rack 3510 includes a first longitudinal array of teeth 3514 defined on a first side thereof and a second longitudinal array of teeth 3514 defined on a second side thereof. Pinion 2510 of the firing drive system 2500 as described above is in meshing engagement with the first longitudinal tooth array 3514. As described in more detail below, the second longitudinal tooth array 3514 is selectively engageable by a firing drive emergency assistance system. As the drive input 2550 of the firing drive system 2500 is rotated in a first direction by the robotic surgical system, the rack 3510 is advanced distally. Correspondingly, when the drive input 2550 is rotated in a second or opposite direction, the rack 3510 retracts proximally.

Referring primarily to FIG. 6, in addition to the above, the firing drive 3500 includes a firing link 4510 and a firing bar 4520. The rack 3510 of the firing drive 3500 includes a distal end 3512 that operably engages a proximal end 4512 of the firing link 4510 such that the rack 3510 and the firing link 4510 translate together. Notably, the interconnection between the rack 3510 and the firing link 4510 allows the firing link 4510 to rotate relative to the rack 3510 as the shaft assembly 4000 rotates relative to the housing assembly 2000 as described above. The firing link 4510 also includes a distal end 4514 that engages a proximal end 4524 of the firing bar 4520 such that the firing link 4510 and the firing bar 4520 translate together.

The firing bar 4520 includes a plurality of longitudinally extending parallel layers; however, embodiments are contemplated in which the firing bar 4520 is comprised of a sheet of solid material. The firing bar 4520 also includes a cutting member 4530 at a distal end thereof. Cutting member 4530 comprises a sharp blade, but may comprise any suitable device for cutting tissue. As the firing drive system 2500 advances the firing drive 3500 distally during a firing stroke, the cutting member 4530 incises tissue captured between the anvil of the second jaw 4220 and the staple cartridge 4230. Further, the cutting member 4530 pushes a staple firing sled positioned within the staple cartridge 4230 distally during a firing stroke to eject staples from the staple cartridge 4230. In various circumstances, the staple firing sled may not retract with the cutting member 4530 as the cutting member 4530 retracts after a firing stroke. In alternative embodiments, the staple firing sled may be integrally formed with the cutting member 4530. In such embodiments, the staple firing sled is retracted with the cutting member 4530.

The firing member 4530 further comprises a first cam configured to engage the first jaw 4210 and a second cam configured to engage the second jaw 4220. The first and second cams cooperatively maintain the second jaw 4220 in position relative to the staple cartridge 4230 during a firing stroke. In such instances, the firing drive 3500 can control the forming height of staples formed against the anvil of the second jaw 4220. In some embodiments, the first and second cams of the cutting member 4530 can be used to close the second jaw 4220 during a closing stroke and then retain the second jaw 4220 relative to the first jaw 4210 during a firing stroke. In either case, the second jaw 4220 cannot be re-opened to its fully open position to release tissue from the end effector 4200 until the cutting member 4530 has been fully retracted. In an alternative embodiment, cutting member 4530 does not include a first cam and a second cam. In such embodiments, the second jaw 4220 can be opened to release tissue from the end effector 4200 prior to retraction of the cutting member 4530.

In various circumstances, the robotic surgical system may not be able to retract the firing drive 3500 completely or at all. This may occur when the robotic surgical system is malfunctioning. This may also occur when the surgical instrument 1000 is operably separated from the robotic surgical system. In either case, turning now to fig. 30-32, the surgical instrument includes a firing system emergency assist device 2700. Firing system emergency assistance device 2700 is housed within housing assembly 2000, but may be located in any suitable location on surgical instrument 1000. Firing system emergency assist device 2700 includes a ratchet that includes pawl 2710 and handle 2720. Pawl 2710 is rotatably mounted to handle 2720 about pivot 2715, and handle 2720 is rotatably mounted to housing 2100 about pivot 2725. The firing system emergency assist device 2700 can be rotated from a disengaged or deactivated configuration (fig. 30) to an engaged or activated configuration (fig. 31) wherein the pawl 2710 is operably engaged with the second longitudinal rack 3514 of the rack 3510, as described above. At this point, referring to fig. 32, the handle 2720 can be manually rotated or cranked by the clinician to retract the rack 3510, firing link 4510, and firing bar 4520. The one or more cranks of the handle 2720 can be sufficient to retract the cutting member 4530 out of engagement with the second jaw 4220, thereby enabling the second jaw 4220 to be fully opened.

In addition to the above, robotic surgical instruments may be used to open the second jaw 4220 after the firing drive 3500 has been fully retracted or emergency assisted. If one or both of the first and second linear actuators of the robotic surgical system are not functioning properly, or if the surgical instrument 1000 has been operably separated from the robotic surgical system, the closure system may perform emergency assistance in one or more of the ways described below.

As described above, referring to fig. 20 to 22, the first slider 3710 and the second slider 3720 are coupled to each other through the pinion 2896. For example, in the event of a failure of the first linear actuator 3710 engaged with the first slider 3710 and/or the first slider 3710 getting stuck, the closure system may become stuck or otherwise inoperable. When first slider 3710 is snapped in its proximal or actuated position, end effector 4200 may be locked in its closed configuration and not releasable from tissue. In such a case, referring to fig. 23, pinion 2896 can be manually pulled out of engagement with

racks

3716 and 3726 by emergency auxiliary pin 2890 extending from housing 2100. Once pinion 2896 is disengaged from

racks

3716 and 3726,

sliders

3710 and 3720 are operably separated from each other and are movable independently of each other. Accordingly, second slider 3720 can be moved proximally to open end effector 4200. In various circumstances, the robotic surgical system can move the second slider 3720 proximally, or alternatively, the second slider 3720 can be manually moved by a clinician. Once emergency assist pin 2890 has been actuated, second slider 3720 may also be moved distally manually by a clinician to reclose end effector 4200 as desired. As a result of the above, this closure system emergency assist device is operable in a first direction to open the end effector 4200 and operable in a second direction to close the end effector 4200.

In addition to the above, the surgical instrument 1000 includes a spine that extends through the transmission assembly 3000 and the shaft assembly 4000. Referring to fig. 7, the spine includes a proximal portion 3112 that is located on the delivery assembly 3100. Referring to fig. 6, the spine further includes a spine assembly on the shaft assembly 4000 that includes a connector portion 4112 operably engaged with the proximal portion 3112, an elongated portion 4114 engaged with the connector portion 4112, a cover portion 4116 attached to the elongated portion 4114, and distal articulation

joint bases

4117 and 4118 attached to the elongated portion 4114. The first jaw 4210 of the end effector 4200 is rotationally coupled to the articulation

joint bases

4117 and 4118 to form the articulation joint 2300. The

portions

3112, 4112, 4114 and 4116 of the spine, the

seats

4117 and 4118, and the first jaw 4210 are attached to one another such that they rotate together as the shaft assembly 4000 rotates about the longitudinal axis LA, as described above. Further, the second jaw 4220 is attached to the first jaw 4210 such that the second jaw 4220 rotates with the first jaw 4210 about the longitudinal axis LA. Furthermore, the components of the spine are attached to each other in a manner that allows the spine to translate proximally and/or distally, as described in more detail below.

The housing 3100 of the transmission assembly 3000 is fixedly mounted to the housing 2100 of the housing assembly 2000. In at least one instance, the housing 3100 is secured to the housing 2100. In some other cases, housing 3100 is integrally formed with housing 2100. In either case, housing 3100 does not rotate relative to housing 2100, but is contemplated wherein

Referring now to fig. 14-18, the shaft assembly 1000 further includes another closure system emergency assist device, closure system emergency assist device 2800, configured to open and/or close the end effector 4200. Unlike the closure system emergency assist device discussed above that moves the

closure tubes

3120 and 4120 relative to the spine of the surgical instrument 1000, the closure system emergency assist device 2800 moves the spine relative to the

closure tubes

3120 and 4120. In other words, the closure system emergency assist device 2800 moves the cam surface 4229 of the second jaw 4220 toward and away from the cam 4129 of the closure tube 4120 to open and close the second jaw 4220. As a result of the above, the closure system emergency assist device 2800 is operable in a first direction to open the end effector 4200 and in a second direction to close the end effector 4200. The closure system emergency assistance devices may be used independently or cooperatively with each other.

The closure system emergency assistance device 2800 includes a rotatable actuator or thumbwheel 2860 rotatably mounted by the housing 2100. The closure system emergency auxiliary device 2800 also includes a spur gear 2850 fixedly mounted to the actuator 2860 such that the spur gear 2850 rotates with the actuator 2860 and additionally includes a spur gear 2840 in meshing engagement with the spur gear 2850. Spur gear 2840 is fixedly mounted to shaft 2830 of closure system emergency auxiliary device 2800, which is rotatably supported by housing 2100 of housing assembly 2000 and/or housing 3100 of transmission assembly 3000. The shaft 2830 includes a threaded distal end that is threadably engaged with a drive nut 2820 slidably mounted within the housing 3100. When the shaft 2830 is rotated in a first direction by the actuator 2860, the drive nut 2820 translates distally. Correspondingly, when the shaft 2830 is rotated in the second direction by the actuator 2860, the drive nut 2820 translates proximally. The drive nut 2820 engages a drive flange 2810 extending from a ridge of the surgical instrument 1000 such that the ridge translates with the drive nut 2820. That is, the drive nut 2820 and the drive flange 2810 are configured to allow relative rotational movement therebetween such that the ridges may rotate with the shaft assembly 4000, as described above.

As described above, the closure emergency assistance system 2800 is operable in a first direction to emergency assist the surgical instrument 1000 in a first state or configuration and is operable in a second direction to emergency assist the surgical instrument 1000 in a second state or configuration. Further, the closure emergency assistance system 2800 is configured to manipulate the end effector 4200 between the open and closed configurations, regardless of whether the robotic surgical system is working and/or operating the first and

second sliders

3710, 3720 of the slider assembly 3700 properly. That is, the emergency assistance device of the slider assembly 3700 may be released prior to and/or during operation of the closure emergency assistance system 2800. In other words, the pinion 2896 may be disengaged from the slider assembly 3700 to relieve tissue clamping pressure within the end effector 4200, which may reduce the force required to be applied to the thumbwheel 2896 to operate the closure emergency assistance system 2800.

In various alternative embodiments, the closure emergency assistance system 2800 or a closure emergency assistance system similar to the closure emergency assistance system 2800 may be configured to enable the closure system to move through its closing stroke and/or its opening stroke. For example, the closure emergency assistance system 2800 may be operable in a first direction to move the

closure tubes

3120 and 4120 distally and in a second direction to move the

closure tubes

3120 and 4120 proximally.

As described above, referring primarily to fig. 3 and 4, the shaft assembly 4000 is operably attached to and detachable from the transmission assembly 3000 of the surgical instrument 1000. Shaft assembly 4000 includes a proximal connecting portion 4900 that is operably engaged with a distal connecting portion 3900 of transmission assembly 3000. Referring primarily to fig. 5, the interconnection between connecting

portions

3900 and 4900 is formed by translating connecting portion 4900 into engagement with connecting portion 3900, or vice versa. In at least one instance, the shaft assembly 4000 is moved laterally or orthogonally relative to the longitudinal axis LA of the surgical instrument 1000 to effect coupling and decoupling of the shaft assembly 4000 from the transmission assembly 3000.

When the shaft assembly 4000 is assembled to the transmission assembly 3000, the respective components of the spine, closure system, articulation locking system, and firing system of the transmission assembly 3000 and shaft assembly 4000 are operably engaged simultaneously. For example, referring to fig. 8, the distal end 3112 of the spine 3110 is engaged with the proximal end 4112 of the spring 4110, the distal end 3122 of the closure tube 3120 is engaged with the proximal end 4122 of the closure tube 4120, the distal end 3512 of the rack 3510 is engaged with the proximal end 4512 of the firing member 4510, the distal end 3612 of the articulation lock 3610 is engaged with the proximal end 4612 of the articulation lock 4610, and the distal ends 3412 and 3422 of the

articulation drivers

3410 and 3420 are engaged with the proximal ends 4412 and 4422 of the

articulation drivers

4410 and 4420, respectively.

