CN110167459A - Surgical instruments with primary processor and safe processor - Google Patents

Abstract

The present invention provides a kind of surgical instruments comprising is operably linked to the motor of firing member, wherein motor is configured to generate at least one rotary motion, follows closely to promote firing member to dispose during firing schedule from nail cavity.The surgical instruments includes primary processor, and the primary processor is configured to determine the first acceleration of firing member during firing schedule and is compared the first acceleration with predetermined threshold acceleration.The surgical instruments further includes secondary processor, and the secondary processor is configured to determine the second acceleration of firing member during firing schedule and is compared the second acceleration with predetermined threshold value.

Description

Surgical instruments with primary processor and safe processor

Background technique

The present invention relates to surgical instruments, and in various arrangements, are related to the surgery for being designed to suture and cut tissueSuture and cutting device and the nail bin being used therewith.

Detailed description of the invention

The various features of the embodiment described herein add in combination with following attached drawing according to being described below together with its advantageTo understand:

Fig. 1 is the side front view of surgery system, which includes handle assembly and can be used therewith moreA interchangeable surgical tool component；

Fig. 2 is the perspective view of one of interchangeable surgical tool component of Fig. 1, which can graspIt is connected to the handle assembly of Fig. 1 with making；

Fig. 3 is the decomposition assembled view of the handle assembly of Fig. 1 and Fig. 2 and the part of interchangeable surgical tool component；

Fig. 4 is the perspective view of the other of interchangeable surgical tool component depicted in figure 1；

Fig. 5 is the partial perspective cutaway view of the interchangeable surgical tool component of Fig. 4；

Fig. 6 is another partial sectional view of a part of the interchangeable surgical tool component of Fig. 4 and Fig. 5；

Fig. 7 is the decomposition assembled view of a part of the interchangeable surgical tool component of fig. 4 to fig. 6；

Fig. 7 A is the amplification vertical view of a part of the resilient ridge component of the interchangeable surgical tool component of Fig. 7；

Fig. 8 is another decomposition assembled view of a part of the interchangeable surgical tool component of Fig. 4 to Fig. 7；

Fig. 9 is another exploded perspective of the surgical end-effector part of the interchangeable surgical tool component of Fig. 4 to Fig. 8Figure；

Figure 10 is the decomposition assembling view of the surgical end-effector part of interchangeable surgical tool component depicted in figure 9Figure；

Figure 11 is the perspective view for the firing member embodiment that can be used in the interchangeable surgical tool component of Figure 10, sideFront view and anterior elevational view；

Figure 12 is the perspective view for the anvil block that can be used in the interchangeable surgical tool component of Fig. 4；

Figure 13 is the section side front view of the anvil block of Figure 12；

Figure 14 is the bottom view of the anvil block of Figure 12 and Figure 13；

Figure 15 is the section side of the surgical end-effector of the interchangeable surgical tool component of Fig. 4 and a part of shaft portionFront view, wherein the elongated passageway of surgery nail bin and surgical end-effector that is not used or not firing is correctly in place；

Figure 16 is the surgical end-effector of Figure 15 and another section side front view of shaft portion, and wherein surgery nail bin has beenIt is at least partly fired, and its firing member has retracted to initial position；

Figure 17 is the surgical end-effector of Figure 16 and another section side front view of shaft portion, and wherein firing member has beenIt is fully retracted to initial position；

Figure 18 is the surgical end-effector described in Figure 15 and the overhead sectional view of shaft portion, wherein not used or do not hitThe surgery nail bin of hair and the elongated passageway of surgical end-effector are correctly in place；

Figure 19 is the surgical end-effector for being wherein equipped with Figure 18 of the surgery nail bin at least partly firedAnother overhead sectional view, and show the firing member for being maintained at latched position；

Figure 20 is the partial sectional view of the anvil block of the interchangeable tools component of Fig. 4 and the part of elongated passageway；

Figure 21 is the decomposition side front view of the anvil block of Figure 20 and the part of elongated passageway；

Figure 22 is the rear perspective view of the anvil block installation section of anvil block embodiment；

Figure 23 is the rear perspective view of the anvil block installation section of another anvil block embodiment；

Figure 24 is the rear perspective view of the anvil block installation section of another anvil block embodiment；

Figure 25 is the perspective view of anvil block embodiment；

Figure 26 is the decomposition perspective view of the anvil block of Figure 25；

Figure 27 is the section end view of the anvil block of Figure 25；

Figure 28 is the perspective view of another anvil block embodiment；

Figure 29 is the decomposition perspective view of the anvil block embodiment of Figure 28；

Figure 30 is the top view of the distal end portion of the anvil body part of the anvil block of Figure 28；

Figure 31 is the top view of the distal end portion of the anvil body part of another anvil block embodiment；

Figure 32 is the cross-sectional end perspective view of the anvil block of Figure 31；

Figure 33 is the cross-sectional end perspective view of another anvil block embodiment；

Figure 34 be include distal closure tube segment enclosed member embodiment perspective view；

Figure 35 is the section side front view of the enclosed member embodiment of Figure 34；

Figure 36 is the partial sectional view of interchangeable surgical tool component embodiment, and it illustrates the anvil block installations of anvil blockIt is partially in fully closed position, and its firing member is in initial position；

Figure 37 is another partial sectional view of the interchangeable surgical tool component of Figure 36 when opening procedure starts；

Figure 38 is another partial sectional view of the interchangeable surgical tool component of Figure 37, and wherein anvil block is in and fully opens positionIt sets；

Figure 39 is the side front view of a part of the interchangeable surgical tool component of Figure 36；

Figure 40 is the side front view of a part of the interchangeable surgical tool component of Figure 37；

Figure 41 is the side front view of a part of the interchangeable surgical tool component of Figure 38；

Figure 42 is the section side front view of another enclosed member embodiment；

Figure 43 is the section end view of the enclosed member of Figure 42；

Figure 44 is the section end view of another enclosed member embodiment；

Figure 45 is the section end view of another enclosed member embodiment；

Figure 46 is the section end view of another enclosed member embodiment；

Figure 47 is the partial sectional view of the part of the surgical end-effector of interchangeable tools component shown in Fig. 1；

Figure 48 is the partial sectional view of the part of the surgical end-effector of the interchangeable surgical tool component of Fig. 5；

Figure 49 is another cross-sectional view of the surgical end-effector of Figure 48；

Figure 50 is the local perspective view of a part of the downside of anvil block embodiment；

Figure 51 is the partial sectional view of a part of the interchangeable surgical tool component of Fig. 5, wherein the interchangeable surgery workThe anvil block for having the surgical end-effector of component is in a fully open position；

Figure 52 is another partial sectional view of a part of the interchangeable surgical tool component of Figure 51, and wherein this is interchangeable outerThe anvil block of the surgical end-effector of section's tool assembly is in the first closed position；

Figure 53 is another partial sectional view of a part of the interchangeable surgical tool component of Figure 51 when percussion process starts,Wherein anvil block is in the first closed position, and the firing member of its surgical end-effector removes start bit towards distal sideIt sets；

Figure 54 is another partial sectional view of a part of the interchangeable surgical tool component of Figure 51, and wherein anvil block is in theTwo closed positions, and firing member be advanced to its surgical end-effector towards distal side surgery nail bin in；

Figure 55 is the graphics Web publishing of the firing power and the relationship of time for different interchangeable surgical tool components；

Figure 56 is power and the figure description that percussion improves relations, and it is directed to four kinds of different commutative surgical tool groupsPart compares percussion and loads relationship of the percussion advanced with firing member apart from percentage；

Figure 57 is the perspective according to the end effector of the surgery suturing appliance including nail bin of at least one embodimentFigure；

Figure 58 is the exploded view of the end effector of Figure 57；

Figure 59 is the perspective view of the nail bin of Figure 57；

Figure 60 is the local perspective view in the channel of the end effector of Figure 57, which is configured to receive Figure 57'sNail bin；

Figure 60 A is the local perspective view in the channel of Figure 60；

Figure 60 B is the circuit diagram of the storehouse circuit of the nail bin of Figure 59；

Figure 60 C is the circuit diagram of the carrier circuit of the end effector of Figure 57；

Figure 61 is the bottom surface partial view of the end effector of Figure 57, and it illustrates according to the complete of at least one embodimentWhole trace elements and sliding part in initial position；

Figure 62 is the bottom surface partial view of the end effector of Figure 57, and it illustrates according to the disconnected of at least one embodimentThe trace elements opened and the sliding part in part propulsion position；

Figure 62 A is the block diagram for showing the circuit according at least one embodiment；

Figure 62 B is the block diagram for showing the circuit according at least one embodiment；

Figure 62 C is the block diagram for showing the circuit according at least one embodiment；

Figure 62 D is the block diagram for showing the circuit according at least one embodiment；

Figure 63 is the circuit diagram according to the release mechanism of the end effector of Figure 57 of at least one embodiment；

Figure 64 is the switch in open configuration according to the circuit diagram of Figure 63 of at least one embodiment；

Figure 65 shows the switch of Figure 64 in closed configuration；

Figure 65 A is the release mechanism according to the end effector of Figure 57 of at least one embodiment；

Figure 65 B is the method according to the percussion for controlling surgical stapling and cutting device of at least one embodimentLogic chart；

Figure 66 is the local perspective view according to the nail bin including conductive grid of at least one embodiment；

Figure 67 is the partial exploded view of the nail bin of Figure 66；

Figure 68 is the cross-sectional view of the nail bin of Figure 67, and it illustrates in the conductive grid for being closed completely configuration；

Figure 69 is the cross-sectional view of the nail bin of Figure 67, and it illustrates the conductive grids for being in open configuration；

Figure 70 is the cross-sectional view of the nail bin of Figure 67, and it illustrates the conductive gates that part closed configuration is converted to from open configurationPole；

Figure 71 is the block diagram for showing the circuit according at least one embodiment, which is configured to start/stopWith the trigger system of surgical stapling and cutting device；

Figure 72 shows the controller of surgical stapling and cutting device according at least one embodiment；

Figure 73 shows the combinational logic circuit of surgical stapling and cutting device according at least one embodiment；

Figure 74 shows the sequential logical circuit of surgical stapling and cutting device according at least one embodiment；

Figure 75 is the electric-magnetic lock mechanism for surgical stapling and cutting device according at least one embodiment；

Figure 76 shows the electric-magnetic lock mechanism of Figure 75 in locked configuration；

Figure 77 shows the electric-magnetic lock mechanism of Figure 75 in unlocked configuration；

Figure 78 is the circuit diagram according to the circuit of at least one embodiment；

Figure 79 is the circuit diagram of the circuit according to the suture of the Motorized surgical of at least one embodiment and cutting device；

Figure 79 A is configured to the position of detection nail firing member and the circuit of traveling, and it illustrates in completeThe nail firing member of firing position；

Figure 79 B shows the nail firing member of Figure 79 A in fully retracted position；

Figure 80 is the perspective for including (PCC) power, the surgical stapling of handle assembly and interchangeable shaft assembly and cutting deviceFigure；

Figure 81 is the perspective view of the surgical instruments of Figure 80, and the interchangeable shaft assembly of the surgical instruments divides with handle assemblyIt opens；

Figure 82 A and Figure 82 B depict the circuit diagram of the surgical instruments of Figure 80；

Figure 83 is the circuit diagram according to the Motorized surgical of at least one embodiment suture and cutting device；

Figure 84 A is the circuit diagram according to the Motorized surgical of at least one embodiment suture and cutting device；

Figure 84 B is shown according at least one embodiment by Motorized surgical suture and the motor consumption of cutting deviceThe minimum threshold and max-thresholds of electric current；

Figure 85 is to show to start switching circuit and end-of-stroke switch circuit according to the stroke of at least one embodimentCircuit diagram；

Figure 86 is the logic chart for showing the failure response system according at least one embodiment；

Figure 87 is the logic chart for showing the failure response system according at least one embodiment；

Figure 88 is the logic chart for showing the failure response system according at least one embodiment；And

Figure 89 is the logic chart for showing the failure response system according at least one embodiment；

In several views, corresponding reference symbol indicates corresponding component.Exemplifications set out herein is with a kind of shapeFormula shows various embodiments of the present invention, and this example is not necessarily to be construed as the model limiting the invention in any wayIt encloses.

Specific embodiment

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

Entitled " SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIESThe U.S. Patent Application Serial Number 15/386,185 of THEREOF "；

The U.S. Patent application sequence of entitled " ARTICULATABLE SURGICAL STAPLING INSTRUMENTS "Row number 15/386,230；

The United States Patent (USP) Shen of entitled " LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS "It please sequence number 15/386,221；

The United States Patent (USP) of entitled " SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF "Patent application serial numbers 15/386,209；

Entitled " LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS ANDThe U.S. Patent Application Serial Number 15/386,198 of REPLACEABLE TOOL ASSEMBLIES "；And

Entitled " SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR "U.S. Patent Application Serial Number 15/386,240.

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

Entitled " STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLEThe U.S. Patent Application Serial Number 15/385,939 of CAVITIES THEREIN "；

Entitled " SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FORSHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES ANDThe U.S. Patent Application Serial Number 15/385,941 of ARTICULATION AND FIRING SYSTEMS "；

The beauty of entitled " SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS "State's patent application serial number 15/385,943；

Entitled " SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTIONThe U.S. Patent Application Serial Number 15/385,950 of FEATURES "；

Entitled " STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLEThe U.S. Patent Application Serial Number 15/385,945 of CAVITIES THEREIN "；

The beauty of entitled " SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS "State's patent application serial number 15/385,946；

Entitled " SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASINGThe U.S. Patent Application Serial Number 15/385,951 of A JAW OPENING DISTANCE "；

The U.S. Patent Application Serial Number 15/385,953 of entitled " METHODS OF STAPLING TISSUE "；

Entitled " FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FORThe U.S. Patent Application Serial Number 15/385,954 of SURGICAL END EFFECTORS "；

Entitled " SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPThe U.S. Patent Application Serial Number 15/385,955 of ARRANGEMENTS "；

The beauty of entitled " SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS "State's patent application serial number 15/385,948；

The beauty of entitled " SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES "State's patent application serial number 15/385,956；

Entitled " SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTINGThe U.S. of FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT "Patent application serial number 15/385,958；And

Entitled " STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLEThe U.S. Patent Application Serial Number 15/385,947 of CAVITIES THEREIN ".

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

Entitled " METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT's "U.S. Patent Application Serial Number 15/385,896；

Entitled " STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENTThe U.S. Patent Application Serial Number 15/385,898 of TYPES OF STAPLES "；

The U.S. of entitled " SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL " is specialSharp patent application serial numbers 15/385,899；

Entitled " STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISINGThe U.S. Patent Application Serial Number 15/385,901 of WINDOWS DEFINED THEREIN "；

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER "It please sequence number 15/385,902；

Entitled " STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/ORThe U.S. Patent Application Serial Number 15/385,904 of SPENT CARTRIDGE LOCKOUT "；

The U.S. Patent Application Serial Number 15/ of entitled " FIRING ASSEMBLY COMPRISING A LOCKOUT "385,905；

Entitled " SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUTThe U.S. Patent Application Serial Number 15/385,907 of AND A FIRING ASSEMBLY LOCKOUT "；

The U.S. Patent Application Serial Number 15/385 of entitled " FIRING ASSEMBLY COMPRISING A FUSE ",908；And

The beauty of entitled " FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE "State's patent application serial number 15/385,909.

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

The U.S. Patent Application Serial Number 15/ of entitled " STAPLE FORMING POCKET ARRANGEMENTS "385,920；

The U.S. Patent Application Serial Number of entitled " ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS "15/385,913；

Entitled " METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OFThe U.S. Patent application sequence of STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT "Row number 15/385,914；

The United States Patent (USP) of entitled " BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS "Patent application serial numbers 15/385,893；

Entitled " CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICALThe United States Patent (USP) of INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS "Patent application serial numbers 15/385,929；

Entitled " SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING ANDThe U.S. Patent Application Serial Number 15/385,911 of FIRING SYSTEMS "；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES's "U.S. Patent Application Serial Number 15/385,927；

Entitled " STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPINGThe U.S. Patent Application Serial Number 15/385,917 of BREADTHS "；

Entitled " STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARYThe U.S. Patent Application Serial Number 15/385,900 of SIDEWALLS AND POCKET SIDEWALLS "；

Entitled " NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FORThe U.S. Patent Application Serial Number 15/385,931 of SURGICAL STAPLERS "；

The U.S. Patent Application Serial Number 15/385,915 of entitled " FIRING MEMBER PIN ANGLE "；

Entitled " STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMINGThe U.S. Patent Application Serial Number 15/385,897 of SURFACE GROOVES "；

The beauty of entitled " SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES "State's patent application serial number 15/385,922；

Entitled " SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT AThe beauty of FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS "State's patent application serial number 15/385,912；

The U.S. Patent Application Serial Number 15/385 of entitled " ANVIL HAVING A KNIFE SLOT WIDTH ",910；

The U.S. of entitled " CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS " is specialSharp patent application serial numbers 15/385,903；And

The U.S. Patent Application Serial Number 15/385 of entitled " FIRING MEMBER PIN CONFIGURATIONS ",906。

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

The United States Patent (USP) of entitled " STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES "Patent application serial numbers 15/386,188；

Entitled " STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPThe U.S. Patent Application Serial Number 15/386,192 of SETTING FEATURES "；

Entitled " STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES's "U.S. Patent Application Serial Number 15/386,206；

Entitled " DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIESOF SURGICAL STAPLING INSTRUMENTS”

U.S. Patent Application Serial Number 15/386,226；

Entitled " SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITHThe U.S. Patent Application Serial Number 15/386,222 of POSITIVE OPENING FEATURES "；And

Entitled " CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICALThe U.S. Patent Application Serial Number 15/386,236 of STAPLING INSTRUMENTS ".

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

Entitled " METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICALThe U.S. Patent Application Serial Number 15/385 of INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT ",887；

Entitled " SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTIONThe U.S. Patent Application Serial of SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM "Number 15/385,889；

Entitled " SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE ANDThe U.S. Patent Application Serial Number 15/385,890 of RETRACTABLE SYSTEMS "；

Entitled " SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THEThe U.S. Patent Application Serial of OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS "Number 15/385,891；

Entitled " SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO ANThe beauty of ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM "State's patent application serial number 15/385,892；

The U.S. Patent Application Serial Number 15/ of entitled " SHAFT ASSEMBLY COMPRISING A LOCKOUT "385,894；And

Entitled " SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATIONThe U.S. Patent Application Serial Number 15/385,895 of LOCKOUTS ".

Present applicant, which possesses to submit on December 21st, 2016 and be respectively incorporated by reference, to be incorporated hereinFollowing U.S. Patent application:

The U.S. Patent Application Serial Number 15/385,916 of entitled " SURGICAL STAPLING SYSTEMS "；

The U.S. Patent Application Serial Number 15/385,918 of entitled " SURGICAL STAPLING SYSTEMS "；

The U.S. Patent Application Serial Number 15/385,919 of entitled " SURGICAL STAPLING SYSTEMS "；

Entitled " SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBERThe U.S. Patent Application Serial Number of CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES "15/385,921；

The U.S. Patent Application Serial Number 15/385,923 of entitled " SURGICAL STAPLING SYSTEMS "；

Entitled " JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OFA FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE ISThe U.S. Patent Application Serial Number 15/385,925 of INSTALLED IN THE END EFFECTOR "；

Entitled " AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYINGThe U.S. Patent Application Serial Number 15/385 of CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS ",926；

Entitled " PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN AThe U.S. Patent Application Serial Number of MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT "15/385,928；

Entitled " SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENINGThe U.S. Patent Application Serial Number 15/ of FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS "385,930；

Entitled " ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFTThe U.S. Patent Application Serial Number 15/385,932 of ARRANGEMENT "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLEThe U.S. Patent Application Serial Number 15/385,933 of LINKAGE DISTAL OF AN ARTICULATION LOCK "；

Entitled " ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR INThe beauty of AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM "State's patent application serial number 15/385,934；

Entitled " LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FORLOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATEDThe U.S. Patent Application Serial Number 15/385,935 of CONFIGURATION "；And

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKEThe U.S. Patent Application Serial Number 15/385,936 of AMPLIFICATION FEATURES ".

Present applicant possess on June 24th, 2016 submit and be respectively incorporated by reference be incorporated herein withLower U.S. Patent application:

Entitled " STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES "U.S. Patent Application Serial Number 15/191,775；

Entitled " STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPEDThe U.S. Patent Application Serial Number 15/191,807 of STAPLES "；

The U.S. of entitled " STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME " is specialSharp patent application serial numbers 15/191,834；

The U.S. Patent application of entitled " STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES "Sequence number 15/191,788；And

Entitled " STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS "U.S. Patent Application Serial Number 15/191,818.

Present applicant possess on June 24th, 2016 submit and be respectively incorporated by reference be incorporated herein withLower U.S. Patent application:

The U.S. Design Patent Application sequence number 29/569,218 of entitled " SURGICAL FASTENER "；

The U.S. Design Patent Application sequence number 29/569,227 of entitled " SURGICAL FASTENER "；

The U.S. Design Patent Application sequence number 29/569 of entitled " SURGICAL FASTENER CARTRIDGE ",259；And

The U.S. Design Patent Application sequence number 29/569 of entitled " SURGICAL FASTENER CARTRIDGE ",264。

Present applicant possess on April 1st, 2016 submit and respectively be incorporated by reference be incorporated herein withLower patent application:

The United States Patent (USP) Shen of entitled " METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM "It please sequence number 15/089,325；

The U.S. of entitled " MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY "Patent application serial number 15/089,321；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-The U.S. Patent Application Serial Number 15/089,326 of ORIENTABLE DISPLAY FIELD "；

Entitled " SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIPThe U.S. Patent Application Serial Number 15/089,263 of PORTION "；

Entitled " ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLEThe U.S. Patent Application Serial Number 15/089,262 of BAILOUT SYSTEM "；

Entitled " SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVILThe U.S. Patent Application Serial Number 15/089,277 of CONCENTRIC DRIVE MEMBER "；

Entitled " INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL ENDThe U.S. Patent Application Serial of EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS "Number 15/089,296；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION "U.S. Patent Application Serial Number 15/089,258；

Entitled " SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVEThe U.S. Patent Application Serial Number 15/089,278 of CUTTING OF TISSUE "；

The beauty of entitled " SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT "State's patent application serial number 15/089,284；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSIONThe U.S. Patent Application Serial Number 15/089,295 of LOCKOUT "；Entitled " SURGICAL STAPLING SYSTEMThe U.S. Patent Application Serial Number 15/089,300 of COMPRISING AN UNCLAMPING LOCKOUT "；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT's "U.S. Patent Application Serial Number 15/089,196；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT "U.S. Patent Application Serial Number 15/089,203；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGEThe U.S. Patent Application Serial Number 15/089,210 of LOCKOUT "；

The U.S. of entitled " SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM " is specialSharp patent application serial numbers 15/089,324；

Entitled " SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS's "U.S. Patent Application Serial Number 15/089,335；

The U.S. Patent Application Serial Number 15/089,339 of entitled " SURGICAL STAPLING INSTRUMENT "；

Entitled " SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OFThe U.S. Patent Application Serial Number 15/089,253 of STAPLES HAVING DIFFERENT HEIGHTS "；

Entitled " SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET "U.S. Patent Application Serial Number 15/089,304；

The United States Patent (USP) Shen of entitled " ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS "It please sequence number 15/089,331；

The U.S. Patent Application Serial of entitled " STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES "Number 15/089,336；

Entitled " CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUEThe U.S. Patent Application Serial Number 15/089,312 of SUPPORT "；

The beauty of entitled " CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM "State's patent application serial number 15/089,309；And

The United States Patent (USP) Shen of entitled " CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL "It please sequence number 15/089,349.