In addition to the foregoing, referring again to fig. 4 and 5, shaft assembly 4000 includes a shaft lock 4124 configured to engage shaft lock 3124 on transmission assembly 3000 and to lock shaft assembly 4000 to transmission assembly 3000 such that connecting

portions

3900 and 4900 of transmission assembly 3000 and shaft assembly 4000, respectively, remain engaged with one another until shaft lock 4124 is disengaged from shaft lock 3124. The shaft lock 4124 may translate distally away from the shaft lock 3124 to unlock the shaft assembly 4000 from the transfer assembly 3000. At this point, the shaft assembly 4000 may translate laterally away from and separate from the transfer assembly 3000. In various circumstances, the shaft assembly 4000 may be replaced with other shaft assemblies and the surgical instrument 1000 may be reused. Further, the staple cartridge 4300 may be replaced with another staple cartridge within the end effector 4200. Thus, the surgical instrument 1000 includes several modular layers.

The surgical instrument 5000 is shown in fig. 33-66. Surgical instrument 5000 is similar in many respects to surgical instrument 1000, most of which will not be discussed herein for brevity. Referring primarily to fig. 33 and 34, the surgical instrument 5000 includes a housing assembly 6000, a transmission assembly 7000 mounted to the housing assembly 6000, and a shaft assembly 8000 releasably attached to the transmission assembly 7000. The housing assembly 6000 is similar in many respects to the housing assembly 2000. For example, the housing assembly 6000 includes a housing 6100, a drive system 2900 configured to rotate the shaft assembly 8000 about its plurality of longitudinal axes LA, and a firing drive system 6500, which will be discussed in more detail below. Transmission assembly 7000 is similar in many respects to transmission assembly 3000. For example, the transmission assembly 7000 includes a housing 7100, a slider assembly 7700, and a distal connection portion 7900, which will be discussed in more detail below. The shaft assembly 8000 is similar in many respects to the shaft assembly 4000. For example, the shaft assembly 8000 includes a shaft 4100, an end effector 4200, an articulation joint 4300, and a proximal connection portion 8900, which are discussed in more detail below.

In addition to the above, referring to fig. 35-41, the proximal connecting portion 8900 of the shaft assembly 8000 is rotatably connected to the distal connecting portion 7900 of the transmission assembly 7000. More specifically, shaft assembly 8000 is rotated relative to transmission assembly 7000 to couple shaft assembly 8000 to transmission assembly 7000. Referring primarily to fig. 41, the transmission assembly 7000 includes a ridge portion 7110 that engages the ridge portion 8110 of the shaft assembly 8000. Unlike the spine of the surgical instrument 1000, the spine of the surgical instrument 5000 cannot translate proximally and distally, but it may do so in alternative embodiments. Referring to fig. 43, the proximal end of the spine portion 7110 includes a flange 7111 extending therefrom that is closely received in a lateral slot 7101 defined on the delivery assembly housing 7100 that prevents the spine from moving proximally and distally relative to the delivery assembly housing 7100. That is, the flange 7111 and the lateral slot 7101 are configured to allow rotational movement between the spine portion 7110 and the transmission assembly housing 7100 such that the shaft assembly 8000 may rotate relative to the transmission assembly 7000.

In addition to the above, referring again to fig. 41, the spine portion 7110 is made up of two lateral portions 7112 that are coupled together by a connector 7114 (fig. 37). Such an arrangement may facilitate assembly of the components of the transmission assembly 7000; however, embodiments are contemplated in which the spine portion 7110 is comprised of a sheet of solid material. Similarly, the ridge portion 8110 is made up of two lateral portions 8112 that are coupled together. Also, similarly, such an arrangement may facilitate assembly of the components of the shaft assembly 8000, but embodiments are contemplated in which the spine portion 8110 is constructed from a sheet of solid material. Each lateral ridge portion 7112 includes a distal end including at least one hook connection 7111 extending therefrom, and each lateral ridge portion 8112 further includes a distal end including at least one hook connection 8111 extending therefrom. When the shaft assembly 8000 is rotationally assembled to the transmission assembly 7000, the hook coupling 8111 engages the hook coupling 7111. In such cases, the spine portion 8110 is locked to the spine portion 7110 such that there is little, if any, relative longitudinal movement therebetween.

In addition to the above, referring again to fig. 41, each lateral portion 7112 includes at least one stop 7113 extending therefrom. Similarly, each lateral portion 8112 includes at least one stop 8113 extending therefrom. As the spine portion 8110 of the shaft assembly 8000 rotates relative to the spine portion 7110 of the transmission assembly 7000, the

stops

7113 and 8113 may cooperate to limit rotational movement between the spine portion 8110 and the spine portion 7110. Referring primarily to fig. 39 and 40, the shaft assembly 8000 includes a shaft lock 8124 that is configured to engage the shaft lock 7124 of the transmission assembly 7100 and to retain the

spine portions

7110 and 8110 together. After shaft assembly 8000 has been rotationally coupled to transmission assembly 7000, shaft lock 8124 may be slid proximally along longitudinal axis LA to engage shaft lock 7124. The shaft lock 8124 includes a flexible locking member 8923 configured to be insertable into a locking window 7123 defined on the shaft lock 7124. In various instances, the locking member 8923 may engage a flange defined on the shaft lock 7124 in a snap-fit and/or press-fit manner to couple the

shaft locks

7124 and 8124 together. In some cases, shaft lock 8124 may need to be at least partially rotated relative to shaft lock 7124 to lock

shaft locks

7124 and 8124 together. In any event, once engaged, the

shaft locks

7124 and 8124 may prevent the

ridge portions

7110 and 8100 from being accidentally separated. To disengage the

ridge portions

7110 and 8110, the clinician may press the button portion 8920 of the locking member 8923 to disengage the locking member 8923 from the shaft lock 7124. Referring primarily to fig. 40, each lock member 8923 includes an end 8925 fixedly mounted to the shaft lock 8124 such that when the button portion 8920 is depressed, the lock members 8923 flex or cantilever inwardly. At this time, the shaft assembly 8000 may be rotatably separated from the transmission assembly 7000. When the button portion 8920 is released, the locking member 8923 may resiliently return to its undeflected position.

In addition to the above, the

shaft locks

7124 and 8124 are configured to hold together interconnections within the closure system, articulation lock system, and firing system of the surgical instrument 5000 when the shaft lock 8124 is engaged with the shaft lock 7124. Referring primarily to fig. 41, each such system includes a portion within transmission assembly 7000 and a portion within shaft assembly 8000 that are operably engaged at an interface between distal connection portion 7900 and proximal connection portion 8900 when shaft assembly 8000 is rotatably coupled to transmission assembly 7000, as described in more detail below.

The articulation system of the surgical instrument 5000 is similar in many respects to the articulation system of the surgical instrument 1000. Referring primarily to fig. 35 and 37, the transmission assembly 7000 includes first and

second articulation drivers

7410, 7420 that are similar to the first and

second articulation drivers

3410, 3420, respectively. Similarly, the shaft assembly 8000 includes first and

second articulation drivers

8410 and 8420 that are similar to the first and

second articulation drivers

4410 and 4420, respectively. It is noted that the first articulation drive 7410 includes a distal end 7412 that is rotationally coupled to the proximal end 8412 of the articulation drive 8410 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. Similarly, the second articulation driver 7420 includes a distal end 7422 that is rotationally coupled to the proximal end 8422 of the articulation driver 8420 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000.

The articulation locking system of the surgical instrument 5000 is similar in many respects to the articulation locking system of the surgical instrument 1000. Referring again to fig. 35 and 37, the transmission assembly 7000 includes a proximal locking portion 7610 similar to the proximal locking portion 3610. Similarly, shaft assembly 8000 includes a distal locking portion 8610 that is similar to distal locking portion 4610. It is worth noting, however, that the proximal locking portion 7610 includes a distal end 7612 that is rotationally coupled to the proximal end 8612 of the distal locking portion 8610 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000.

The closure system of the surgical instrument 5000 is similar in many respects to the closure system of the surgical instrument 1000. Referring to fig. 35, 37 and 39, the delivery assembly 7000 includes a closure tube 7120 which is similar in many respects to the closure tube 3120. Similarly, the shaft assembly 8000 includes a closure tube 8120 that is similar in many respects to the closure tube 4120. It is worth noting that the closure tube 7120 includes a distal end 7122 that is rotationally coupled to the proximal end 8122 of the closure tube 8120 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. Referring primarily to fig. 39, the distal end 7122 of the closure tube 7120 includes one or more bayonet or twist lock slots 7121 defined thereon. The proximal end 8122 of the closure tube 8120 includes one or more bayonet projections configured to translate into the slot 7121 and then rotate to secure itself in the slot 7121 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. The distal end 7122 includes two bayonet slots 7121 positioned on opposite sides thereof and the proximal end 8122 includes two corresponding bayonet protrusions positioned on opposite sides thereof, although the

ends

7122 and 8122 of the

closure tubes

7120 and 8120 may include any suitable number of bayonet slots 7121 and protrusions.

Similar to the above, the firing system 7500 of the surgical instrument 5000 is similar in many respects to the firing system 3500 of the surgical instrument 1000. Referring to fig. 35, 37 and 39, the transmission assembly 7000 includes a firing link 7510 that is similar in many respects to the rack 3510. Similarly, the shaft assembly 8000 includes a firing member 8510 that is similar in many respects to the firing member 4510. It is noted, however, that the firing link 7510 includes a distal end 7512 that is rotationally coupled to the proximal end 8512 of the firing member 8510 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. Referring primarily to fig. 39, the distal end 7512 of the firing link 7510 includes one or more bayonet or twist lock slots 7511 defined thereon. The proximal end 8512 of the firing member 8510 includes one or more bayonet projections 8511 that are configured to translate into the slots 7511 and then rotate to secure themselves in the slots 7511 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. The distal end 7512 of the firing link 7510 includes two bayonet slots 7511 positioned on opposite sides thereof and the proximal end 8512 of the firing member 8510 includes two corresponding bayonet protrusions 8511 positioned on opposite sides thereof. That is, the

ends

7512 and 8512 of the firing link 7510 and firing member 8510 can include any suitable number of bayonet slots 7511 and projections 8511.

As described above, referring again to FIG. 41, when the shaft assembly 8000 is rotatably coupled to the transmission assembly 7000, interconnections within the closure system, the articulation lockout system, and the firing system are operably engaged at the interface between the distal connecting portion 7900 and the proximal connecting portion 8900. In various cases, each of these systems is in the original state when the shaft assembly 8000 is assembled to the transmission assembly 7000, which may allow the shaft assembly 8000 to be easily assembled to the transmission assembly 7000. For example, embodiments are contemplated in which the closure system, articulation lock system, and/or firing system conditions occur at the beginning or end of a system stroke. In at least one such instance, when the end effector 4200 is in its fully open position, the as-closed system of the surgical instrument 5000 is in the beginning of the closing stroke. Similarly, in at least one such instance, the raw state of the firing system of the surgical instrument 5000 is at the beginning of the firing stroke or at a non-firing position.