Present applicant, which also possesses to submit on December 31st, 2015 and be respectively incorporated by reference, to be incorporated hereinThe U.S. Patent application identified as follows:

Entitled " MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INThe U.S. Patent Application Serial Number 14/984,488 of POWERED SURGICAL INSTRUMENTS "；

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDThe U.S. Patent Application Serial Number 14/984,525 of SURGICAL INSTRUMENTS "；And

Entitled " SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROLThe U.S. Patent Application Serial Number 14/984,552 of CIRCUITS ".

Present applicant, which also possesses to submit on 2 9th, 2016 and be respectively incorporated by reference, to be incorporated hereinThe U.S. Patent application identified as follows:

Entitled " SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLYThe U.S. Patent Application Serial Number 15/019,220 of TRANSLATABLE END EFFECTOR "；

Entitled " SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATIONThe U.S. Patent Application Serial Number 15/019,228 of ARRANGEMENTS "；

Entitled " SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTEDThe U.S. Patent Application Serial Number 15/019,196 of SECONDARY CONSTRAINT "；

Entitled " SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLYThe U.S. Patent Application Serial Number 15/ of ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY "019,206；

Entitled " SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATIONThe U.S. Patent Application Serial Number 15/019,215 of ARRANGEMENTS "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATIONThe U.S. Patent Application Serial Number 15/019,227 of LINK ARRANGEMENTS "；

Entitled " SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLEThe U.S. Patent Application Serial Number 15/019,235 of DRIVEN ARTICULATION SYSTEMS "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAMThe U.S. Patent Application Serial Number 15/019,230 of ARRANGEMENTS "；And

Entitled " SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONThe U.S. Patent Application Serial Number 15/019,245 of ARRANGEMENTS ".

Present applicant, which also possesses to submit on 2 12nd, 2016 and be respectively incorporated by reference, to be incorporated hereinThe U.S. Patent application identified as follows:

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDThe U.S. Patent Application Serial Number 15/043,254 of SURGICAL INSTRUMENTS "；

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDThe U.S. Patent Application Serial Number 15/043,259 of SURGICAL INSTRUMENTS "；

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDThe U.S. Patent Application Serial Number 15/043,275 of SURGICAL INSTRUMENTS "；And

Entitled " MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDThe U.S. Patent Application Serial Number 15/043,289 of SURGICAL INSTRUMENTS ".

Present applicant possess on June 18th, 2015 submit and respectively be incorporated by reference be incorporated herein withLower patent application:

Entitled " SURGICAL END EFFECTORS WITH POSITIVE JAW OPENINGThe U.S. Patent Application Serial Number 14/742,925 of ARRANGEMENTS "；

Entitled " SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSINGThe U.S. Patent Application Serial Number 14/742,941 of FEATURES "；

Entitled " MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLEThe U.S. Patent Application Serial Number 14/742,914 of SURGICAL INSTRUMENTS "；

Entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAMThe U.S. of STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT "Patent application serial number 14/742,900；

Entitled " DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLEThe U.S. Patent Application Serial Number 14/742,885 of SURGICAL INSTRUMENTS "；And

Entitled " PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLEThe U.S. Patent Application Serial Number 14/742,876 of SURGICAL INSTRUMENTS ".

Present applicant possess on March 6th, 2015 submit and respectively be incorporated by reference be incorporated herein withLower patent application:

The U.S. Patent Application Serial Number 14/640,746 of entitled " POWERED SURGICAL INSTRUMENT ", it is existingFor U.S. Patent Application Publication 2016/0256184；

Entitled " MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWEREDThe U.S. Patent Application Serial Number 14/640,795 of SURGICAL INSTRUMENTS " is now U.S. Patent Application Publication 2016/02561185；

Entitled " ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSUREThe U.S. Patent Application Serial Number 14/640,832 of RATES FOR MULTIPLE TISSUE TYPES ", is now United States Patent (USP) ShenIt please announce 2016/0256154；

Entitled " OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TOThe U.S. Patent Application Serial Number 14/640,935 of MEASURE TISSUE COMPRESSION " is now U.S. Patent application public affairsCloth 2016/0256071；

Entitled " MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTORThe U.S. Patent Application Serial Number 14/640,831 of FOR POWERED SURGICAL INSTRUMENTS ", is now United States Patent (USP)Shen Qing Publication 2016/0256153；

Entitled " TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINEThe U.S. Patent Application Serial Number 14/ of STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES "640,859, it is now U.S. Patent Application Publication 2016/0256187；

Entitled " INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS "U.S. Patent Application Serial Number 14/640,817, be now U.S. Patent Application Publication 2016/0256186；

Entitled " CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULARThe U.S. Patent Application Serial Number 14/640 of SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE ",844, it is now U.S. Patent Application Publication 2016/0256155；

The U.S. Patent Application Serial of entitled " SMART SENSORS WITH LOCAL SIGNAL PROCESSING "Number 14/640,837, it is now U.S. Patent Application Publication 2016/0256163；

Entitled " SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGEThe U.S. Patent Application Serial Number 14/640,765 of INTO A SURGICAL STAPLER ", is now U.S. Patent Application Publication2016/0256160；

Entitled " SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON AThe U.S. Patent Application Serial Number 14/640,799 of ROTATABLE SHAFT " is now U.S. Patent Application Publication 2016/0256162；And

Entitled " SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING's "U.S. Patent Application Serial Number 14/640,780 is now U.S. Patent Application Publication 2016/0256161；

Present applicant possess on 2 27th, 2015 submit and respectively be incorporated by reference be incorporated herein withLower patent application:

Entitled " SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION "U.S. Patent Application Serial Number 14/633,576, be now U.S. Patent Application Publication 2016/0249919；

Entitled " SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCEPARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND”U.S. Patent Application Serial Number 14/633,546, be now U.S. Patent Application Publication 2016/0249915；

Entitled " SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONEThe U.S. Patent Application Serial Number 14/633,560 of OR MORE BATTERIES " is now U.S. Patent Application Publication 2016/0249910；

Entitled " CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FORThe U.S. Patent Application Serial Number 14/633,566 of CHARGING A BATTERY " is now U.S. Patent Application Publication 2016/0249918；

Entitled " SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOThe U.S. Patent Application Serial Number 14/633,555 of BE SERVICED " is now U.S. Patent Application Publication 2016/0249916；

The U.S. Patent application sequence of entitled " REINFORCED BATTERY FOR A SURGICAL INSTRUMENT "Row number 14/633,542 is now U.S. Patent Application Publication 2016/0249908；

The U.S. Patent Application Serial Number of entitled " POWER ADAPTER FOR A SURGICAL INSTRUMENT "14/633,548, it is now U.S. Patent Application Publication 2016/0249909；

The U.S. Patent Application Serial Number 14/ of entitled " ADAPTABLE SURGICAL INSTRUMENT HANDLE "633,526, it is now U.S. Patent Application Publication 2016/0249945；

The U.S. Patent Application Serial Number 14/633,541 of entitled " MODULAR STAPLING ASSEMBLY ", now forU.S. Patent Application Publication 2016/0249927；And

Entitled " SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFEThe U.S. Patent Application Serial Number 14/633,562 of PARAMETER " is now U.S. Patent Application Publication 2016/0249917；

Present applicant, which possesses to submit on December 18th, 2014 and be respectively incorporated by reference, to be incorporated hereinFollowing patent application:

Entitled " SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE ENDThe U.S. of EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER "Patent application serial number 14/574,478 is now U.S. Patent Application Publication 2016/0174977；

The beauty of entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS "State's patent application serial number 14/574,483 is now U.S. Patent Application Publication 2016/0174969；

Entitled " DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS's "U.S. Patent Application Serial Number 14/575,139 is now U.S. Patent Application Publication 2016/0174978；

Entitled " LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITHThe U.S. Patent Application Serial Number 14/575,148 of ARTICULATABLE SURGICAL END EFFECTORS ", is now the U.S.Patent application publication 2016/0174976；

Entitled " SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLEThe United States Patent (USP) Shen of ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE "Please sequence number 14/575,130, be now U.S. Patent Application Publication 2016/0174972；

The beauty of entitled " SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS "State's patent application serial number 14/575,143 is now U.S. Patent Application Publication 2016/0174983；

Entitled " SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDThe U.S. Patent Application Serial Number 14/575,117 of MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS ", now forU.S. Patent Application Publication 2016/0174975；

Entitled " SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDThe U.S. Patent Application Serial Number 14/575,154 of IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS ", now forU.S. Patent Application Publication 2016/0174973；

Entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEThe U.S. Patent Application Serial Number 14/574,493 of ARTICULATION SYSTEM " is now U.S. Patent Application Publication 2016/0174970；And

Entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLEThe U.S. Patent Application Serial Number 14/574,500 of ARTICULATION SYSTEM " is now U.S. Patent Application Publication 2016/0174971。

Present applicant possess on March 1st, 2013 submit and respectively be incorporated by reference be incorporated herein withLower patent application:

Entitled " Articulatable Surgical Instruments With Conductive PathwaysThe U.S. Patent Application Serial Number 13/782,295 of For Signal Communication ", is now U.S. Patent Application Publication2014/0246471；

Entitled " Rotary Powered Articulation Joints For Surgical Instruments "U.S. Patent Application Serial Number 13/782,323, be now U.S. Patent Application Publication 2014/0246472；

The beauty of entitled " Thumbwheel Switch Arrangements For Surgical Instruments "State's patent application serial number 13/782,338 is now U.S. Patent Application Publication 2014/0249557；

Entitled " Electromechanical Surgical Device with Signal RelayThe U.S. Patent Application Serial Number 13/782,499 of Arrangement " is now United States Patent (USP) 9,358,003；

Entitled " Multiple Processor Motor Control for Modular SurgicalThe U.S. Patent Application Serial Number 13/782,460 of Instruments " is now U.S. Patent Application Publication 2014/0246478；

The U.S. of entitled " Joystick Switch Assemblies For Surgical Instruments " is specialSharp patent application serial numbers 13/782,358 are now United States Patent (USP) 9,326,767；

Entitled " Sensor Straightened End Effector During Removal ThroughThe U.S. Patent Application Serial Number 13/782,481 of Trocar " is now United States Patent (USP) 9,468,438；

Entitled " Control Methods for Surgical Instruments with RemovableThe U.S. Patent Application Serial Number 13/782,518 of Implement Portions " is now U.S. Patent Application Publication 2014/0246475；

Entitled " Rotary Powered Surgical Instruments With Multiple Degrees ofThe U.S. Patent Application Serial Number 13/782,375 of Freedom " is now United States Patent (USP) 9,398,911；And

The U.S. Patent Application Serial Number 13/782,536 of entitled " Surgical Instrument Soft Stop ",It is now United States Patent (USP) 9,307,986.

Present applicant, which also possesses to submit on March 14th, 2013 and be respectively incorporated by reference, to be incorporated hereinFollowing patent application:

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE "U.S. Patent Application Serial Number 13/803,097, be now U.S. Patent Application Publication 2014/0263542；

Entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALThe U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT " is now United States Patent (USP) 9,332,987；

Entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALThe U.S. Patent Application Serial Number 13/803,053 of INSTRUMENT " is now U.S. Patent Application Publication 2014/0263564；

Entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATIONThe U.S. Patent Application Serial Number 13/803,086 of LOCK " is now U.S. Patent Application Publication 2014/0263541；

Entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORThe U.S. Patent Application Serial Number 13/803,210 of SURGICAL INSTRUMENTS " is now U.S. Patent Application Publication 2014/0263538；

The U.S. Patent application of entitled " MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT "Sequence number 13/803,148 is now U.S. Patent Application Publication 2014/0263554；

Entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALThe U.S. Patent Application Serial Number 13/803,066 of INSTRUMENTS " is now U.S. Patent Application Publication 2014/0263565；

Entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALThe U.S. Patent Application Serial Number 13/803,117 of INSTRUMENTS " is now United States Patent (USP) 9,351,726；

Entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALThe U.S. Patent Application Serial Number 13/803,130 of INSTRUMENTS " is now United States Patent (USP) 9,351,727；And

The U.S. of entitled " METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT "Patent application serial number 13/803,159 is now U.S. Patent Application Publication 2014/0277017.

Present applicant also possess submitted on March 7th, 2014 and be incorporated by reference be incorporated herein it is followingPatent application:

The U.S. Patent Application Serial Number of entitled " CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS "14/200,111, it is now U.S. Patent Application Publication 2014/0263539.

Present applicant, which also possesses to submit on March 26th, 2014 and be respectively incorporated by reference, to be incorporated hereinFollowing patent application:

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS's "U.S. Patent Application Serial Number 14/226,106 is now U.S. Patent Application Publication 2015/0272582；

The U.S. Patent Application Serial Number 14/ of entitled " STERILIZATION VERIFICATION CIRCUIT "226,099, it is now U.S. Patent Application Publication 2015/0272581；

Entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT "U.S. Patent Application Serial Number 14/226,094, be now U.S. Patent Application Publication 2015/0272580；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITThe U.S. Patent Application Serial Number 14/226,117 of AND WAKE UP CONTROL " is now U.S. Patent Application Publication 2015/0272574；

Entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTThe U.S. Patent Application Serial Number 14/226,075 of ASSEMBLIES " is now U.S. Patent Application Publication 2015/0272579；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALThe U.S. Patent Application Serial Number 14/226,093 of INSTRUMENTS " is now U.S. Patent Application Publication 2015/0272569；

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION "Please sequence number 14/226,116, be now U.S. Patent Application Publication 2015/0272571；

Entitled " SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETYThe U.S. Patent Application Serial Number 14/226,071 of PROCESSOR " is now U.S. Patent Application Publication 2015/0272578；

The United States Patent (USP) of entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS "Patent application serial numbers 14/226,097 are now U.S. Patent Application Publication 2015/0272570；

The U.S. of entitled " INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS " is specialSharp patent application serial numbers 14/226,126 are now U.S. Patent Application Publication 2015/0272572；

The U.S. Patent Application Serial Number 14/ of entitled " MODULAR SURGICAL INSTRUMENT SYSTEM "226,133, it is now U.S. Patent Application Publication 2015/0272557；

The beauty of entitled " SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT "State's patent application serial number 14/226,081 is now U.S. Patent Application Publication 2015/0277471；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEThe U.S. Patent Application Serial Number 14/226,076 of VOLTAGE PROTECTION " is now U.S. Patent Application Publication 2015/0280424；

The U.S. Patent Application Serial Number 14/ of entitled " SURGICAL STAPLING INSTRUMENT SYSTEM "226,111, it is now U.S. Patent Application Publication 2015/0272583；And

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT "Please sequence number 14/226,125, be now U.S. Patent Application Publication 2015/0280384.

Present applicant, which also possesses to submit on September 5th, 2014 and be respectively incorporated by reference, to be incorporated hereinFollowing patent application:

The United States Patent (USP) Shen of entitled " CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE "Please sequence number 14/479,103, be now U.S. Patent Application Publication 2016/0066912；

Entitled " ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUEThe U.S. Patent Application Serial Number 14/479,119 of COMPRESSION " is now U.S. Patent Application Publication 2016/0066914；

Entitled " MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION "U.S. Patent Application Serial Number 14/478,908, be now U.S. Patent Application Publication 2016/0066910；

Entitled " MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'SThe U.S. Patent Application Serial Number 14/478,895 of OUTPUT OR INTERPRETATION ", is now U.S. Patent Application Publication2016/0066909；

The U.S. of entitled " POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE "Patent application serial number 14/479,110 is now U.S. Patent Application Publication 2016/0066915；

The U.S. of entitled " SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION " is specialSharp patent application serial numbers 14/479,098 are now U.S. Patent Application Publication 2016/0066911；

The United States Patent (USP) of entitled " MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE "Patent application serial numbers 14/479,115 are now U.S. Patent Application Publication 2016/0066916；And

The United States Patent (USP) Shen of entitled " LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION "Please sequence number 14/479,108, be now U.S. Patent Application Publication 2016/0066913.

Present applicant, which also possesses to submit on April 9th, 2014 and be respectively incorporated by reference, to be incorporated hereinFollowing patent application:

Entitled " MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVEThe U.S. Patent Application Serial Number 14/248,590 of SHAFTS " is now U.S. Patent Application Publication 2014/0305987；

Entitled " SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRINGThe U.S. Patent Application Serial Number 14/248,581 of DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT ",It is now U.S. Patent Application Publication 2014/0305989；

Entitled " SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLINGThe U.S. Patent Application Serial Number 14/248,595 of THE OPERATION OF THE SURGICAL INSTRUMENT ", now forU.S. Patent Application Publication 2014/0305988；

The U.S. Patent Application Serial Number 14/248 of entitled " POWERED LINEAR SURGICAL STAPLER ",588, it is now U.S. Patent Application Publication 2014/0309666；

The United States Patent (USP) of entitled " TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT "Apply for sequence 14/248,591, is now U.S. Patent Application Publication 2014/0305991；

Entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENTFEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS”U.S. Patent Application Serial Number 14/248,584, be now U.S. Patent Application Publication 2014/0305994；

The U.S. Patent Application Serial Number 14/248,587 of entitled " POWERED SURGICAL STAPLER ", now forU.S. Patent Application Publication 2014/0309665；

Entitled " DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALThe U.S. Patent Application Serial Number 14/248,586 of INSTRUMENT " is now U.S. Patent Application Publication 2014/0305990；WithAnd

Entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUSThe U.S. Patent Application Serial Number 14/248,607 of INDICATION ARRANGEMENTS ", is now U.S. Patent Application Publication2014/0305992。

Present applicant, which also possesses to submit on April 16th, 2013 and be respectively incorporated by reference, to be incorporated hereinFollowing patent application:

Entitled " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY AThe U.S. Provisional Patent Application Serial No. 61/812,365 of SINGLE MOTOR "；

The U.S. Provisional Patent Application Serial No. 61/812,376 of entitled " LINEAR CUTTER WITH POWER "；

The U.S. Provisional Patent Application sequence of entitled " LINEAR CUTTER WITH MOTOR AND PISTOL GRIP "Row number 61/812,382；

Entitled " SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS ANDThe U.S. Provisional Patent Application Serial No. 61/812,385 of MOTOR CONTROL "；And

Entitled " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY AThe U.S. Provisional Patent Application Serial No. 61/812,372 of SINGLE MOTOR ".

Many details are listed, herein to provide to whole with embodiment shown in the drawings described in specificationBody structure, function, the thorough understanding of manufacture and purposes.It is not described in well known operation, component and element, in order to avoid make to illustrateEmbodiment described in book is smudgy.Reader will appreciate that embodiment described and illustrated herein is non-limiting showsExample, thus it can be appreciated that, specific structural and functional details disclosed herein can be representative and illustrative.Power is not being departed fromIn the case where the range that benefit requires, variations and modifications can be carried out to these embodiments.

Term " including (comprise) " (and any form of " including (comprise) ", such as " including(comprises) " and " including (comprising) "), " with (have) " (and any form of " with (have) ", it is allSuch as " with (has) " and " with (having) "), " comprising (include) " (and any form of " comprising (include) ",Such as " include (includes) " and " including (including) ") and " containing (contain) " (and " contain(contain) " any form, such as " contain (contains) " and " containing (containing) ") for open link-verb.Therefore, the surgery system, device or equipment of " comprising ", " having ", "comprising" or " containing " one or more elements have theseOne or more elements, but it is not limited to that only there are these one or more elements.Equally, " comprising ", " having ", "comprising" orThe element of the system in " containing " one or more features portion, device or equipment has those one or more features portions, but unlimitedIn only with those one or more features portions.

Term " nearside " and " distal side " are herein defined as coming relative to the clinician of the handle portions of manipulation surgical instrumentsIt uses.Term " nearside " refers to that near the part of clinician, term " distal side " refers to the portion far from clinician's positioningPoint.It is also understood that using such as "vertical", "horizontal", "up" and "down" in combination with attached drawing herein for the sake of succinct and is clearEtc. spatial terminologies.However, surgical instruments uses in many directions and position, and these terms and it is unrestricted and/orAbsolute.

Various exemplary means and method are provided for executing laparoscopic type and minimally invasive surgical procedures.However, readingPerson it will be readily understood that various method and apparatus disclosed herein can be used for a variety of surgical procedures and application in, including for example withOpen surgical program combines.With continued reference to present embodiment, reader be will be further understood that, various devices disclosed hereinTool in any way in insertion body, by natural cavity, can pass through the notch formed in tissue or puncturing hole etc..DeviceThe working portion or end effector portion of tool can be inserted directly into patient's body or can be filled by entering with service aisleInsertion is set, the end effector and elongated shaft of surgical instruments can be promoted by the service aisle.

Surgical stapling system may include axis and the end effector from axis extension.End effector includes the first jaw and theTwo jaws.First jaw includes nail bin.Nail bin is inserted into the first jaw and can remove from the first jaw；However,Other embodiments replaced from the first jaw can not be removed from the first jaw or at least be readily able to by being susceptible to wherein nail bin.Second jaw includes the anvil block for being configured to the nail deformation for making to project from nail bin.Second jaw can be relative to the first jawIt is pivoted around closure axis；It is contemplated, however, that other embodiment party that can be pivoted to wherein the first jaw relative to the second jawCase.Surgical stapling system further includes the pass for being configured to allow end effector that joint motions are rotated or carried out relative to axisSave kinematic joint.End effector can be around the joint motions axis rotation for extending through actuated articulation joints.It contemplates notOther embodiments including actuated articulation joints.

Nail bin includes warehouse.Warehouse includes proximal end, distal end and extends between proximal end and distal endPlatform.In use, nail bin is located on the first side of tissue to be stapled, and anvil positioning is in second side of tissueOn.Anvil block is towards cartridge movement by tissue compression and to grip against platform.Then, the nail being removedly stored in warehouse canIt is deployed in tissue.Warehouse includes being defined in nail cavity therein, is removedly stored in nail cavity wherein following closely.Nail cavity is arrangedAt six longitudinal rows.Three nail chambers are located on the first side of longitudinal slit and three nail chambers are located in second side of longitudinal slitOn.Other of nail cavity and nail arrangement are also possible.

Nail is supported by the nail driving device in warehouse.Driving device can first or non-firing position and second or percussionIt moves between position, is followed closely with being projected from nail bin.Driving device is retained in warehouse by retainer, and the retainer surrounds warehouseBottom extend and including being configured to grasping warehouse and keeping retainer to the elastic component of warehouse.Driving dressSetting can be moved between its non-firing position and its firing position by sliding part.Sliding part can be adjacent with proximal endProximal position and the distal position adjacent with distal end between move.Sliding part includes multiple ramped surfaces, the slope tableFace is configured to slide below driving device towards anvil block and lifting driving device, and follow closely on the drive means byTo support.

Than that described above, sliding part can also be moved toward the far side by firing member.Firing member is configured to contactSliding part simultaneously pushes sliding part towards distal end.The longitudinal slit being defined in warehouse is configured to receive percussion structurePart.Anvil block further includes the slit for being configured to receive firing member.Firing member further includes engage the first jaw firstSecond cam of the second jaw of cam and engagement.When firing member is promoted towards distal side, first cam and the second cam is controllableThe distance between platform and anvil block of nail bin or tissue space.Firing member further includes being configured to incision in nail bin and anvilThe knife of the intermediate tissue trapped of seat.Wish that knife is positioned at least partly close to ramped surfaces, so that nail is emitted prior to knife.