As described above, systems of surgical instruments 5000 are designed such that their coupling and/or decoupling at the beginning or end of their system stroke may have certain drawbacks. For example, the interconnection between the

closure tubes

7120 and 8120 may not be laterally constrained at the beginning of the closure system stroke, and thus, if the coupled and uncoupled state of the

closure tubes

7120 and 8120 is at the beginning of the closure stroke, the

closure tubes

7120 and 8120 may be susceptible to uncoupling as the closure system is loaded at the beginning of its closure stroke. Furthermore, if the raw state of the

closure tubes

7120 and 7120 being coupled or decoupled is at the end of the closure stroke, the

closure tubes

8120 and 8120 may be susceptible to decoupling at the end of the closure stroke where the load in the closure system may be at peak levels. Similarly, the interconnection between the firing link 7510 and the firing member 8510 may not be laterally constrained at the beginning of the firing system stroke, and thus, if the original state of coupling and decoupling of the firing link 7510 and the firing member 8510 is at the beginning of the firing stroke, the firing link 7510 and the firing member 8510 may be susceptible to decoupling as the firing system is loaded at the beginning of its firing stroke. Further, the firing link 7510 and firing member 8510 may be susceptible to separation at certain points in the firing stroke where the firing system experiences high or peak loads. As described in more detail below, designing the various systems of the surgical instrument 5000 such that their coupled or uncoupled state is not at the beginning or end of their system travel, or is not aligned with their peak load point, may reduce the unintended uncoupling of their systems.

As described above, the raw state for coupling and uncoupling the

closure tubes

7120 and 8120 of the surgical 5000 is intermediate the beginning and end of the closure stroke. After the closure tube 8120 is operably coupled to the closure tube 7120, the closure system can be retracted proximally to its unactuated or open position to align the

closure tubes

7120 and 8120 with the beginning of the closure stroke. At this point, the interconnection between the

closure tubes

7120 and 8120 is constrained from lateral deflection by the ridges of the surgical 5000. During the closing stroke, the interconnection between the closing

tubes

7120 and 8120 will pass through the original state of the closing system; however, the raw state may be selected such that it matches the low load state of the closed system. To separate the

closure tubes

7120 and 8120, the closure system returns to its original state.

As described above, the articulation locking system and the closure system of the surgical instrument 5000 are operably coupled such that they move in tandem. Thus, the articulation locking system of the surgical instrument 5000 is in its original state between the beginning and end of its articulation locking stroke. In at least one instance, the articulation locking portion 8610 is operably coupled to and decoupled from the articulation lock 7610 when the closure tube 8120 is operably coupled to and decoupled from the closure tube 7120 at a location that is not at the beginning or end of an articulation locking and closing stroke. That is, embodiments are contemplated in which the articulation locking system and the closure system of the surgical instrument operate independently, and in at least one such embodiment may have different and/or independent home positions.

As described above, the raw state for coupling and decoupling the firing link 7510 to and from the firing member 8510 of the surgical instrument 5000 is intermediate the beginning and end of the firing stroke. After the firing member 8510 has been operably coupled to the firing link 7510, the firing system can be retracted proximally to its unactuated or unfired position to match the firing link 7510 and the firing member 8510 to the beginning of the firing stroke. At this point, the interconnection between the firing link 7510 and the firing member 8510 is constrained by the spine of the surgical instrument 5000 to avoid lateral deflection. During the firing stroke, the interconnection between the firing link 7510 and the firing member 8510 will pass through the as-is state of the firing system; however, the raw state may be selected such that it matches the low load state of the firing system. To disengage the firing link 7510 from the firing member 8510, the firing system returns to its original state.

Similar to the above, the state of the articulation system of the surgical instrument 5000 may be selected to prevent unintended separation of the

articulation drivers

7410, 7420, 8410, and 8420. In some instances, the articulation system may be configured to enable the

articulation drivers

7410, 7420, 8410, and 8420 to be coupled and decoupled when the end effector 4200 is in its non-articulated configuration. In other cases, the articulation system may be configured to enable the

articulation drivers

7410, 7420, 8410, and 8420 to be coupled and decoupled as the end effector 4200 is partially articulated between its non-articulated and fully articulated configurations. In this case, the

articulation drivers

7410, 7420, 8410, and 8420 are coupled and decoupled when the end effector is not in the non-articulation position or the fully-articulation position. Similar to the above, as the end effector 4200 is articulated, the end effector 4200 may be swept through its home position.

Alternatively, the home position of the closure system, articulation lock system, and/or firing system is not within the operational range of these systems. In this case, the point of attachment and detachment of one or more of these systems is outside of its operating zone. For example, the home state of the closure system may be positioned proximal to the beginning of the closure stroke. In this case, the closure tube 8120 is coupled to the closure tube 7120 in the original state of the closure system and then advanced distally to the unactuated or open position of the closure system. Additionally or alternatively to the above, the firing member 8510 can be coupled to the firing link 7510 in the as-fired state of the firing system and then advanced distally to an unfired position of the firing system. In various cases, the components of these systems are flexible enough to accommodate such out-of-range assembly and disassembly positions. In at least one instance, there is sufficient tilt in the system to accommodate such assembly and disassembly positions. In some cases, the system can be stretched sufficiently to accommodate such assembly and disassembly locations.

In various circumstances, in addition to the above, the robotic surgical system can be configured to move the system of surgical instrument 5000 from its home position to its stroke start position, unactuated position, or intermediate position (as the case may be) once shaft assembly 8000 has been operably attached to transmission assembly 7000. In at least one instance, the robotic surgical system and/or surgical instrument 5000 includes a readiness button and/or control that instructs a controller of the robotic surgical system to move the closure system to its open position, to move the articulation system to its non-articulation position, to move the articulation lock system to its unlocked position, and to move the firing system to its non-firing position. Similarly, the robotic surgical system can be configured to move the system of surgical instruments 5000 to its home position such that the shaft assembly 8000 is detachable from the transmission assembly 7000. In at least one instance, the robotic surgical system and/or surgical instrument 5000 includes primary buttons and/or controls that instruct a controller of the robotic surgical system to move the closure system, the articulation lock system, and the firing system to their home positions.

The robotic surgical system and/or surgical instrument 5000 can include a control system configured to detect assembly and/or disassembly of the shaft assembly 8000 and the transmission assembly 7000. In at least one instance, the control system includes a microprocessor, and the transmission assembly housing 7100 includes one or more sensors in signal communication with the microprocessor, the one or more sensors configured to be able to detect when the shaft assembly 8000 is not assembled to the transmission assembly 7000, partially assembled to the transmission assembly 7000, and/or fully assembled to the transmission assembly 7000. The control system is programmed to interpret this sensed information in accordance with an algorithm to determine whether the shaft assembly 8000 is being assembled to the transmission assembly 7000 or whether the shaft assembly 8000 is being disassembled from the transmission assembly 7000. For example, if the sensor detects a partially assembled state of the shaft assembly 8000 after detecting an unassembled state of the shaft assembly 8000, the control system may interpret that the shaft assembly 8000 is being assembled to the transmission assembly 7000. Similarly, if the sensor detects a partially assembled state of the shaft assembly 8000 after detecting a fully assembled state of the shaft assembly 8000, the control system may interpret that the shaft assembly 8000 is being detached from the transmission assembly 7000.

In addition to the above, when the control system detects that the shaft assembly 8000 is being assembled to the transmission assembly 7000, the control system may automatically position the closure, articulation lock and/or firing system of the transmission assembly 7000 in its original state to facilitate assembly of the shaft assembly 8000 to the transmission assembly 7000. Once the control system detects that the shaft assembly 8000 has been fully assembled to the transmission assembly 7000, the control system can automatically set the closure system to its unactuated state, the articulation system to its unarticulated state, the articulation lock system to its unlocked state, and/or the firing system to its unfired state.

In addition to the above, when the control system detects that the shaft assembly 8000 is being removed from the transmission assembly 7000, the control system may automatically position the closure, articulation lock and/or firing system of the transmission assembly 7000 in its original state to facilitate removal of the shaft assembly 8000 from the transmission assembly 7000. As noted above, embodiments are contemplated in which the control system does not automatically change the state of one or more of the closure, articulation lock, and firing system. In at least one such embodiment, the control system can include one or more switches or inputs wherein the automatic control structure of the closure system, articulation lock system, and/or firing system can be selectively activated, deactivated, and/or reactivated.

In various instances, referring to fig. 39, transmission assembly 7000 and/or shaft assembly 8000 include one or more sensors configured to be able to detect rotation of shaft assembly 8000 relative to transmission assembly 7000 to determine whether shaft assembly 8000 is being assembled to or disassembled from transmission assembly 7000. In some cases, the transmission assembly 7000 and/or the shaft assembly 8000 include one or more sensors configured to detect the depression of the button portion 8920 and/or actuation of the locking member 8923 to determine whether the shaft assembly 8000 is being assembled to or disassembled from the transmission assembly 7000. For example, in at least one instance, the control system can be configured to evaluate more than one state of the surgical instrument 5000, such as rotation of the shaft assembly 8000 relative to the transmission assembly 7000 and depression of the button portion 8920, to determine whether the shaft assembly 8000 is being assembled to or disassembled from the transmission assembly 7000. Among other things, this arrangement reduces the likelihood of inaccurate assessment of the surgical instrument 5000.

As described herein, when the shaft assembly 8000 is assembled to the transmission assembly 7000, problems will occur if the movable components of the shaft assembly 8000 will not mate with corresponding movable components of the transmission assembly 7000. In some cases, the movable components of the transmission assembly 7000 and the shaft assembly 8000 have sufficient float or tilt therein, which allows such components to self-mate or self-adjust during assembly of the shaft assembly to the transmission assembly 7000. In other cases, one or more systems of the surgical instrument 5000 may be manually manipulated to match the movable components of the transmission assembly 7000 and the shaft assembly 8000. As described herein, the housing assembly 6000 and/or the transmission assembly 7000 include one or more emergency assistance systems that can be manually manipulated to match the movable components of the surgical instrument 5000.

As described above, the transmission assembly 7000 includes a slider assembly 7700 configured to receive linear input from the robotic surgical instrument to operate the closure and articulation system of the surgical instrument 5000. The slider assembly 7700 is similar in many respects to the slider assembly 3700. For example, referring to fig. 42-50, a slider assembly 7700 includes a first slider 7710, a second slider 3720, a third slider 3730, and a fourth slider 3740. Similar to slider assembly 3700, see fig. 43, second slider 3720 of slider assembly 7700 engages drive disk 3820 of drive disk array 3800 and is movable proximally to open end effector 4200. However, unlike first slider 3710 of slider assembly 3700, first slider 7710 of slider assembly 7700 also directly engages drive disk 3820, as shown in FIG. 44. Thus, the first slider 7710 and the second slider 3720 of the slider assembly 7700 move in the same direction. To pull the first slider 7710 and the second slider 3720 distally to close the end effector 4200, one of the first linear actuator and the second linear actuator is attached to the first slider 7710 and the second slider 3720 such that a robotic surgical system can apply a pulling force thereto. In at least one instance, a first linear actuator of the robotic surgical system is attached to the first input socket 7712 of the first slider 7710 such that the first linear actuator can pull the first slider 7710 proximally.

In addition to the above, second drive socket 3722 is fixedly mounted to second slider 3720, third drive socket 3732 is fixedly mounted to third slider 3730, and fourth drive socket 3742 is fixedly mounted to fourth slider 3740. However, referring to FIGS. 46-47C, the first drive socket 7712 is rotatably mounted to the first slider 7710 of the slider assembly 7700. The first drive socket 7712 includes an arm or link 7714 rotatably mounted to the first slider 7710 about a post 7716 extending through an elongated aperture 7718 defined in the end of the arm 7714. Such an arrangement includes a double-bar linkage, but any suitable arrangement can be used. As described in further detail below, the first slider 7710 can be manually manipulated to assist in the closure drive of the surgical instrument 5000.

In addition to being rotatably mounted to the first slider 7710, the first drive socket 7712 is selectively pinned or pinned to the transmission assembly housing 7100 by a panic assist pin 7790. The transmission assembly housing 7100 includes a pin mount 7414 extending therefrom that includes a pin aperture extending therethrough that aligns with a pin aperture defined in the arm 7714 of the first drive socket 7712 when the emergency auxiliary pin 7790 is engaged with the first drive socket 7712 and the housing 7100. The emergency assist pin 7790 includes a pin shaft 7794 that extends through pin bores defined in the pin mount 7414 and the first drive socket 7712 and prevents relative translation between the first drive socket 7712 and the transmission assembly housing 7100. However, this arrangement allows for relative rotation between the first drive device socket 7712 and the transmission assembly housing 7100. For example, referring to fig. 47A, as the first slider 7710 is pushed proximally, the first drive socket 7712 rotates to a distal rotational position. Further, referring to fig. 47B, as the first slider 7710 is pushed distally, the first drive socket 7712 rotates to a proximal rotational position.