Fig. 1 shows the motor driving surgery system 10 that can be used for executing a variety of different surgical operations.As seen in this figure,One example of surgery system 10 includes four interchangeable surgical tool components 100,200,300 and 1000, this four interchangeableSurgical tool component is each adapted to interchangeably be used together with handle assembly 500.Each interchangeable surgical tool component 100,200, it 300 and 1000 can be designed to be used in combination with the execution of one or more specific surgical procedures.Another outerIn section's system implementation plan, surgery system or automated surgical that interchangeable surgical tool component can be controlled effectively with robotThe tool-driven component of system is used together.For example, surgical tool component disclosed herein can be with (such as, but not limited to)Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTVarious robot systems, instrument, component and method disclosed in the U.S. Patent number 9,072,535 of ARRANGEMENTS " are togetherIt uses, which is incorporated by reference accordingly is incorporated herein.

Fig. 2 shows a kind of forms for the interchangeable surgical tool component 100 for being operably linked to handle assembly 500.Fig. 3 shows the attachment that interchangeable surgical tool component 100 arrives handle assembly 500.The attached arrangement and method described in Fig. 3Can with any one in interchangeable surgical tool component 100,200,300 and 1000 to robot system tool drives part orThe attachment of tool driver shell is used in combination.Handle assembly 500 may include shank shell 502, which includes canThe pistol grip portion 504 for being grasped by clinician and being manipulated.As by Brief Discussion below, handle assembly 500 can be operatedGround supports multiple drive systems, and multiple drive system is configured to generate various control movements and moves various controlsIt is applied to the corresponding part for being operably attached to interchangeable surgical tool component 100,200,300 and/or 1000 thereon.

Referring now to Fig. 3, handle assembly 500 can also include the frame 506 for being operably supported multiple drive systems.ExampleSuch as, frame 506 can be operably supported be commonly labeled as 510 " first " or closure drive system, " first " or should closeClose drive system can be used for be closed be applied to open movement be operationally attached or coupled to handle assembly 500 can be mutualChange surgical tool component 100,200,300 and/or 1000.In at least one form, closure drive system 510 may include byThe actuator for 512 form of closure trigger that frame 506 is pivotally supported.It is such to be arranged such that closure trigger 512It is manipulated by clinician, so that when clinician holds the pistol grip portion 504 of handle assembly 500, closure trigger 512" actuating " position easily can be pivoted to from starting or " not activating " position and be more specifically pivoted to compression or complete completelyFully actuated position.In various forms, closure drive system 510 further includes being pivotally coupled to closure trigger 512 or with itThe closed connecting rod component 514 that his mode is operably connected with it.It is discussed in detail as discussed further below, in the example of illustrationIn, closed connecting rod component 514 includes lateral attachment pin 516, is conducive to be attached to the corresponding driving system on surgical tool componentSystem.In use, in order to activate closure drive system, clinician depresses closure trigger towards pistol grip portion 504512.Such as in the U.S. Patent application of entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM "Sequence number 14/226,142 (is now U.S. Patent Application Publication 2015/0272575, the United States Patent (USP) is accordingly in full with the side of referenceFormula is incorporated herein) in be described in further detail, when clinician is fully depressed by closure trigger 512 to realize complete closureWhen stroke, closure drive system be configured to for closure trigger 512 being locked in be fully depressed by or fully actuated position at.When clinician's expectation unlocks closure trigger 512 to allow it to be biased into unactuated position, clinician is simplyStarting enables closure trigger back to the closure release button component 518 of unactuated position.Closure release button 518 may be used alsoTo be configured to interact with various sensors, the microcontroller 520 in these sensors and handle assembly 500 is carried outCommunication, with the position for tracking closure trigger 512.In relation to be closed release button component 518 configuration and operation into oneStep details can be found in U.S. Patent Application Publication 2015/0272575.

In at least one form, handle assembly 500 and frame 506, which can be operatively supported at, herein referred to as hitsAnother drive system of drive system 530 is sent out, which is configured to for firing action being applied to and be attached to thereonInterchangeable surgical tool component corresponding part.Such as described in detail in U.S. Patent Application Publication 2015/0272575, percussion drive system 530 can (Fig. 1 be extremely using the electric motor in the pistol grip portion 504 of handle assembly 500It is not shown in Fig. 3).In various forms, motor can have brush to drive for the DC of the maximum rotation for example with about 25,000RPMMotor.In other constructions, motor may include brushless motor, wireless motor, syncmotor, stepper motor or any other conjunctionSuitable electric motor.Motor can be powered by power source 522, and in one form, which may include removable power sourceGroup.Power supply group can wherein support multiple lithium ions (" LI ") or other suitable batteries.Can be used can be connected in series it is morePower source 522 of a battery as surgery system 10.In addition, power source 522 can be it is interchangeable and/or rechargeable.

Electric motor is configured to according to the polarity of motor on distally and proximally direction axially that driving can be longitudinalMobile drive member 540.For example, when motor is driven in one rotational direction, longitudinally movable drive member 540It will axially be driven on distal direction " DD ".It is longitudinally movable when motor is driven in the opposite rotation directionDrive member 540 will axially be driven on proximal direction " PD ".Handle assembly 500 may include switch 513, which canTo be configured to make to be applied to the polarity reversion of electric motor by power source 522 or otherwise control motor.ShankComponent 500 can also include the position for being configured to detection drive member 540 and/or the direction of the movement of drive member 540One or more sensors (not shown).The actuating of motor can be by the percussion that is pivotally supported in handle assembly 500Trigger 532 (Fig. 1) control.Firing trigger 532 can pivot between unactuated position and actuated position.Firing trigger532 can be biased into unactuated position by spring or other biass arrangement, so that when clinician discharges firing trigger 532When, which can be pivoted or otherwise back to unactuated position by spring or bias arrangement.At least oneIn kind form, firing trigger 532 can be positioned in " outside " of closure trigger 512 as discussed above.Such as the U.S.Discussed in patent application publication 2015/0272575, handle assembly 500 can be equipped with firing trigger safety switch (notShow), to prevent the accidental activation of firing trigger 532.When closure trigger 512 is in unactuated position, safety switchIt is accommodated in handle assembly 500, in the case, clinician can not have easy access to safety switch and safety switch is made to existPrevent the home of the actuating of firing trigger 532 and can wherein fire firing trigger 532 firing position between move.When clinician depresses closure trigger 512, safety switch and firing trigger 532 are pivoted downwards, and then it can be by clinicDoctor's manipulation.

In at least one form, longitudinally movable drive member 540 can have the rack gear being formed thereon and (not showOut), for being engaged with the corresponding driving gear arrangement (not shown) to connect with motor.These related feature structures are moreMore details can be found in U.S. Patent Application Publication 2015/0272575.At least one form further includes manually actuable" relief " component, the component are configured to allow the clinician to manually to make to indulge in the forbidden situation of motorIt bounces back to mobile drive member 540.Relief component may include lever or relief handle assembly, be stored in release door 550In the handle assembly 500 of lower section.Lever is configured to be pivoted into manually and engage with the tooth papillae wheel in drive member 540.CauseThis, clinician can manually make drive member 540 bounce back by using relief handle assembly, at proximal direction " PD "Upper ratchet cooperates drive member 5400.Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUSThe U.S. Patent Application Serial Number 12/249,117 of WITH MANUALLY RETRACTABLE FIRING SYSTEM " (is now beautyState's patent 8,608,045, the complete disclosure of the patent is hereby incorporated by reference) disclose relief arrangement andOther component, arrangement and the system that can also be used together with various surgical tool components disclosed herein.

Turning now to Fig. 2, interchangeable surgical tool component 100 includes surgical end-effector 110, which executesDevice includes the first jaw and the second jaw.In one arrangement, the first jaw includes elongated passageway 112, which is matchedSurgery nail bin 116 can be operably supported wherein by being set to.Second jaw includes relative to elongated passageway 112 by pivot twelve Earthly BranchesThe anvil block 114 of support.Interchangeable surgical tool component 100 further includes lockable articulation joint 120, Lockable joint movementConnector is configured to that end effector 110 is releasably held in desired locations relative to axis axis SA.It is relatedThe details of end effector 110, the various constructions of actuated articulation joints 120 and joint motions lock and operation is set forth in entitledThe United States Patent (USP) of " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK "Patent application serial numbers 13/803,086 (are now U.S. Patent Application Publication 2014/0263541, the United States Patent (USP) is accordingly in full to drawIt is incorporated herein with mode) in.As in figure 2 and figure 3 it can further be shown that interchangeable surgical tool component 100 may include closeSide shell or nozzle 130 and closure tube assembly 140, the closure tube assembly can be used for being closed and/or opening end effector 110Anvil block 114.As discussed in U.S. Patent Application Publication 2015/0272575, closure tube assembly 140 is movably supportedOn ridge 145, which supports articulation drive arrangement 147, to hold for joint motions action to be applied to surgical endRow device 110.Ridge 145 is configured to: first, slidingly support trigger shaft 170 therein；Second, it slidingly supportsThe closure tube assembly 140 extended around ridge 145.In all cases, ridge 145 includes being pivotally supported in pedestal 150Proximal end.Referring to Fig. 3.In one arrangement, for example, the proximal end of ridge 145 is attached to ridge bearing (not shown), the ridge axisIt holds and is configured to be supported in pedestal 150.It is this to be disposed with the rotatable attachment that pedestal 150 is arrived conducive to ridge 145, so thatRotated relative to pedestal 150 around axis axis SA to 145 property of can choose of ridge.

Referring also to Fig. 3, interchangeable surgical tool component 100 includes closure spindle moving part 160, and the closure spindle moving part is by slidablyGround is supported in pedestal 150, is made it possible to and is axially moved relative to the pedestal.As shown in Figure 3, it is closed spindle moving part 160A pair hook 162 proximally outstanding including being configured to be attached to attachment pin 516, the attachment pin are attached to handle assembly 500In closed connecting rod component 514.The proximal closure tube segment 146 of closure tube assembly 140 is connected to closure spindle moving part 160, to be used forIt is rotated relative to the closure spindle moving part.Therefore, when hook 162 is hooked on pin 516, the actuating of closure trigger 512 will be so that closeIt closes spindle moving part 160 to axially move, and axially moves the closure tube assembly 140 on ridge 145.Closing spring is (notShow) it can be connected to axle journal in closure tube assembly 140 and for being closed tube assembly in proximal direction " PD " biased140, this can not caused when shaft assembly 100 is operably linked to handle assembly 500 for being pivoted to closure trigger 512In dynamic position.In use, closure tube assembly 140 is translated towards distal side (direction DD), such as in response to closure trigger 512It activates and closed anvil 114.Being closed tube assembly 140 includes distal closure tube segment 142, which is pivotally pinned toThe distal end of proximal closure tube segment 146.Distal closure tube segment 142 be configured to proximal closure tube segment 146 relative toSurgical end-effector 110 axially moves.When the distal end of distal closure tube segment 142 hits the nearside table on anvil block 114When face or flange 115, anvil block 114 is pivoted into closure.The further details of closure in relation to anvil block 114 can be special in the above-mentioned U.S.It finds, and will be discussed in further detail below in sharp Shen Qing Publication 2014/0263541.Such as in U.S. Patent application public affairsIt is equally described in detail in cloth 2014/0263541, opens anvil block 114 by proximally translating distal closure tube segment 142.FarSide closure pipeline section 142 wherein have limit extend downwardly return tab (not shown) shape of a hoof hole 143, the return tab withThe anvil block tab 117 being formed in the proximal end of anvil block 114 cooperates so that anvil block 114 is pivoted back to open position.CompleteOpen position, closure tube assembly 140 are in its recent side or unactuated position.

Similarly, as described above, interchangeable surgical tool component 100 further includes trigger shaft 170, which is supported toIt axially advances in axle ridge 145.Trigger shaft 170 includes intermediate percussion shaft portion, and centre percussion shaft portion is configured to attachedIt is connected to distal incision part or knife bar, the distal incision part or knife bar are configured to axially be advanced through surgical end executionDevice 110.In at least one arrangement, interchangeable surgical tool component 100 includes clutch pack (not shown), the clutch groupPart is configured to that articulation drive selectively and is releasedly connected to trigger shaft 170.Related clutchDevice assembly feature and the more details of operation can be found in U.S. Patent Application Publication 2014/0263541.It is such as special in the U.S.Discussed in sharp Shen Qing Publication 2014/0263541, when clutch pack is in its bonding station, the distal side of trigger shaft 170Movement can be such that articulation drive arrangement 147 is moved distally, and correspondingly, and the nearside movement of trigger shaft 170 can be withMove articulation drive arrangement 147 proximally.When clutch pack is in its disengaging configuration, the shifting of trigger shaft 170It is dynamic to be not sent to articulation drive arrangement 147, and therefore, trigger shaft 170 can be independently of articulation driveArrangement 147 is mobile.Interchangeable surgical tool component 100 can also include slip ring assembly (not shown), which can be byIt is configured to for electric power to be transmitted to end effector 110 and/or from the end effector conduct power and/or by signalIt is transmitted to end effector 110 and/or transmits signal from the end effector.More details in relation to slip ring assembly can be in beautyIt is found in state's patent application publication 2014/0263541.Entitled " STAPLE CARTRIDGE TISSUE THICKNESSThe U.S. Patent Application Serial Number 13/800,067 of SENSOR SYSTEM " is now U.S. Patent Application Publication 2014/0263552, it is incorporated by reference and is incorporated to.Entitled " STAPLE CARTRIDGE TISSUE THICKNESS SENSORThe United States Patent (USP) 9,345,481 of SYSTEM " is equally incorporated by introduction in full accordingly.

Referring also to Fig. 3, pedestal 150 is formed at least one thereon and preferably two taper attachment parts 152, the taper are attachedSocket part point is suitable for being received in the correspondence swallow-tail form slit 507 formed in the distal end of frame 506.Each swallow-tail form slit507 can be taper, or in other words, can omit forming V-shape, to be received taper attachment part 152 at it in a manner of resting uponIn.Such as can be further seen in Fig. 3, axis attachment lug 172 is formed in the proximal end of beating shaft 170.When can be mutualWhen changing surgical tool component 100 and being connected to handle assembly 500, axis attachment lug 172 be received in be formed in it is longitudinally movableIn beating shaft attachment leg 542 in the distal end of drive member 540.Interchangeable surgical tool component 100 also uses latchSystem 180, with the frame 506 for shaft assembly 100 to be releasably locked to handle assembly 500.In at least one form,For example, latch system 180 includes the locking component or locking yoke 182 for being moveably coupled to pedestal 150.Locking yoke 182 includesTwo proximally locking lugs 184 outstanding, the two locking lugs are configured to and the distal side of frame 506 attachment flangeIn correspondence locking pawl or groove 509 be releasably engaged.In various forms, locking yoke 182 is by spring or biasing memberBias in a proximal direction.The actuating of locking yoke 182 can be installed to the latch actuating of pedestal 150 by being slidably mounted inLatched press-button 186 in device assembly is realized.Latched press-button 186 can be biased in a proximal direction relative to locking yoke 182.As that will discuss in further detail below, can by distal direction DD biased latched press-button 186 come make lock yoke 182Be moved to unlocked position, this also make lock yoke 182 be pivoted into no longer with the distal side of frame 506 attachment flange remain engaged with.Work as lockWhen determining distal side attachment flange " the remaining engaged with " of yoke 182 and frame 506, locking lug 184 remains disposed at the remote of frame 506In correspondence locking pawl or groove 509 in side end.More details in relation to latch system can be in U.S. Patent application public affairsIt is found in cloth 2014/0263541.

The attachment of interchangeable surgical tool component 100 and handle assembly 500 is described referring now to Fig. 3.Start to coupleThe pedestal 150 of interchangeable surgical tool component 100 can be located in above the distal end of frame 506 by process, clinicianNear or, so that the taper attachment part 152 formed on pedestal 150 is aligned with the swallow-tail form slit 507 in frame 506.Then,Clinician can be such that surgical tool component 100 moves along the mounting axis IA perpendicular to axis axis SA, so that taper attachmentDivide 152 to be positioned to and the corresponding swallow-tail form in the distal end of frame 506 receives slit 507 " being operatively engaged ".It does soWhen, the axis attachment lug 172 on beating shaft 170 will equally be placed in the bracket 542 in longitudinally movable drive member 540In, and the part of the pin 516 in closed connector 514 will be placed in the correspondence hook 162 in closure spindle moving part 160.Such as thisUsed in text, term " being operatively engaged " refers to that both parts fully engage each other under the background of two components, so thatOnce applying actuating movement to it, these components can execute its anticipatory action, function and/or program.

Referring back to Fig. 1, the surgery system 10 shown in the drawings include four interchangeable surgical tool components 100,200,300 and 1000, this four interchangeable surgical tool components respectively can be effectively used together with same handle assembly 500To execute different surgical operations.The construction of the exemplary form of interchangeable surgical tool component 100 mentioned briefly above intoIt has gone discussion, and has carried out further being discussed in detail in U.S. Patent Application Publication 2014/0263541.It is related can be mutualThe various details for changing surgical tool component 200 and 300 can submitted with the application in same date and by reference simultaneouslyEnter and is found in the various U.S. Patent applications of this paper.Various details in relation to interchangeable surgical tool component 1000 will hereinafterIt is discussed in further detail.

As shown in Figure 1, each of surgical tool component 100,200,300 and 1000 includes a pair of of jaw, wherein clampingAt least one of mouth can move between the open and the closed positions, in the open position, can be between two jawsCapture or manipulating tissue；In closed position, tissue is securely held between two jaws.By handle assembly orWhen the robot or automated surgical system that surgical tool component is operably linked to apply closed action and opening action to it,Moveable one or more jaw moves between the open and the closed positions.Interchangeable surgical tool shown in addition,Each of component includes firing member, which is configured to cutting tissue and from nail bin percussion nail, the nailStorehouse is supported in a jaw in response to the firing action that is applied by handle assembly or robot system to it.Each surgeryTool assembly, which can be uniquely designed into, executes particular procedure, for example, in the specific region internal cutting of body and fasteningThe tissue of specific type and thickness.Closure, percussion and articulation control system in handle assembly 500 or robot system canTo be configured to be generated according to the type of the closure, percussion and the articulation system configuration that use in surgical tool componentAxial control action and/or rotation control action.In one arrangement, when the closure in handle assembly or robot system controlsWhen system is fully actuated, one of closed system control unit is (for example, it may include closed tube group as described abovePart) from unactuated position it is moved axially to its fully actuated position.Closure tube assembly can not caused from it hereinMobile axial distance is known as its " closing stroke length " when dynamic position is moved to its fully actuated position.Similarly, work as shankWhen trigger system in component or robot system is fully actuated, one of trigger system control unit is (for example, it can be withIncluding longitudinally movable drive member as described above) from its unactuated position it is moved axially to its fully actuated or percussion positionIt sets.It herein can be mobile when being moved to its complete firing position from its unactuated position by longitudinally movable drive memberAxial distance be known as its " firing schedule length ".For using those of articulating end effector arrangement surgical toolComponent, handle assembly or robot system can be using the joint fortune for moving axially through " joint motions driving trip length "Dynamic control unit.In many cases, closing stroke length, firing schedule length and joint motions driving trip length are for spyDetermine for handle assembly or robot system to be fixed.Therefore, each of surgical tool component allows for passing through itEach of all stroke length are mobile to adapt to closure, percussion and/or the control of joint motions component, without to surgeryTool component applies excessive stress, because this may cause surgical tool parts damages or catastrophic failure occurs.

Turning now to Fig. 4 to Figure 10, interchangeable surgical tool component 1000 includes surgical end-effector 1100, the surgeryEnd effector includes the elongated passageway 1102 for being configured to be operably supported nail bin 1110 therein.End effector1100 can also include the anvil block 1130 being pivotally supported relative to elongated passageway 1102.Interchangeable surgical tool component 1000Can also include actuated articulation joints 1200 and joint motions lock 1210 (Fig. 5 and Fig. 8 to Figure 10), joint motions lock can be withIt is configured to for end effector 1100 to be releasably held in the position of desired joint motions relative to axis axis SA.HaveThe details of the construction and operation that close joint motions lock 1210 can be in entitled " ARTICULATABLE SURGICALThe U.S. Patent Application Serial Number 13/803,086 of INSTRUMENT COMPRISING AN ARTICULATION LOCK " is (existingFor U.S. Patent Application Publication 2014/0263541, the complete disclosure of the United States Patent (USP) is incorporated by reference this accordinglyText) in find.The other details of related joint motions lock can also be on 2 9th, the 2016 entitled " SURGICAL submittedThe U.S. of INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT " is specialIt is found in sharp patent application serial numbers 15/019,196, the complete disclosure of the United States Patent (USP) is hereby incorporated by reference.As seen in Figure 7, interchangeable surgical tool component 1000 can also include nearside shell or nozzle 1300, the nearside shell or sprayMouth is made of nozzle segment 1302,1304 and actuator wheel part 1306, which is configured to pass throughSnap-fastener, lug, screw etc. are connected to the nozzle segment 1302,1304 of assembling.Interchangeable surgical tool component 1000 can be withIncluding being closed tube assembly 1400, which can be used for being closed and/or opening the anvil block 1130 of end effector 1100,As that will discuss in further detail below.Referring now primarily to Fig. 8 and Fig. 9, interchangeable surgical tool component 1000 be can wrapRidge component 1500 is included, which is configured to support joint motions lock 1210.In the arrangement of illustration, ridge component1500 include " elasticity " ridge or framing component 1510 that will be described in details further below.The distal end portion of elastic ridge component 1510Portion part 1522 is attached to distal frame section 1560, which is operably supported joint motions lock 1210 therein.As in Fig. 7 and Fig. 8 as it can be seen that ridge component 1500 is configured to: first, slidingly support firing member component therein1600；Second, slidingly support the closure tube assembly 1400 extended around ridge component 1500.Ridge component 1500 can also be matchedProximal joint motion drive 1700 can be slidingly supported by being set to.

As shown in Figure 10, distal frame section 1560 is pivotally coupled to elongated logical by end effector mounting assembly 1230Road 1102.For example, in one arrangement, the distal end 1562 of distal frame section 1560 has the pivot pin being formed thereon1564.Pivot pin 1564 is suitable for pivotally receiving in the pivot foundation 1232 for being formed in end effector mounting assembly 1230In pivot hole 1234 in.End effector mounting assembly 1230 is attached to carefully by spring catch 1105 or other suitable componentsThe proximal end 1103 of long-channel 1102.Pivot pin 1564 limits the joint motions axis B-B transverse to axis axis SA.Referring to figure4.This arrangement pivotally advanced around joint motions axis B-B relative to ridge component 1500 convenient for end effector 1100 (that is,Joint motions).

Referring also to Figure 10, in the embodiment of illustration, articulation drive 1700 has distal end 1702, this is remoteSide end is configured to be operatively engaged joint motions lock 1210.Joint motions lock 1210 includes articulation frame1212, which is suitable for being operatively engaged in the pivot foundation 1232 of end effector mounting assembly 1230Drive pin 1238.In addition, cross-connect 1237 may be coupled to drive pin 1238 and articulation frame 1212, with auxiliaryThe joint motions of end effector 1100.As described above, the operation of related joint motions lock 1210 and articulation frame 1212More details (can be now U.S. Patent Application Publication 2014/ in U.S. Patent Application Serial Number 13/803,0860263541) it is found in.Other details in relation to end effector mounting assembly and cross-connect can be 2 months 2016 9Entitled " the SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION that day submitsIt is found in the U.S. Patent Application Serial Number 15/019,245 of ARRANGEMENTS ", the complete disclosure evidence of the United States Patent (USP)This is herein incorporated by reference.In all cases, elastic ridge component 1510 includes being pivotally supported in pedestal 1800Proximal end 1514.In one arrangement, for example, the proximal end 1514 of elastic ridge component 1510 has and to be formed onIt is configured to be supported on the screw thread 1516 of the bearing (not shown) of the ridge in pedestal 1800 for being threadedly attached to.Such arrangementBe conducive to elastic ridge component 1510 arrive pedestal 1800 rotatable attachment so that 1500 property of can choose of ridge component the bottom of relative toSeat 1800 is rotated around axis axis SA.