In addition to the above, referring to fig. 48, the engagement between the first drive device socket 7712 and the transmission assembly housing 7100 can at least partially resist or constrain movement of the first slider 7710 and the closure system. Thus, the emergency assist pin 7790 is able to maintain a clamping pressure within the end effector 4200 when the end effector 4200 is in its closed position. When the emergency auxiliary pin 7790 is pulled or extracted from the first drive socket 7712 by the clinician, as shown in fig. 47C, the first drive socket 7712 is no longer coupled to the transmission assembly housing 3100. In this case, the first sled 7710 may be responsive, or movable, by the clinician to release at least some of the clamping pressure within the end effector 4200, as shown in fig. 49.

As described above, the slider assembly 7700 is also configured to operate an articulation system of the surgical instrument 5000. Referring to fig. 43, third slider 3730 is engaged with drive disk 3830, which is engaged with first articulation drive 7410 such that when third slider 3730 is moved proximally, third slider 3730 drives drive disk 3830 and first articulation drive 7410 proximally to articulate end effector 4200 in its first direction (i.e., to the right). Referring to fig. 44, fourth slider 3740 is engaged with drive disk 3840 which is engaged with second articulation drive 7420 such that when fourth slider 3740 is moved proximally, fourth slider 3740 drives drive disk 3840 and second articulation drive 7420 proximally to articulate end effector 4200 in its second direction (i.e., to the left).

Referring to fig. 51-65A, the surgical instrument 5000 further includes an articulation system emergency assist 6800 that is configured to return the end effector 4200 to its non-articulated position. As described in greater detail below, the articulation system emergency assist device 6800 is operable in a first direction to move the end effector 4200 from a right articulation position (fig. 62) to its non-articulation position (fig. 64) and is also operable in a second direction to move the end effector 4200 from a left articulation position (fig. 63) to its non-articulation position (fig. 64). In various circumstances, the articulation system emergency assist device 6800 can be used to change the articulation position of the end effector 4200 as desired. In any event, referring primarily to fig. 57 and 58, the articulation system emergency assistance device 6800 is positioned in the housing 6100 of the housing assembly 6000 and is accessible by opening an emergency assistance door 6090 rotatably mounted to the housing 6100 about a hinge 6020. The housing assembly 6000 includes at least one lock or latch configured to releasably retain the emergency auxiliary door 6090 in its closed position (fig. 57), but to releasably permit the emergency auxiliary door 6090 to rotate to its open position (fig. 58).

Referring primarily to fig. 65A, the articulation system emergency assist device 6800 includes a handle or crank 6810 rotatably mounted to the housing 6100 and also includes a spur gear 6820 fixedly mounted to the handle 6810. Thus, the handle 6810 and spur gear 6820 may rotate together. The articulation system emergency assistance device 6800 further includes a spur gear 6830 fixedly mounted to a proximal end of a rotatable shaft 6840 that is rotatably supported within the housing 6100. As described in more detail below, spur gear 6820 may be engaged with spur gear 6830 such that rotational motion may be transmitted from handle 6810 to shaft 6840. The articulation system emergency assistance device 6800 further includes a bevel gear 6850 fixedly mounted to the distal end of the shaft 6840 and additionally includes a bevel gear 6860 in meshing engagement with the bevel gear 6850. Bevel gear 6860 is fixedly mounted to a transfer shaft 6870 rotatably supported in housing 6100 and extending orthogonally, or at least substantially orthogonally, to shaft 6840. The articulation system emergency assist device 6800 also includes a pinion 6880 fixedly mounted to the transfer shaft 6870, which thus rotates with the bevel gear 6860 and the transfer shaft 6870.

In addition to the above, referring again to fig. 65A, third slider 3730 of slider assembly 7700 includes a rack 7730 extending proximally therefrom. Similarly, fourth slider 3740 of slider assembly 7700 includes a rack 7740 extending proximally therefrom. Each

rack

7730,7740 includes an inwardly facing longitudinal rack that is in meshing engagement with a pinion 6880 of an articulation system emergency assist device 6800. Thus, as third slider 3730 moves proximally, third slider 3730 drives fourth slider 3740 distally to articulate end effector 4200 rightward. Similarly, as fourth slider 3740 moves proximally, fourth slider 3740 drives third slider 3730 distally to articulate end effector 4200 leftward. Further, as the pinion 6880 rotates in a first direction, the articulation system emergency assist device 6800 drives the third slider 3730 proximally and the fourth slider 3740 distally to articulate the end effector 4200 in its first direction (i.e., to the right), as shown in fig. 66, and correspondingly, as the pinion 6880 rotates in a second direction or opposite direction, the articulation system emergency assist device 6800 drives the third slider 3730 distally and the fourth slider 3740 proximally to articulate the end effector 4200 in its second direction (i.e., to the left).

As a result of the above, the articulation system emergency assist device 6800 can be actuated in a first direction to assist the articulation system in one direction and actuated in a second direction to assist the articulation system in the other direction. In various circumstances, the handle 6810 rotates in a clockwise and counterclockwise direction to drive the articulation system emergency assistance device 6800 in its first and second directions. Such a bi-directional emergency assistance system may be suitable for any of the emergency assistance systems disclosed herein and/or any other suitable emergency assistance system for a surgical instrument.

As described above, spur gear 6820 of articulation system emergency assistance device 6800 may be engaged with spur gear 6830. More specifically, spur gear 6820 remains out of operative engagement with spur gear 6830 when emergency auxiliary door 6090 is in its closed position, as shown in fig. 61, and then is in operative engagement with spur gear 6830 when emergency auxiliary door 6090 is open, as shown in fig. 58 and 62-64. Referring primarily to fig. 58, emergency assistance door 6090 includes a mount 6010 extending therefrom that is configured to move spur gear 6820 and handle 6810 distally out of operative engagement with spur gear 6830 and/or to hold spur gear 6820 out of operative engagement with spur gear 6830 when emergency assistance door 6090 is in its closed position (fig. 61). In this case, the mount 6010 is positioned intermediate the spur gear 6820 and the side wall of the housing 6100. Referring again to fig. 58, when emergency auxiliary door 6090 is opened, mount 6010 is no longer positioned between spur gear 6820 and the side wall of housing 6100. In this case, the clinician may grasp the handle 6810 and slide the handle 6810 distally to operably engage the spur gear 6820 with the spur gear 6830. In some embodiments, the articulation system emergency assistance device 6800 includes a biasing member, such as a spring, for example, configured to bias the handle 6810 distally when the emergency assistance door 6090 is open and to automatically couple the spur gear 6820 with the spur gear 6830.

Once spur gear 6820 of articulation system emergency assist device 6800 is operably coupled with spur gear 6830, handle 6810 can be rotated in a first direction to articulate end effector 4200 in its first direction (i.e., to the right) and rotated in a second direction to articulate end effector 4200 in its second direction (i.e., to the left), as described above. In various circumstances, for example, the articulation system emergency assist device 6800 is configured such that a quarter turn or turn of the handle 6810 can articulate the end effector 4200 from its non-articulation position to its fully right articulation position. Similarly, in this case, a quarter turn or turn of the handle 6810 in the opposite direction may articulate the end effector 4200 from its non-articulated position to its fully left articulated position. In other embodiments, the handle 6810 can be rotated less than one quarter turn or more than one quarter turn to fully articulate the end effector 4200 from its non-articulated position to, for example, its fully right articulation position or fully left articulation position. In at least one embodiment, the handle 6810 is rotated more than one full revolution to fully articulate the end effector 4200 from its non-articulation position to, for example, its fully right articulation position or fully left articulation position. In certain embodiments, the handle 6810 can include a bi-directional ratchet, for example, configured such that the end effector 4200 can be fully articulated without having to rotate the handle 6810 through a wide range of positions.

In various circumstances, in addition to the above, if a clinician attempts to articulate the end effector 4200 to its non-articulated position using the articulation system emergency assistance device 6800, it may not be possible to see the end effector 4200 while the end effector is using the articulation system emergency assistance device 6800. In at least one such instance, the end effector 4200 can still be positioned within, for example, a patient. Thus, without further information, the clinician may not know the direction of rotation of the handle 6810 and/or the degree of rotation of the handle 6810 in order to properly position the end effector 4200. Referring primarily to fig. 58, the surgical instrument 5000 also includes an indicator 6890 configured to communicate sufficient information to the clinician, for example, to return the end effector 4200 to its non-articulated position. Referring now to fig. 65A, the indicator 6890 is fixedly mounted to the transmission shaft 6870 and rotatable with the transmission shaft 6870 as the transmission shaft 6870 is rotated by

racks

7730 and 7740 extending proximally from the third and

fourth sliders

3730 and 3740, respectively, and/or as the transmission shaft 6870 is rotated by the articulation system emergency assist device 6800. Referring primarily to fig. 62-64, the housing 6100 of the housing assembly 6000 also includes indicia R, C and L defined thereon, and the indicator 6890 points to C or a center indicia when the end effector 4200 is in its non-articulated position (fig. 64). The indicator 6890 points to R calibration when the end effector 4200 is in its fully right articulation position (fig. 62). Similarly, when the end effector 4200 is in its fully left articulation position, the indicator 6890 is pointed at L calibration. Alternatively, any other suitable arrangement and/or calibration may be used. In at least one instance, the indicator comprises, for example, an electronic indicator.

In various circumstances, the housing assembly 6000 may also include detents that may at least inhibit movement of the articulation system emergency assistance device 4200 when the end effector 4200 has reached its non-articulated or centered position. In some instances, the pawl can be configured to allow the end effector 4200 to pass through its non-articulated position to the opposite side, and can provide some form of feedback to the clinician. In various cases, the feedback may be, for example, tactile and/or audible. In some cases, the housing assembly 6000 may include a hard stop that may prevent the end effector 4200 from being manually articulated beyond its non-articulated position.

Referring to fig. 51-56, a housing assembly 6000 of the surgical instrument 5000 includes a firing drive system 6500 configured to advance and retract a firing drive 7500. The firing drive system 6500 includes a rotatable drive input 6590 operably engageable with a rotational output of the robotic surgical instrument. The firing drive input 6590 is rotatably supported by the housing 6100 and is accessible through an opening 2150 defined in the housing 6100. The firing drive system 6500 further includes a bevel gear 6580 fixedly mounted to the firing drive input 6590 such that the bevel gear 6580 rotates with the firing drive input 6590, and further includes a bevel gear 6570 in meshing engagement with the bevel gear 6580 such that the bevel gear 6570 is rotated by the bevel gear 6580.

In addition to the above, the firing drive system 6500 also includes a transfer shaft 6560 and a spur gear 6550. The bevel gear 6570 is fixedly mounted to the transfer shaft 6560 such that the transfer shaft 6560 is rotated by the bevel gear 6570. The transmission shaft 6560 is rotatably supported by the housing 6100, and the spur gear 6550 is fixedly mounted to the transmission shaft 6560 such that the spur gear 6550 rotates together with the transmission shaft 6560. The firing drive system 6500 also includes a spur gear 6540, a translatable shaft 6530, and a bevel gear 6520. The spur gear 6540 and bevel gear 6520 are fixedly mounted to the translatable shaft 6530 and rotate with the translatable shaft 6530. Referring to fig. 54, translatable shaft 6530 may be positioned in a drive position in which spur gear 6540 is in meshing engagement with spur gear 6550, and bevel gear 6520 is also in meshing engagement with bevel gear 6510, which is threadably engaged with a threaded portion of firing link 7510 of firing system 7500. In such positions of the translatable shaft 6530, rotation of the firing drive input 6590 may be transferred to the firing link 7510. In use, the firing link 7510 translates distally to perform a firing stroke when the bevel gear 6510 is rotated by the robotic surgical system in a first direction, and translates proximally to perform a retraction stroke when the bevel gear 6510 is rotated by the robotic surgical system in a second or opposite direction.

In addition to the above, referring to fig. 55, translatable shaft 6530 is slidably supported by housing 6100 between its driving position discussed above and an emergency assistance position as described below. When translatable shaft 6530 is moved from its driven position to its emergency assistance position, bevel gear 6520 is lifted out of engagement with bevel gear 6510. In other words, bevel gear 6520 is not operably engaged with bevel gear 6510 when shaft 6530 is in its emergency assistance position. The shaft 6530 includes an emergency assistance knob 6790 fixedly mounted thereto that is configured to be manually lifted by a clinician to operably disengage the bevel gear 6520 from the bevel gear 6510 and disengage the robotic surgical system from the firing drive 7500. In this case, rotation of the firing drive input 6590 cannot be transmitted to the bevel gear 6510, and thus, the firing link 7510 cannot be translated by the robotic surgical system through the firing drive system 6500. To re-couple the robotic surgical system using the firing drive system 7500, the translatable shaft 6530 can be returned to its drive position (fig. 54) to operably re-engage the bevel gear 6520 with the bevel gear 6510.

In addition to the above, the surgical instrument 5000 also includes a firing system emergency assist device 6700. The firing system emergency assist device 6700 includes a drive gear 6510 in meshing engagement with a bevel gear 6710 and additionally includes a handle 6730 that includes an internal ratchet pawl 6720. The internal ratchet pawl 6720 is positioned within a window or opening defined in the handle 6730 and is rotatably mounted to the handle 6730 about a pin. Notably, the drive gear 6710 and the handle 6730 can rotate about a common pin and/or axis of rotation. When the handle 6730 is rotated from its position shown in fig. 55 to its position shown in fig. 56, the ratchet pawl 6720 engages the inner array of teeth defined on the drive gear 6710, and at this point, the handle 6730 is available to rotate the drive gear 6710. In such cases, rotation of the drive gear 6710 is transferred to the bevel gear 6510, which translates or retracts the firing link 7510 of the firing drive 7500 proximally.

Notably, in addition to the above, the inner array of teeth defined on the drive gear 6710 driven by the ratchet pawl 6720 does not engage the bevel gear 6510; instead, an outer array of teeth defined on the drive gear 6710 are in meshing engagement with a bevel gear 6710 that is different from an inner array of teeth engaged by the ratchet pawl 6720. When the handle 6730 is rotated from its position shown in fig. 56 to its position shown in fig. 55, the ratchet pawl 6720 slides over the teeth of the drive gear 6710 without back-driving or at least substantially back-driving the drive gear 6710. Once the handle 6730 has been reset, or at least substantially reset, to the position shown in FIG. 55, the handle 6730 can be rotated again to further retract the firing link 7510. This process may be repeated as many times as desired until the firing link 7510 has been retracted sufficiently to allow the end effector 4200 to be reopened.

In many instances, in addition to the above, the surgical instrument 5000 has been operably separated from the robotic surgical instrument when the firing system emergency assist device 6700 was used to retract the firing drive 7500. In such cases, when the firing drive 7500 is no longer operably coupled to the robotic surgical system, the emergency assist knob 6790 does not have to be pulled to retract the firing drive 7500. That is, if desired, the emergency assist knob 6790 can be pulled to operably disengage the firing drive input 6590 from the firing drive 7500. In other cases, the surgical instrument 5000 remains operably coupled to the robotic surgical system when the firing system emergency assist device 6700 is used to retract the firing drive 7500. In such cases, the firing system emergency assist device 6700 may have difficulty overcoming inertia and/or resistance within the rotary drive of the robotic surgical system, and thus, pulling the emergency assist knob 6790 to operably disengage the firing drive 7500 from the firing drive input 6590 may be helpful.

Robotic surgical systems may be used with various types of surgical instruments that are attachable to a common robotic output interface. The user may detach the surgical instrument attachment from the robotic output interface and then attach a different surgical instrument to the robotic output interface in its place. The first surgical instrument attachment and the second surgical instrument attachment may perform the same function or different functions. In either case, it can be advantageous to provide a sterile barrier between the surgical instrument attachment and the robotic output interface to limit contamination of the reusable robotic output interface. In various cases, the surgical instrument attachment is configured to be attachable to and detachable from the sterile adapter when the sterile adapter is attached to the robotic output interface. The sterile adapter provides a sterile barrier between the surgical instrument attachment and the robotic output interface while also allowing the robotic output interface to be operably coupled with the surgical instrument attachment, thereby allowing the robotic output interface to actuate a drive system of the surgical instrument attachment.

In current designs, an intermediate attachment portion between the surgical instrument attachment and the common robotic output interface requires an idler powertrain interface to couple the output of the robotic output interface with the input of the surgical instrument attachment. In such designs, the output of the robotic output interface drives not only the input of the surgical instrument attachment, but also the idler drive train interface of the intermediate attachment portion. This presents challenges to the clinician when attempting to remove the surgical instrument attachment from the adapter when the drive system of the surgical instrument attachment is stuck and/or in, for example, an overload condition. When the surgical instrument attachment is stuck, the clinician is not only faced with the task of mating with the primary means of attaching the intermediate attachment portion and the surgical instrument attachment, but the clinician must also resist the pressure applied to the idler drivetrain interface by the drive system of the surgical instrument attachment. Thus, providing a sterile adapter that does not require a drive interface between the surgical instrument attachment, the sterile adapter, and the robotic output interface may provide previously unavailable advantages.

Referring now to fig. 67-71, a surgical instrument assembly 10000 includes a surgical instrument attachment 10100 and a sterile adapter 10200. The sterile adapter 10200 is configured to be attachable to and detachable from a robotic output interface. The surgical instrument attachment 10100 is configured to be attachable to and detachable from the sterile adapter 10200 such that one or more drive devices of the surgical instrument attachment 10100 can be directly actuated by one or more corresponding drive outputs of the robotic output interface. The surgical instrument attachment 10100 includes an attachment interface portion 10110 (fig. 69) configured to be received by the sterile adapter 10200 and a body portion 10150 that includes various components 10170 (fig. 69) of one or more driving devices of the surgical instrument attachment 10100. The attachment interface portion 10110 and the body portion 10150 of the surgical instrument attachment 10100 share a common shroud or housing 10101.

Referring now to fig. 68, the surgical instrument attachment 10100 includes one or more linearly actuatable drive devices. Each linearly actuated drive includes a slider 10160, an actuation arm 10161 extending from the slider 10160, and a shaft 10162. Each slider 10160 is slidably mounted to a shaft 10162. Each linearly actuated drive also includes a spring 10164 configured to bias the slider 10160 in a proximal direction. Each slider 10160 comprises a drive mounting portion 10163 and each linearly actuated drive means further comprises a linear drive output 10165 attached to its respective drive mounting portion 10163. When the slider 10160 is actuated and translates relative to the shaft 10162, the linear drive output 10165 translates relative to the shaft 10162 to affect various functions of the surgical instrument attachment 10100. The sliders 10160 may be actuated independently and/or simultaneously. Each actuation arm 10161 is configured to translate within a longitudinal bore 10103 defined on the housing 10101 when the actuation arm 10161 is actuated by the robot output interface.

In addition to the above, the surgical instrument attachment 10100 further comprises one or more

rotational drives

10180,10190. The rotational drive 10180 comprises a drive input 10181 configured to be coupled with a drive output of the robot output interface, a flexible drive member 10182, and a drive shaft 10183 coupled to the drive input 10181 by a flexible drive member 10182. The drive shaft 10183 includes a rotational drive output 10184 mounted thereto and configured to affect the function of the surgical instrument attachment 10100. The rotational drive 10190 comprises a drive input 10191 configured to be able to couple with a drive output of the robot output interface, a flexible drive member 10192, and a drive shaft 10193 coupled to the drive input 10191 by the flexible drive member 10192. The drive shaft 10193 is concentric with the drive shaft 10183 and includes a rotational drive output configured to affect the function of the surgical instrument attachment 10100.

A hole or cavity 10211 is provided on the sterile adapter 10200 to allow the actuation arm 10161 to be coupled to a corresponding drive output of the robotic output interface. The sterile adapter 10200 includes two sides 10210, wherein each side 10210 includes two cavities 10211 providing a total of four channels (one channel per actuation arm 10161). Thus, the actuation arm 10161 of the slider 10160 may be coupled to four corresponding drive outputs of the robotic interface and may be longitudinally movable within the corresponding cavity 10211. Embodiments are contemplated that include more or less than four sliders 10160, and in such embodiments, sterile adapter 10200 may include any suitable number of cavities 10211 to accommodate sliders 10160. The sterile adapter 10200 further includes an alignment aperture 10213 defined on the mating face 10201 of the sterile adapter 10200. The alignment holes 10213 are configured to receive alignment tabs 10113 of the attachment interface portion 10110. The alignment tab 10113 extends distally from the mating face 10102 of the housing 10101 of the surgical instrument attachment 10100 and is the primary support structure for the attachment of the surgical instrument attachment 10100 and the sterile adapter 10200.

To attach the surgical instrument attachment 10100 to the sterile adapter 10200 and thus couple the actuation arm 10161 to the drive output of the robotic output interface, the alignment tab 10113 is aligned with the aperture 10213 and the surgical instrument attachment 10100 is pushed or pulled distally to bring the mating face 10102 of the surgical instrument attachment 10100 into proximity with the mating face 10201 of the sterile adapter 10200. Upon approximation of

mating face

10102,10201, protrusions 10220 of sterile adapter 10200 are received within apertures 10106 defined on housing 10101 and are configured to engage corresponding latching mechanisms of attachment interface portion 10110. Each latch mechanism includes (a) a lever 10120 pivotally mounted to the spine 10114 of the surgical instrument attachment 10100 by a pin 10112 and (b) a spring 10115 configured to bias the lever 10120 into a locked configuration (fig. 69 and 71). A stop pin 10117 is also provided in sterile adapter 11200 for each lever 10120 to prevent lever 10120 from rotating beyond its locked configuration. Each spring 10115 is based on a ridge 10114 and is mounted to the lever 10120 via a protrusion 10122 defined on the lever 10120. The tab 10220 of the sterile adapter 10200 is configured to engage the lever 10120 such that when the sterile adapter 10200 and the surgical instrument attachment 10100 are fully attached to each other, the tab 10220 is configured to retain the lever 10120 in its locked configuration and to retain the surgical instrument attachment 10100 on the sterile adapter 10200.

In addition to the above, each lever 10120 includes an engagement surface 10121, which engagement surfaces 10221 defined on the protrusions 10220 engage when the mating surfaces 10201,10102 are approximated to connect the surgical instrument attachment 10100 to the sterile adapter 10200. During an initial phase of approach, the tab 10220 overcomes the spring biasing force applied to the lever 10120 by the spring 10115 and rotates the lever 10120 about the pin 10112 toward the unlocked configuration (fig. 70). Once the

mating face

10201,10102 is fully approximated, or once the engagement surface 10121 is distal to the engagement surface 10221, the spring 10115 causes the lever 10120 to spring back to its locked configuration (fig. 71). In its locked configuration, each tab 10220 includes a proximal flange that hooks onto the lever 10120 and releasably holds it in place.