Referring primarily to Fig. 7, interchangeable surgical tool component 1000 includes closure spindle moving part 1420, and the closure spindle moving part is with canThe mode moved axially relative to pedestal 1800 is slidably supported in the pedestal.In one form, it is closed spindle moving part1420 include a pair of hook 1421 proximally outstanding, this is configured to be attached to attachment pin 516 to proximally hook outstanding, this is attachedOutbound is attached to the closed connecting rod component 514 of handle assembly 500, as discussed above.The nearside of proximal closure tube segment 1410End 1412 is connected to closure spindle moving part 1420, relative to closure spindle moving part rotation.For example, U-shaped connector 1424 is inserted intoInto the narrow annular slot 1414 in the proximal end 1412 of proximal closure tube segment 1410, and keep it in closure spindle moving part 1420In vertical slit 1422 in.Referring to Fig. 7.Such arrangement is for being attached to closure spindle moving part for proximal closure tube segment 14101420, axially to advance together with closure spindle moving part, while enabling closure tube assembly 1400 relative to closure spindle moving part1420 rotate around axis axis SA.Closing spring (not shown) axle journal is connected to the proximal end 1412 of proximal closure tube segment 1410On, and for being closed tube assembly 1400 in proximal direction PD biased, this can be used in interchangeable surgical tool component1000 when being operably linked to handle assembly 500, is pivoted to the closure trigger 512 on handle assembly 500 (Fig. 3) and does not causeDynamic position.

As described above, the interchangeable surgical tool component 1000 illustrated includes actuated articulation joints 1200.However, other canExchanging surgical tool component possibly can not carry out joint motions.As shown in Figure 10, upper tang 1415 and lower tang 1416 are from closeThe distal end that side is closed pipeline section 1410 is prominent towards distal side, to be moveably coupled to the end effector of closure tube assembly 1400It is closed casing or distal closure tube segment 1430.As shown in Figure 10, distal closure tube segment 1430 includes from its proximal end towards closeSide upper tang 1434 outstanding and lower tang 1436.Top double pivot links 1220 include proximal pin and distal pin, the nearsidePin and distal pin engage the correspondence in the upper tang 1415,1434 of proximal closure tube segment 1410 and distal closure tube segment 1430 respectivelyHole.Similarly, lower double pivot link 1222 includes proximal pin and distal pin, and the proximal pin and distal pin engage nearside respectivelyThe corresponding aperture being closed in the lower tang 1416 and 1436 of pipeline section 1410 and distal closure tube segment 1430.As discussed further below in detailIt discusses, the distally and proximally axial translation of closure tube assembly 1400 will be so that anvil block 1130 be closed relative to elongated passageway 1102And opening.

As described above, interchangeable surgical tool component 1000 further includes firing member component 1600, the firing member componentIt is supported to axially advance in ridge component 1500.In the embodiment of illustration, firing member 1600 includes being configuredAt the intermediate percussion shaft portion 1602 for being attached to distal incision part or knife bar 1610.It herein can also be by firing member groupPart 1600 is known as " the second axis " and/or " the second shaft assembly ".As Fig. 7 into Figure 10 as it can be seen that intermediate percussion shaft portion 1602 can be withIt include longitudinal slit 1604 in its distal end, which is configured to receive the proximal end of knife bar 1610Tab (not shown) in portion.Longitudinal slit 1604 and the proximal end of knife bar 1610 can be sized and configured to energyEnough so that it allows the relative movement between them and may include slip joint 1612.Slip joint 1612, which can permit, hitsThe intermediate percussion shaft portion 1602 for sending out component assembly 1600 is mobile, not move or not move at least substantially knife bar 1610In the case of, so that end effector 1100 is done joint motions.Once end effector 1100 is suitably orientated, then intermediate beating shaftPart 1602 can be promoted towards distal side, until proximal sidewall and the tab on knife bar 1610 of longitudinal slit 1604 are in contact,To promote knife bar 1610 and to fire the nail bin 1110 being located in elongated passageway 1102.As can further institute in Fig. 8 and Fig. 9See, elastic ridge component 1520 wherein has elongated opening or window 1525, in order to assemble centre percussion shaft portion 1602Be inserted into elastic ridge component 1520.Once centre percussion shaft portion 1602 has been inserted into elastic ridge component 1520, thenTop frame section 1527 can be engaged with the elasticity ridge component, to close intermediate percussion shaft portion 1602 and knife bar therein1610.Further describing for operation in relation to firing member component 1600 can be in U.S. Patent Application Serial Number 13/803,086It is found in (being now U.S. Patent Application Publication 2014/0263541).

Apart from the above, interchangeable tools component 1000 may include clutch pack 1620, which can be withIt is configured to that articulation drive 1800 selectively and is releasedly connected to firing member component 1600.OneIn kind form, clutch pack 1620 includes the locking lining ring or locking casing 1622 around the positioning of firing member component 1600,Wherein locking casing 1622 can rotate between bonding station and disengaging configuration, and in joint place, locking casing 1622 willArticulation drive 1700 is connected to firing member component 1600, and at disengaging configuration, articulation drive 1700 cannot notIt is operably coupled to firing member component 1600.When locking casing 1622 is in its bonding station, firing member component 1600Distal side movement articulation drive 1700 can be made to be moved distally, correspondingly, the nearside of firing member component 1600 movesIt is dynamic that articulation drive 1700 can be made proximally to move.When locking casing 1622 is in its disengaging configuration, firing memberThe movement of component 1600 is not delivered to articulation drive 1700, and therefore, firing member component 1600 can be independently of jointMotion drive 1700 is mobile.In all cases, when firing member component 1600 is not moved up in proximal direction or distal directionWhen movable joint motion drive 1700, articulation drive 1700 can lock 1210 by joint motions and be maintained at position appropriateIt sets.

Referring primarily to Fig. 7, locking casing 1622 may include cylindrical or at least substantially cylindrical main body, the masterBody includes the longitudinal hole 1624 for being defined in wherein and being configured to receive firing member component 1600.Lock casing 1622It may include facing interior locking protruding portion 1626,1628 and face outwardly locking component 1629 relatively diametrically.Locking protrudesPortion 1626,1628 is configured to selectively connect with the intermediate percussion shaft portion 1602 of firing member component 1600It closes.More particularly, when locking casing 1622 is in its bonding station, locking protruding portion 1626,1628, which is located in, to be defined inIn driving recess 1605 in centre percussion shaft portion 1602, allow distal side thrust and/or proximal pulling force from firing memberComponent 1600 is transmitted to locking casing 1622.When locking casing 1622 is in its bonding station, 1629 quilt of the second locking componentIt receives in the driving recess 1704 limited in articulation drive 1700, so that the distal side for being applied to locking casing 1622 pushes awayPower and/or proximal pulling force can be for delivery to articulation drives 1700.In fact, engaging position when locking casing 1622 is in itWhen setting, firing member component 1600, locking casing 1622 and articulation drive 1700 be will move along.On the other hand, whenWhen locking casing 1622 is in its disengaging configuration, locking protruding portion 1626,1628 can be with delocalization in firing member component 1600Intermediate percussion shaft portion 1602 driving recess 1605 in；And therefore, distal side thrust and/or proximal pulling force can not be from hittingHair component assembly 1600 is transmitted to locking casing 1622.Correspondingly, distal side thrust and/or proximal pulling force can be not delivered to jointMotion drive 1700.In such cases, firing member component 1600 can be relative to locking casing 1622 and proximal jointMotion drive 1700 proximally and/or towards distal side slides.Clutch component 1620 further includes cutting with what locking casing 1622 engagedCreeling 1630.It can be in U.S. Patent Application Serial Number 13/ in relation to switching cylinder and the other details for the operation for locking casing 1622It is found in 803,086 (being now U.S. Patent Application Publication 2014/0263541 and sequence number 15/019,196).Switch cylinder 1630It can also include being defined in opening 1632,1634 at least partly peripherally therein, which can receive from nozzle halfThe periphery mounting rack 1305 that block 1302,1304 extends, and allow to switch the opposite rotation between cylinder 1630 and nearside nozzle 1300Turn but is not relative translation.Referring to Fig. 6.Nozzle 1300 reaches its respective slots in switching cylinder 1630 to wherein mounting rack1632, the rotation of the point of 1634 end will be so that switching cylinder 1630 be rotated around axis axis SA.Switch the rotation of cylinder 1630 mostLocking casing 1622 may make to move between its bonding station and disengaging configuration eventually.It is available in alternative embodimentNozzle 1300 makes the joint motion drive system be operatively engaged and be disengaged with percussion drive system.As described above, fromClutch component 1620 can be described in greater detail in the various modes in following patent application and operate: U.S. Patent Application Serial Number13/803,086, it is now U.S. Patent Application Publication 2014/0263541；And U.S. Patent Application Serial Number 15/019,196；These patents, which are respectively incorporated by reference, to be incorporated herein.

In the arrangement of illustration, switching cylinder 1630 includes L shape slit 1636, which extends in switching cylinder 1630Distal openings 1637 in.The transverse bolt 1639 of the reception movable plate 1638 of distal openings 1637.In one example, movable plate1638 are received in the longitudinal slit (not shown) being arranged in locking casing 1622, to transport in locking casing 1622 and jointDynamic driver 1700 axially moves when engaging convenient for the locking casing.The operation arranged in relation to movable plate and moving cylinder into oneStep details can be entitled " the SURGICAL STAPLING INSTRUMENT WITH submitted on September 28th, 2015The U.S. Patent Application Serial Number 14/ of SHAFT RELEASE, POWERED FIRING AND POWERED ARTICULATION "It is found in 868,718, the complete disclosure of the United States Patent (USP) is incorporated by introduction herein accordingly.

Same as shown in Figure 7 and Figure 8, interchangeable tools component 1000 may include slip ring assembly 1640, the slip ring assemblyIt is configured to conduct power to end effector 1100 and/or from the end effector conduct power, and/orPerson transmits signals to end effector 1100 and/or sends back signal from the end effector micro- in such as handle assemblyController or robot system controller.Other details in relation to slip ring assembly 1640 and associated connector can be in the U.S.Patent application serial number 13/803,086 (being now U.S. Patent Application Publication 2014/0263541) and U.S. Patent Application SerialNumber 15/019,196 (the two patent applications, which are respectively incorporated by reference, to be incorporated herein) and entitled " STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM " U.S. Patent Application Serial Number 13/800,067 (now forU.S. Patent Application Publication 2014/0263552, which is incorporated by reference accordingly is incorporated herein) in find.EquallyAs being described in further detail in the aforementioned patent applications being herein incorporated by reference, interchangeable surgical tool component1000 can also include at least one sensor for being configured to the position of detection switching cylinder 1630.

Referring again to Fig. 7, pedestal 1800 includes at least one being formed on and preferably two taper attachment parts1802, which is suitable for being received in corresponding swallow-tail form slit 507, which is formed in handle assemblyIn the distal end portion of 500 frame 506, as discussed above.Such as further finding, axis ear shaped can be attached in Fig. 7In the proximal end of the beating shaft 1602 formed between of object 1605.As that will discuss in further detail below, when interchangeable outerWhen section's tool assembly 1000 is connected to handle assembly 500, axis attachment lug 1605 is received in beating shaft attachment leg 542In, which is formed in the distal end of zigzag tread patterns component 540.Referring to Fig. 3.