To separate the surgical instrument attachment 10100 from the sterile adapter 10200, a user can squeeze the proximal portion 10123 of the lever 10120 inwardly or toward each other within an opening 10105 defined on the housing 10101. The lever 10120 is squeezed to overcome the spring force applied to the lever 10120 by the spring 10115 so that the surgical instrument attachment 10100 can be pulled out of the sterile adapter 10200. In such cases, the lever 10120 is rotated away from the stop pin 10117 and into a position in which the engagement surfaces 10121,10221 are at least substantially parallel to one another to allow the tab 10220 to disengage from the latch mechanism or lever 10120 and allow the tab 10220 to retract through the aperture 10106. The surgical instrument attachment 10100 can then be removed away from the sterile adapter 10200, and since the sterile adapter 10200 is not directly engaged with the linearly actuatable arm 10161, removal of the surgical instrument attachment 10100 does not involve overcoming the residual force applied to the linearly actuatable arm 10161 by the drive output of the robotic output interface. Once the tab 10220 is disengaged from the lever 10120, the lever 10120 is released and is biased by the spring 10115 back to its locked configuration.

Referring now to fig. 72-77, a surgical instrument assembly 11000 includes a surgical instrument attachment 11100 and a sterile adapter 11200. Similar to the sterile adapter 10200, the sterile adapter 11200 is configured to be attachable to and detachable from a robotic output interface. The surgical instrument attachment 11100 is configured to be attachable to and detachable from the sterile adapter 11200 such that one or more drive devices of the surgical instrument attachment 11100 can be directly actuated by one or more corresponding drive outputs of the robotic output interface. The surgical instrument attachment 11100 includes an attachment interface portion 11110 (fig. 73) configured to be received within the sterile adapter 11200 and a body portion 11150 including various components 11170 (fig. 73) of one or more driving devices of the surgical instrument attachment 11100. The attachment interface portion 11110 and the body portion 11150 of the surgical instrument attachment 11100 share a common shroud or housing 11101, although the attachment interface portion 11110 and the body portion 11150 may comprise separate housings.

The surgical instrument attachment 11100 includes the same linearly actuatable drive arrangement described above. Each actuation arm 10161 is configured to translate within a longitudinal bore 11103 defined in the housing 11101 when the actuation arm 10161 is actuated by the robotic output interface. A hole or cavity 11211 is provided on the sterile adapter 11200 to allow the actuator arm 10161 to be coupled to a corresponding drive output of the robotic output interface. The sterile adapter 11200 includes two sides 11210, wherein each side 11210 includes two cavities 11211 providing a total of four channels (one for each actuation arm 10161). Thus, the actuation arm 10161 may be coupled to four corresponding drive outputs of the robotic interface and may be longitudinally movable within the corresponding cavity 11211. Embodiments are contemplated that include more or less than four sliders 10160, and in such embodiments, sterile adapter 11200 may include any suitable number of cavities 11211 to accommodate sliders 10160. The sterile adapter 11200 further includes an alignment aperture 11213 defined on the mating face 11201 of the sterile adapter 11200. The alignment aperture 11213 is configured to receive the alignment protrusion 11113 of the attachment interface portion 11110 and extend distally from the mating face 11102 of the housing 11101 of the surgical instrument attachment 11100. Alignment tab 11113 is the primary support structure for the attachment of surgical instrument attachment 11100 and sterile adapter 11200.

To attach the surgical instrument attachment 11100 to the sterile adapter 11200 and thus couple the actuation arm 10161 to the drive output of the robotic output interface, the alignment tab 11113 is aligned with the aperture 11213 and the surgical instrument attachment 11100 is pushed or pulled distally to bring the mating face 11102 of the surgical instrument attachment 11100 into proximity with the mating face 11201 of the sterile adapter 11200. Upon approximation of

mating face

11102,11201, protrusion 11220 of sterile adapter 11200 is received within aperture 11105 defined on housing 11101 and engages a corresponding latch mechanism of attachment interface portion 11110. Although only one latch mechanism is shown, more than one latch mechanism is contemplated. Each latch mechanism includes a lever 11120 pivotally mounted to a spine 11114 of the surgical instrument attachment 11100 by a pin 11112, a cam nested within the lever 11120 and pivotally mounted to the spine 11114 by a pin 11117, and a spring 11115 based on the spine 11114 and configured to bias the lever 11120 and cam 11130 into a locked configuration (fig. 73 and 75). The protrusion 11220 is configured to engage the lever 11120 and the cam 11130 such that when the sterile adapter 11200 and the surgical instrument attachment 11100 are fully attached to one another, the protrusion 11220 is configured to retain the lever 11120 in its locked configuration to retain the surgical instrument attachment 11100 on the sterile adapter 11200.

In addition to the above, the cam 11130 includes an unlocking surface 11131 that is engaged by an engagement surface 11221 defined on the tab 11220 when the

mating surface

11201,11102 is accessed to connect the surgical instrument attachment 11100 to the sterile adapter 11200. During an initial stage of approximation, referring to fig. 73, tab 11220 overcomes the spring biasing force applied to lever 11120 by spring 11115. When the engagement surface 11221 engages the unlocking surface 11131, see fig. 74, the cam 11130 rotates about the pin 11117. As the cam 11130 rotates about the pin 11117, the lobe 11135 of the cam 11130 pushes against the engagement surface 11125 of the lever 11120 to rotate the lever 11120 toward its unlocked configuration (fig. 74). Once the

mating surface

11201,11102 is fully approximated, or once the unlocking surface 11223 of the tab 11220 clears or is proximal to the engagement surface 11131 of the cam 11130, the spring 11115 causes the lever 11120 to spring back to its locked configuration (fig. 75). In its locked configuration, see fig. 75, each tab 11220 includes a proximal flange that hooks onto and releasably holds the lever 11120. More specifically, the locking surface 11223 of the tab 11220 is configured to be retained on the volute portion 11133 of the cam 11130, thereby preventing rotation of the cam by engagement of the retaining surface 11126 of the lever 11120 with the lobe 11135 (fig. 75).

Referring now to fig. 76, a user can squeeze the proximal portion 11123 of the lever 11120 within an opening 11105 defined in the housing 11101 to compress the spring 11115 and separate the surgical instrument attachment 11100 from the sterile adapter 11200. Pressing against the lever 11120 and overcoming the spring force applied to the lever 11120 by the spring 11115, allowing the lobe 11135 of the cam 11130 to clear the retention surface 11126 of the lever 11120. Once the lobe 11135 can rotate past the retaining surface 11126, the surgical instrument attachment 11100 can be pulled proximally from the sterile adapter 11200 to a partially detached state. When the surgical instrument attachment 11100 is pulled out of the sterile adapter 11200, the locking surface 11223 of the protrusion 11220 pulls the volute portion 11133 of the cam 11130, thereby rotating the cam 11130 to the unlocked position. Once the engagement surface 11221 of the tab 11220 clears the volute portion 11133 of the cam 11130, see fig. 77, the spring 11115 biases the lever 11120 and cam 11130 back to their locked configuration. At this point, the tab 11220 and the latch mechanism 11120 are then disengaged to allow the tab 11220 to retract through the aperture 11105. The surgical instrument attachment 11100 can then be removed in a proximal direction away from the sterile adapter 11200, and since the sterile adapter 11200 is not directly engaged with the linearly actuatable arm 10161 of the surgical instrument attachment 11100, removal of the surgical instrument attachment 11100 does not involve overcoming the residual force applied to the linearly actuatable arm 10161 by the drive output of the robotic output interface. In other words, the means for attaching the surgical instrument attachment 11100 to the sterile adapter 11200 is independent of the means for engaging the drive output with the linearly actuatable arm 10161.

As described above, the surgical instruments disclosed herein are operably attached to, for example, a robotic surgical system, such as robotic surgical system 9000 shown in fig. 78. In various instances, robotic surgical system 9000 comprises one or more arms configured to manipulate one or more surgical instruments disclosed herein. Various robotic surgical systems are disclosed in U.S. patent 2012/0298719 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS" filed 5.27.2011, now U.S. patent 9,072,535, the entire disclosure of which is incorporated herein by reference. Further, the surgical instruments disclosed herein may be adapted to be operably attached to a handle of a hand-held surgical system.

Examples

Embodiment 1-a method for emergency assistance of a robotic surgical attachment attached to a surgical robot, the method comprising the steps of: disengaging a drive output of the surgical robot from an actuator of the robotic surgical attachment; detaching the robotic surgical attachment from the surgical robot; and actuating the closure emergency assist device of the robotic surgical attachment in a first direction to open the jaws of the end effector of the robotic surgical attachment and actuating in a second direction to close the jaws of the end effector.

Embodiment 2-the method of embodiment 1, wherein the disengaging step comprises pulling a pin to disengage the drive output from the actuator.

Example 3-the method according to example 1 or 2, wherein the step of disengaging can be performed before or after the step of separating.

Embodiment 4-the method of embodiments 1, 2, or 3, further comprising the step of actuating the firing emergency assist device to retract the firing member of the robotic surgical attachment.

Embodiment 5-the method of embodiment 1, 2, 3, or 4, further comprising the step of actuating an additional emergency assist device to selectively open and close jaws of an end effector of a robotic surgical attachment.

Embodiment 6-the method of embodiment 5, wherein the step of activating the additional emergency assistance device can be performed before or after the disengaging step.

Embodiment 7-the method of embodiments 5 or 6, wherein the additional emergency assistance device is configured to translate the spine member of the robotic surgical attachment relative to the closure tube of the robotic surgical attachment, and wherein the closure emergency assistance device is configured to translate the closure tube relative to the spine member.

Embodiment 8-the method of embodiment 1, 2, 3, 4, 5, 6, or 7, wherein the end effector is configured to articulate relative to the shaft of the robotic surgical attachment, and wherein the method further comprises the step of actuating the articulation emergency assist device to disarticulate the end effector of the robotic surgical attachment.

Example 9-a method for emergency assistance of a surgical instrument assembly attached to a control interface, the method comprising the steps of: actuating the firing emergency assist device to retract a firing member of the surgical instrument assembly; actuating the first closure emergency assist device to loosen tissue within the end effector of the surgical instrument assembly; actuating the second closure emergency assist device to loosen tissue within the end effector of the surgical instrument assembly; actuating either the first or second closure emergency assist device to clamp the end effector; removing the surgical instrument assembly from the patient through the trocar; and separating the surgical instrument assembly from the control interface.

Embodiment 10-the method of embodiment 9, wherein the first closure emergency assist device is configured to translate the spine member of the surgical instrument assembly relative to the closure tube of the surgical instrument assembly.

Embodiment 11-the method of embodiment 10, wherein the second closure emergency assistance device is configured to translate the closure tube relative to the spine member.

Example 12-a method for emergency assistance of a surgical instrument assembly attached to a control interface, the method comprising the steps of: actuating the operating system of the surgical instrument assembly through an operating stroke; actuating the manually driven emergency assistance system to at least partially retract the operating system; and actuating the manually driven emergency assistance system to at least partially propel the operating system through an operating stroke.

Example 13-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a firing system, a closure system, a shaft, and an end effector comprising a first jaw, a second jaw, a clamped configuration, and an unclamped configuration, wherein the closure system is configured to be actuated by the surgical robot to selectively place the end effector in the clamped configuration and the unclamped configuration when the surgical instrument assembly is operably attached to the surgical robot. The surgical instrument assembly further includes a manually actuatable emergency assist device configured to actuate the closure system to manually place the end effector in the clamped and unclamped configurations when the surgical instrument assembly is decoupled from the surgical robot.

Example 14-the surgical instrument assembly of example 13, wherein the shaft comprises a spine, wherein the closure system comprises a closure tube, wherein the closure tube is configured to be actuated in a first direction to place the end effector in the clamped configuration and to be actuated in a second direction to place the end effector in the unclamped configuration, and wherein the first direction is opposite the second direction.

Example 15-the surgical instrument assembly of example 14, wherein the manually-actuatable emergency assist device is configured to actuate the spine in a first direction to place the end effector in the undamped configuration and to actuate the spine in a second direction to place the end effector in the clamped configuration.

Embodiment 16-the surgical instrument assembly of embodiments 14 or 15, wherein the manually actuatable emergency assist device comprises a rotational drive input, a drive screw configured to be actuated by the rotational drive input, and an actuator portion coupled to the drive screw and the spine.

Embodiment 17-the surgical instrument assembly of embodiments 13, 14, 15, or 16, wherein the closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of the surgical robot, and wherein the linearly actuatable drive portion is further configured to be manually actuated when the surgical instrument assembly is decoupled from the surgical robot.

Embodiment 18-the surgical instrument assembly of embodiments 13, 14, 15, 16, or 17, further comprising an articulation system configured to articulate the end effector relative to the shaft, wherein the articulation system comprises an actuator configured to be manually actuated when the surgical instrument assembly is decoupled from the surgical robot.

Embodiment 19-the surgical instrument assembly of embodiments 13, 14, 15, 16, 17, or 18, wherein the firing system comprises a firing member configured to move through a firing stroke, and wherein the firing system further comprises a firing system emergency assist configured to retract the firing member.

Embodiment 20-the surgical instrument assembly of embodiments 13, 14, 15, 16, 17, 18, or 19, wherein the manually-actuated emergency assistance device comprises a first manually-actuated emergency assistance device, and wherein the surgical instrument assembly further comprises a second manually-actuatable emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped and unclamped configurations when the surgical instrument assembly is attached to the surgical robot.

Embodiment 21-the surgical instrument assembly of embodiments 13, 14, 15, 16, 17, 18, 19, or 20, further comprising means for operably disengaging the motorized actuator of the surgical robot from the linear actuator of the closure system such that a manually actuatable emergency assist device can be used without interference from the motorized actuator of the surgical robot.

Embodiment 22-the surgical instrument assembly of embodiments 13, 14, 15, 16, 17, 18, 19, 20, or 21, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 23-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a firing system, a closure system, a shaft, and an end effector, the end effector comprising a first jaw, a second jaw, a clamped configuration, and an unclamped configuration, wherein the closure system is configured to be actuated by the surgical robot to place the end effector in the clamped configuration and the unclamped configuration when the surgical instrument assembly is attached to the surgical robot. The surgical instrument assembly further includes a first emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped and unclamped configurations when the surgical instrument assembly is decoupled from the surgical robot; and a second emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped and unclamped configurations when the surgical instrument assembly is attached to or detached from the surgical robot.

Example 24-the surgical instrument assembly of example 23, wherein the shaft comprises a spine, wherein the closure system comprises a closure tube, wherein the closure tube is configured to be actuated in a first direction to place the end effector in the clamped configuration and to be actuated in a second direction to place the end effector in the unclamped configuration, and wherein the first direction is opposite the second direction.

Embodiment 25-the surgical instrument assembly of embodiment 24, wherein the first emergency assistance device is configured to actuate the spine in a first direction to place the end effector in the undamped configuration and to actuate the spine in a second direction to place the end effector in the clamped configuration.

Embodiment 26-the surgical instrument assembly of embodiments 24 or 25, wherein the first emergency assistance device comprises a rotational drive input, a drive screw configured to be actuated by the rotational drive input, and an actuator portion coupled to the drive screw and the spine.

Embodiment 27-the surgical instrument assembly of embodiments 24, 25, or 26, wherein the closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of the surgical robot to actuate the closure tube, and wherein the linearly actuatable drive portion comprises a second emergency assist device.

Embodiment 28-the surgical instrument assembly of embodiments 23, 24, 25, 26, or 27, wherein the firing system comprises a firing member configured to move through a firing stroke, and wherein the firing system further comprises a firing system emergency assist configured to retract the firing member.

Embodiment 29-the surgical instrument assembly of embodiments 23, 24, 25, 26, 27, or 28, further comprising means for operably disengaging the motorized actuator of the surgical robot from the linear actuator of the closure system such that the first emergency assistance device can be used without interference from the motorized actuator of the surgical robot.

Embodiment 30-the surgical instrument assembly of embodiments 23, 24, 25, 26, 27, 28, or 29, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 31-a surgical system, the housing system comprising a surgical instrument attachment assembly comprising a shaft and an end effector. The surgical system further includes a transmission assembly configured to be operably attached to and detached from the surgical robot, wherein the surgical instrument attachment assembly is configured to be operably attached to and detached from the transmission assembly. The transmission assembly includes a drive system including a drive member movable in a first direction during a drive stroke and movable in a second direction during a return stroke, and the manually operated emergency assistance device is configured to selectively move the drive member in the first and second directions when the transmission assembly is attached to the surgical robot.

Embodiment 32-the surgical system of embodiment 31, wherein the manually operated emergency assistance device is configured to actuate a component of the transmission assembly that is not otherwise actuated during the drive and return strokes of the drive member.

Embodiment 33-the surgical system of embodiments 31 or 32, wherein the drive system comprises a closed drive system configured to clamp and unclamp the end effector.

Embodiment 34-the surgical system of embodiments 31, 32, or 33, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Embodiment 35-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises an articulation system, a shaft, an end effector configured to be articulated relative to the shaft by the articulation system, and an articulation emergency assist. The articulation emergency assistance device includes an emergency assistance engagement structure configured to prevent the articulation emergency assistance device from operably engaging the articulation system until the articulation emergency assistance device is activated; position indicating means for displaying an articulation position of the end effector during use of the articulation emergency assist; and a manually actuatable member configured to manually actuate the articulation system.

Embodiment 36-the surgical instrument assembly of embodiment 35 wherein the manually actuatable member comprises a ratchet mechanism.

Embodiment 37-the surgical instrument assembly of embodiments 35 or 36, wherein the articulation system comprises a dual articulation link and a dual articulation drive and wherein the position indication device is keyed to the dual articulation drive.

Embodiment 38-the surgical instrument assembly of embodiments 35, 36, or 37 wherein the emergency assistance engagement structure comprises a seat, wherein the manually actuatable member is maintained in a position wherein the articulation emergency assistance device is operably disengaged from the articulation system until the seat is moved away from the manually actuatable member.

Example 39-the surgical instrument assembly of example 38, wherein the articulation emergency assistance further comprises an activation structure, and wherein the seat is positioned on the activation structure such that the seat allows the articulation emergency assistance to engage the articulation system when the activation structure is activated.

Embodiment 40-the surgical instrument assembly of embodiment 39, wherein the activation structure comprises an access door configured to allow access to the articulation emergency assistance device when open and to prevent access to the articulation emergency assistance device when closed.

Embodiment 41-the surgical instrument assembly of embodiments 35, 36, 37, 38, 39, or 40, wherein the position indicating device comprises an indication dial and an antagonistic double rack gear configured to rotate the indication dial when the articulation system articulates the end effector.

Embodiment 42-the surgical instrument assembly of embodiment 41, wherein the position indicating device further comprises a drive shaft and a pinion, wherein the pinion and the indication dial are coupled to the drive shaft, and wherein the double rack gear is configured to move in opposite directions when the end effector articulates and rotates the pinion.

Example 43-the surgical instrument assembly of examples 35, 36, 37, 38, 39, 40, 41, or 42, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Embodiment 44-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a closure system configured to be actuated by a first linear actuator of the surgical robot, an articulation system configured to be actuated by a second linear actuator of the surgical robot, a shaft, an end effector configured to be closed by the closure system and articulated relative to the shaft by the articulation system, and an articulation emergency assistance. The articulation emergency assist device includes a manually operated actuation member configured to drive the articulation system and an articulation position member operably coupled to the articulation system and configured to indicate an articulation position of the end effector during use of the articulation emergency assist device.

Embodiment 45-the surgical instrument assembly of embodiment 44 wherein the manually operated actuation member comprises a manually actuatable ratchet mechanism.

Example 46-the surgical instrument assembly of examples 44 or 45, wherein the articulation system comprises an articulation link and an articulation drive and wherein the articulation position member is operably coupled to the articulation drive.

Embodiment 47-the surgical instrument assembly of embodiments 44, 45, or 46, further comprising an emergency assistance engagement structure configured to prevent the articulation emergency assistance device from operably engaging the articulation system until the articulation emergency assistance device is activated, wherein the emergency assistance engagement structure comprises a seat, wherein the manually operated actuation member remains in a position in which the articulation emergency assistance device is operably disengaged from the articulation system until the seat moves away from the manually operated actuation member.

Embodiment 48-the surgical instrument assembly of embodiment 47, wherein the articulation emergency aid further comprises an activation member, and wherein the seat is positioned on the activation member such that the seat allows the articulation emergency aid to engage the articulation system when the activation member is activated.

Embodiment 49-the surgical instrument assembly of embodiment 48, wherein the activation member comprises an access door configured to allow access to the articulation emergency assistance device when open and to prevent access to the articulation emergency assistance device when closed.

Embodiment 50-the surgical instrument assembly of embodiments 44, 45, 46, 47, 48, or 49, wherein the articulation emergency assistance device further comprises an articulation dial and an opposing double rack gear configured to rotate the articulation dial when the articulation system articulates the end effector.

Embodiment 51-the surgical instrument assembly of embodiment 50, wherein the articulation emergency assist further comprises a drive shaft and a pinion, wherein the pinion and the articulation position member are coupled to the drive shaft, and wherein the double rack gear is configured to move in opposite directions when the end effector articulates and rotates the pinion.

Embodiment 52-the surgical instrument assembly of embodiments 44, 45, 46, 47, 48, 49, 50, or 51, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Embodiment 53-the surgical instrument assembly of embodiments 44, 45, 46, 47, 48, 49, 50, 51, or 52, wherein the articulation system comprises an articulation drive and wherein the surgical instrument assembly further comprises means for indicating a midpoint position of the articulation drive.

Embodiment 54-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a drive system configured to be actuated in a first direction and a second direction opposite the first direction, wherein the drive system is configured to perform an instrument function; a shaft; an end effector and drive system emergency auxiliary device. The drive system emergency assistance device comprises a position indication device for indicating a position of the drive system and an actuation member configured to be able to actuate the drive system in a first direction and a second direction, wherein a direction in which the drive system emergency assistance device is operated is based on the position of the drive system indicated by the position indication device.

Embodiment 55-the surgical instrument assembly of embodiment 54, wherein the drive system comprises an articulation drive system configured to articulate the end effector relative to the shaft.

Embodiment 56-the surgical instrument assembly of embodiments 54 or 55, wherein the end effector is configured to articulate between a non-articulation position and a plurality of articulation positions, and wherein the surgical instrument assembly further comprises a pawl configured to indicate the non-articulation position of the end effector.

Embodiment 57-the surgical instrument assembly of embodiments 54, 55, or 56, wherein the actuation member comprises a manually actuatable ratchet mechanism.

Embodiment 58-the surgical instrument assembly of embodiments 54, 55, 56, or 57, wherein the drive system emergency assistance device further comprises an activation structure configured to prevent the actuation member from being configured to actuate the drive system until the activation structure is disengaged from the actuation member.

Embodiment 59-the surgical instrument assembly of embodiments 54, 55, 56, 57, or 58, wherein the actuation member is configured to be manually actuated.

Embodiment 60-the surgical instrument assembly of embodiments 54, 55, 56, 57, 58, or 59, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Embodiment 61-a surgical instrument assembly comprising a proximal shaft assembly having a proximal drive member and a distal shaft assembly attachable to and detachable from the proximal shaft assembly, wherein the distal shaft assembly comprises a distal drive member configured to be coupled to and detachable from the proximal drive member, wherein the distal drive member is configured to be actuated by the proximal drive member through a drive stroke to actuate a function of the surgical instrument assembly. The drive stroke includes a stroke start position, a stroke end position distal to the stroke start position, and a home position. The surgical instrument assembly further comprises an end effector, wherein the proximal drive member and the distal drive member are configured to couple and decouple from each other when the proximal drive member and the distal drive member are in the home position, and wherein the home position is not at the beginning of travel position or the end of travel position.

Example 62-the surgical instrument assembly of example 61, wherein the home position is proximal to the stroke start position.

Example 63-the surgical instrument assembly of example 61, wherein the home position is distal to the beginning of travel position and proximal to the end of travel position.

Embodiment 64-the surgical instrument assembly of embodiments 61, 62, or 63, wherein the drive stroke further comprises at least one spaced drive stroke position corresponding to at least one particular event of function of the surgical instrument assembly, wherein the at least one spaced drive stroke position is distal to the start of stroke position and proximal to the end of stroke position, and wherein the home position is not at the at least one spaced drive stroke position.

Embodiment 65-the surgical instrument assembly of embodiments 61, 62, 63, or 64, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the stroke start position by the control system after the proximal shaft assembly and the distal shaft assembly are attached.

Embodiment 66-the surgical instrument assembly of embodiments 61, 62, 63, 64, or 65, wherein the proximal and distal drive members are automatically moved to the home position when the distal shaft assembly is decoupled from the proximal shaft assembly.

Embodiment 67-the surgical instrument assembly of embodiments 61, 62, 63, 64, 65, or 66, wherein the proximal drive member is a first proximal drive member and the distal drive member is a first distal drive member, wherein the proximal shaft assembly further comprises a second proximal drive member and the distal shaft assembly further comprises a second distal drive member, and wherein the second proximal drive member and the second distal drive member are configured to couple and decouple when the second proximal drive member and the second distal drive member are in the second home position.

Embodiment 68-the surgical instrument assembly of embodiment 67, wherein the home position comprises a first home position, and wherein the second home position is aligned with the first home position.

Embodiment 69-the surgical instrument assembly of embodiment 67 wherein the home position comprises a first home position and wherein the second home position is not aligned with the first home position.

Embodiment 70-the surgical instrument assembly of embodiments 61, 62, 63, 64, 65, 66, 67, 68, or 69, wherein the proximal shaft assembly and the distal shaft assembly employ a torsional motion to attach and detach the proximal shaft assembly and the distal shaft assembly.

Example 71-the surgical instrument assembly of examples 61, 62, 63, 64, 65, 66, 67, 68, 69, or 70, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Embodiment 72-a surgical instrument assembly comprising an end effector, a proximal shaft assembly having a proximal drive member, and a distal shaft assembly attachable to and detachable from the proximal shaft assembly, wherein the distal shaft assembly comprises a distal drive member configured to be coupled to and detachable from the proximal drive member, wherein the distal drive member is configured to be actuated by the proximal drive member through a drive stroke to articulate the end effector. The drive stroke includes a first articulation position in which the end effector is fully articulated in a first direction; a second articulation position in which the end effector is fully articulated in a second direction opposite the first direction; a non-articulation position in which the end effector is not articulated, and wherein the non-articulation position is between the first articulation position and the second articulation position; and (3) a home position. The proximal drive member and the distal drive member are configured to be coupled to and uncoupled from each other when the proximal drive member and the distal drive member are in the home position, and wherein the home position is not at the first articulation position, the second articulation position, or the non-articulation position.

Embodiment 73-the surgical instrument assembly of embodiment 72, wherein the home position is between the first articulation position and the non-articulation position or between the second articulation position and the non-articulation position.

Embodiment 74-the surgical instrument assembly of embodiments 72 or 73, further comprising a control system, wherein the proximal and distal drive members are automatically moved to the non-articulated position by the control system after the proximal and distal shaft assemblies are attached.

Example 75-the surgical instrument assembly of examples 72, 73, or 74, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the home position by the control system when the distal shaft assembly is decoupled from the proximal shaft assembly.

Embodiment 76-the surgical instrument assembly of embodiments 72, 73, 74, or 75 wherein the proximal shaft assembly and the distal shaft assembly employ a torsional motion to attach and detach the proximal shaft assembly and the distal shaft assembly.

Embodiment 77-the surgical instrument assembly of embodiments 72, 73, 74, 75, or 76, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Embodiment 78-a surgical instrument assembly comprising a proximal shaft assembly having a proximal drive member and a distal shaft assembly attachable to and detachable from the proximal shaft assembly, wherein the distal shaft assembly comprises a distal drive member configured to be coupled to and detachable from the proximal drive member, wherein the distal drive member is configured to be actuated by the proximal drive member through a drive stroke to actuate a function of the surgical instrument assembly. The drive stroke includes a stroke start position; an end-of-travel position distal to the start-of-travel position; at least one spaced drive stroke position corresponding to at least one particular event of function of the surgical instrument assembly, wherein the at least one spaced drive stroke position is distal to the stroke start position and proximal to the stroke end position; and (3) a parking position. The proximal drive member and the distal drive member are configured to be coupled to and uncoupled from each other when the proximal drive member and the distal drive member are in a park position, and wherein the park position is not at the start of travel position, the end of travel position, or the at least one alternate drive travel position.

Example 79-the surgical instrument assembly of example 78, wherein the park position is proximal to the start of travel position.

Embodiment 80-the surgical instrument assembly of embodiment 78, wherein the park position is distal to the start of travel position and proximal to the end of travel position.

Embodiment 81-the surgical instrument assembly of embodiments 78, 79, or 80, further comprising a control system, wherein the proximal and distal drive members are automatically moved to the stroke start position by the control system after the proximal and distal shaft assemblies are attached.

Embodiment 82-the surgical instrument assembly of embodiments 78, 79, 80, or 81, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the parked position by the control system when the distal shaft assembly is decoupled from the proximal shaft assembly.

Embodiment 83-the surgical instrument assembly of embodiments 78, 79, 80, 81, or 82, wherein the proximal drive member is a first proximal drive member, the distal drive member is a first distal drive member, and the parked position is a first parked position, wherein the proximal shaft assembly further comprises a second proximal drive member and the distal shaft assembly further comprises a second distal drive member, and wherein the second proximal drive member and the second distal drive member are configured to couple and decouple when the second proximal drive member and the second distal drive member are in the second parked position.

Embodiment 84-the surgical instrument assembly of embodiments 78, 79, 80, 81, 82, or 83, wherein the proximal shaft assembly and the distal shaft assembly employ a torsional motion to attach and detach the proximal shaft assembly and the distal shaft assembly.

Example 85-the surgical instrument assembly of examples 78, 79, 80, 81, 82, 83, or 84, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Many of the surgical instrument systems described herein are actuated by electric motors; the surgical instrument systems described herein may be actuated in any suitable manner. Further, as described above, the motors disclosed herein may include a portion or portions of a robotic control system. For example, U.S. patent application Ser. No. 13/118,241, now U.S. Pat. No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," discloses several examples of robotic surgical instrument systems in greater detail.

The surgical instrument systems described herein have been described in connection with the deployment and modification of staples; however, the embodiments described herein are not limited thereto. For example, various embodiments are contemplated for deploying fasteners other than staples, such as clips or tacks. Further, various embodiments utilizing any suitable means for sealing tissue are also contemplated. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Additionally, for example, end effectors in accordance with certain embodiments may apply vibrational energy to seal tissue.

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

U.S. patent 5,403,312 entitled "ELECTROSURGICAL HEMOSTATIC DEVICE" issued 4/1995;

U.S. patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" published on month 21 of 2006;

U.S. patent 7,422,139 entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK" published 9/2008;

U.S. patent 7,464,849 entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS" issued on 12/16/2008;

U.S. patent 7,670,334 entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR" issued on month 3 and 2 of 2010;

U.S. patent 7,753,245 entitled "SURGICAL STAPLING INSTRUMENTS" issued on the year 7, month 13 of 2010;

U.S. patent 8,393,514 entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE" published on 3.3.12 of 2013;

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

U.S. patent application Ser. No. 12/031,573, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES," filed on month 2 and 14 of 2008;

U.S. patent application Ser. No. 12/031,873, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", filed on 2/15/2008 (now U.S. Pat. No. 7,980,443);

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

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

U.S. patent application Ser. No. 12/647,100, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY," filed 12/24/2009; now us patent 8,220,688;

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

U.S. patent application Ser. No. 13/036,647, entitled "SURGICAL STAPLING INSTRUMENT", filed on 28/2/2011, now U.S. Pat. No. 8,561,870;

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

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

U.S. patent application Ser. No. 13/800,025, now U.S. Pat. No. 9,345,481, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on day 13 of 3.2013;

U.S. patent application Ser. No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on day 13 of 3.3, now U.S. patent application publication 2014/0263552;

U.S. patent application publication 2007/0175955 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM" filed on 1 month 31 2006; and

U.S. patent application publication 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on 4/22/2010, now U.S. patent 8,308,040.

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

The devices disclosed herein may be designed to be disposed of after a single use, or they may be designed for multiple uses. In either case, however, the device may be reconditioned for reuse after at least one use. Repair may include any combination of steps including, but not limited to, disassembly of the device, subsequent cleaning or replacement of specific components of the device, and subsequent reassembly of the device. In particular, the repair facility and/or surgical team may disassemble the device, and after cleaning and/or replacing particular components of the device, the device may be reassembled for subsequent use. Those skilled in the art will appreciate that the finishing assembly may be disassembled, cleaned/replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting prosthetic devices are within the scope of the present application.

The devices disclosed herein may be treated prior to surgery. First, new or used instruments are available and cleaned as needed. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and instrument may then be placed in a radiation field, such as gamma radiation, X-rays, and/or energetic electrons, that may penetrate the container. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until the container is opened in the medical facility. The device may also be sterilized using any other technique known in the art including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.

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

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

Claims

1. A surgical instrument assembly configured to be attached to and detached from a surgical robot, the surgical instrument assembly comprising a housing and a motor, wherein the surgical instrument assembly comprises:

a firing system;

a motor-driven closure system operable independently of the firing system;

a shaft;

an end effector, the end effector comprising:

a first jaw;

a second jaw;

a firing member;

a clamping configuration; and

an undamped configuration, wherein the motor-driven closure system is configured to be actuated by the surgical robot to selectively move the end effector between the clamped and undamped configurations when the surgical instrument assembly is operably attached to the surgical robot; and

a manually actuatable emergency assist device configured to actuate the motor-driven closure system to manually move the end effector between the clamped and unclamped configurations upon separation of the surgical instrument assembly from the surgical robot.

2. The surgical instrument assembly of claim 1, wherein said shaft comprises a ridge, wherein said closure system comprises a closure tube, wherein said closure tube is configured to be actuated in a first direction to place said end effector in said clamped configuration and in a second direction to place said end effector in said undamped configuration, and wherein said first direction is opposite said second direction.

3. The surgical instrument assembly of claim 2, wherein said manually actuatable emergency assist device is configured to actuate said spine in said first direction to place said end effector in said undamped configuration and to actuate said spine in said second direction to place said end effector in said clamped configuration.

4. The surgical instrument assembly of claim 3, wherein said manually actuatable emergency assist device comprises:

a rotational drive input;

a drive screw configured to be actuated by the rotational drive input; and

an actuator portion coupled to the drive screw and the ridge.

5. The surgical instrument assembly of claim 1, wherein said closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of said surgical robot, and wherein said linearly actuatable drive portion is further configured to be manually actuated when said surgical instrument assembly is decoupled from said surgical robot.

6. The surgical instrument assembly of claim 1, further comprising an articulation system configured to articulate said end effector relative to said shaft, wherein said articulation system comprises an actuator configured to be manually actuated when said surgical instrument assembly is decoupled from said surgical robot.

7. The surgical instrument assembly of claim 1, wherein said firing system comprises a firing member configured to move through a firing stroke, and wherein said firing system further comprises a firing system emergency assist configured to retract said firing member.

8. The surgical instrument assembly of claim 7, wherein said manually-actuated emergency assist device comprises a first manually-actuated emergency assist device, and wherein said surgical instrument assembly further comprises a second manually-actuated emergency assist device configured to actuate said closure system to manually place said end effector in said clamped and unclamped configurations when said surgical instrument assembly is attached to said surgical robot.

9. The surgical instrument assembly of claim 1, further comprising means for operably disengaging an electric actuator of said surgical robot from a linear actuator of said closure system such that said manually actuatable emergency assist device can be used without interference from said electric actuator of said surgical robot.

10. The surgical instrument assembly of claim 1, further comprising a staple cartridge having a plurality of staples removably stored therein.