Various interchangeable surgical tool components use latch system 1810, to be used for interchangeable surgical tool component 1000It is removably coupled to the frame 506 of handle assembly 500.As shown in Figure 7, for example, at least one form, latch system1810 include the locking component or locking yoke 1812 for being moveably coupled to pedestal 1800.In the shown embodiment, for example,Locking yoke 1812 is U-shaped, and there are two the legs 1814 for separating and extending downwardly.Leg 1814 respectively has the pivot being formed onAxis lug (not shown), these pivot lugs are suitable for being received in the corresponding aperture 1816 formed in pedestal 1800.It is suchIt is disposed with and is conducive to lock yoke 1812 and be pivotally attached to pedestal 1800.Locking yoke 1812 may include two proximally locks outstandingDetermine lug 1818, the two locking lugs be configured to it is corresponding in the distal end of the frame 506 of handle assembly 500Locking pawl or groove 509 are releasably engaged.Referring to Fig. 3.In various forms, spring or biasing member 1819 are in nearside sideYoke 1812 is locked to biased.The actuating for locking yoke 1812 can be by being slidably mounted on latch actuator component 1822Latched press-button 1820 realize that the latch actuator component is installed to pedestal 1800.It can be relative to locking yoke 1812 closeSide direction biased latched press-button 1820.It can make to lock the shifting of yoke 1812 by bias latched press-button 1820 in a distal directionUnlocked position is moved, this distal end for being pivoted into locking yoke 1812 no longer with frame 506 remains engaged with.When locking yoke1812 with distal end " the remaining engaged with " of frame 506 when, locking lug 1818 remains disposed at the distal end of frame 506In correspondence locking pawl or groove 509 in.

In the arrangement of illustration, locking yoke 1812 includes at least one and preferably two lock hooks 1824, and the lock hook is suitableIn the corresponding locking ear portions 1426 that contact is formed on closure spindle moving part 1420.It is not caused when closure spindle moving part 1420 is inWhen dynamic position, locking yoke 1812 can pivot in a distal direction with by interchangeable surgical tool component 1000 from handle assembly500 unlocks.When at that position, the locking ear portions 1426 on 1824 not contact closure spindle moving part 1420 of lock hook.However, preventing locking yoke 1812 to be pivoted to unlocked position when closure spindle moving part 1420 is moved to actuated position.In other words,If clinician attempts that yoke 1812 will be locked and is pivoted to unlocked position, such as, locking yoke 1812 is unexpectedly with originally canIt can be caused pivotably to be collided or be in contact towards distal side, then the lock hook 1824 locked on yoke 1812 closes contactThe locking lug 1426 on spindle moving part 1420 is closed, and locking yoke 1812 is prevented to be moved to unlocked position.

Referring still to Figure 10, knife bar 1610 may include lamination girder construction, which includes at least two beam layers.Such beam layer may include such as stainless steel band, and the stainless steel band is for example, by its proximal end and/or along itWelding or pin joint interconnect together at the other positions of length.In alternative embodiment, the distal end of these bands is notIt links together, to allow layered product or band to be unfolded relative to each other when end effector carries out joint motions.Such arrangementAllow the sufficiently flexible joint motions to adapt to end effector of knife bar 1610.Various lamination knife bar arrangements are disclosed in United States Patent (USP)In patent application serial numbers 15/019,245.It is same as shown in Figure 10, middle support member 1614 be used for knife bar 1610 be bent withLateral support is provided when adapting to the joint motions of surgical end-effector 1100 for the knife bar.In relation to middle support member and optionallyThe more details of knife bar support arrangement are disclosed in U.S. Patent Application Serial Number 15/019,245.It is same as seen in Figure 10,Firing member or cutter component 1620 are attached to the distal end of knife bar 1610.

Figure 11 shows a kind of form for the firing member 1660 that can be used together with interchangeable tools component 1000.OneIn kind exemplary form, firing member 1660 includes main part 1662, which includes the connector extended proximallyComponent 1663, the connector members are configured to the connection of the corresponding forming in the distal end for being received in knife bar 1610In device opening 1614.Referring to Figure 10.Connector 1663 can be by rubbing and/or welding or the companies of being maintained at such as suitable adhesiveIt connects in device opening 1614.Main part 1662 projects through the elongated slot 1104 in elongated passageway 1102, and terminates in masterOn the upside of every side of body portion 1662 into the foot part component 1664 of extension.It is fired when being driven by surgery nail bin 1110 towards distal sideWhen component 1660, foot part component 1664 rides upon the access 1105 that 1110 lower section of surgery nail bin is located in elongated passageway 1102It is interior.As shown in Figure 11, a kind of form of firing member 1660 can also include laterally projecting central tab, pin or retainerFeature structure 1680.When driving firing member 1660 towards distal side by surgery nail bin 1110, central retainer feature structure1680 ride upon on the inner surface 1106 of elongated passageway 1102.The main part 1662 of firing member 1660 further includes being arranged in courtDistal side hook feature structure 1665 outstanding and towards between the top nose part 1670 outstanding of distal side tissue cutting edge or spyLevy structure 1666.It can further finding, firing member 1660 can also include such as that two tops extended laterally are prominent in Figure 11Piece, pin or anvil block engagement features structure 1665.When present dynasty distal side drives firing member 1660, the top section of main body 1662 extendsAcross the anvil block slot 1138 being centrally located, and top anvil engagement features structure 1672 rides upon and is formed in anvil block slotOn correspondence protrusion 1136 on 1134 every side.Referring to Figure 13 and Figure 14.

Back to Figure 10, firing member 1660 is configured to be operably connected with sliding part 1120, the cunningFollower member is operatively supported in the main body 1111 of surgery nail bin 1110.Sliding part 1120 is in surgery cartridge bodyNeighbouring warehouse 1111 slideably is displaced to from the nearside initial position of the proximal end 1112 of neighbouring warehouse 1111 in 1111The final position of distal end 1113.Warehouse 1111 is operably supported multiple staple drivers (not shown) wherein, which drivesDynamic device is in a row aligned on the every side for the slit 1114 being centrally located.The slit 1114 being centrally located enables firing member 1660From wherein passing through, and cut the tissue being clamped between anvil block 1130 and nail bin 1110.Driver and corresponding 1116 phase of pitAssociation, the pit pass through the upper mounting plate surface 1115 of warehouse.Each staple drivers support on it one or more surgical staples orFastener (not shown).Sliding part 1120 includes multiple inclinations or wedge cams 1122, wherein each cam 1122 and positionIn specific row fastener or driver correspondence on 1114 side of slit.In the example of illustration, a cam 1122 and oneArrange " double " driver alignment, this row " double " driver respectively on it support two nail or fastener, another cam 1122 withAnother row " single " driver alignment on the same side of slit 1114, this row's " single " driver can respectively operate on itGround supports single surgical staples or fastener.Therefore, in the example of illustration, when surgery nail bin 1110 is " fired ", tissue is cutThree nails will be present on each side of secant.It would however also be possible to employ other storehouses and driver configuration fire other nails/tightFirmware arrangement.Sliding part 1120 has central main part 1124, which is configured to by firingThe hook portion 1665 of component 1660 engages.Therefore, when firing member 1660 is fired or is driven towards distal side, firing member 1660Also sliding part 1120 is driven towards distal side.When firing member 1660 is moved distally through storehouse 1110, tissue cutting is specialSign structure 1666 cuts the tissue being clamped between anvil assembly 1130 and storehouse 1110, and sliding part 1120 will be in storehouseDriver drives up, and the corresponding nail of driver driving or fastener with the formation of anvil assembly 1130 to contact.

It include in those of tissue cutting surface embodiment in firing member, it is generally desirable to which elongated shaft assembly can be with thisThe mode of sample is constructed: unless unworn nail bin is correctly supported on the elongated passageway of surgical end-effector 1100In 1102, otherwise prevent firing member from unexpectedly being promoted.For example, if there is no nail bin and firing member distadIt is advanced through end effector, then tissue will be cut off, but be not pinned.Similarly, if in the end effectorIn the presence of the nail bin (that is, wherein at least some nails are from the nail bin wherein fired) being finished, and firing member is pushed into, then groupKnitting will be cut off, but may not exclusively be pinned.It should be appreciated that may cause in such case surgical procedures undesirableCatastrophic results.Entitled " SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGEThe United States Patent (USP) 6 of LOCKOUT ", 988,649, entitled " SURGICAL STAPLING INSTRUMENT HAVING AThe United States Patent (USP) 7 of SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING ", 044,352, it is entitled“SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FORThe United States Patent (USP) 7,380,695 of PREVENTION OF FIRING " and entitled " SURGICAL STAPLINGINSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATIONThe U.S. Patent Application Serial Number 14/742,933 of WHEN A CARTRIDGE IS SPENT OR MISSING " respectively disclosesVarious firing member locking arrangements.Each of those bibliography are incorporated by reference accordingly and are incorporated herein.

The storehouse 1110 of " not firing ", " not used ", " fresh " or " new " is here and hereinafter meant that all fasteners in storehouse 1110" get out fire " position in it.When at that position, sliding part 1120 is located at its initial position.New storehouse 1110It is placed in elongated passageway 1102 and the snap feature structure quilt can be remained at by the snap feature structure on warehouseIt is configured to remain engaged with the corresponding part of elongated passageway 1102.Figure 15 and Figure 18 shows surgical end-effector 1100A part, wherein surgery nail bin 1110 that is new or not firing disposes wherein.As in those attached drawings as it can be seen that sliding part1120 are in initial position.It is not firing or new surgery nail bin is not yet correctly positioned in situation in elongated passageway 1102Under, trigger system is activated in order to prevent, and more precisely, and firing member 1660 is driven through towards distal side in order to preventEnd effector 1110, the interchangeable surgical tool component 1000 of illustration is using the firing member locking for being commonly labeled as 1650System.

Referring now to Figure 10 and Figure 15 to 19, in one form, firing member locking system 1650 includes removableLocking component 1652, which is configured to not be correctly positioned in surgery nail bin 1110 elongatedFiring member 1660 is remained engaged with when in channel 1102.Locking component 1652 includes the lock part of at least one lateral movement1654, which is configured to remain engaged in sliding part 1120 when its initial position is not present in storehouse 1110The corresponding part of firing member.In the arrangement of illustration, the lock part 1654 that locking component 1652 is displaced sideways using two,Wherein each lock part 1654 engages the side extensions of firing member 1660.

In the embodiment of illustration, locking component 1652 includes substantially u-shaped spring member, wherein each can be lateralMobile leg or lock part 1654 extends from center spring section 1653 and is configured in Figure 18 and Figure 19It is moved on the lateral indicated by " L ".It should be appreciated that term " lateral " refers to transverse to the direction of axis axis SA.SpringOr locking component 1652 can be made of high-strength spring steel or similar material.Central spring part 1653 can be placed in endIn slit 1236 in actuator mounting assembly 1230.Referring to Figure 10.As Figure 15 into Figure 17 as it can be seen that the leg that can be displaced sidewaysOr each of lock part 1654 all has distal end 1656, which wherein has locking window 1658.WhenWhen locking component 1652 is in the locked position, the central retainer feature structure 1680 on each side extends to corresponding lockingIn window 1658, to keep preventing firing member from axially being promoted towards distal side.

Reference Figure 15 to Figure 19 is illustrated to the operation of firing member locking system.Figure 15 and Figure 18 shows surgical end and holdsA part of row device 1100, wherein the new storehouse 1110 that do not fire is properly mounted in the part.As in those attached drawings as it can be seen that slidingFollower member 1120 include unlock feature structure 1126, this feature structure with it is each in the lock part 1654 that can be displaced sidewaysPerson is corresponding.In the arrangement of illustration, the setting of unlock feature structure 1126 is each on each central wedge cams 1122 or from thisCentral wedge cams extend proximally.In alternative arrangement, unlock feature structure 1126 may include corresponding wedge cams1122 proximally protrusion.As shown in Figure 18, when sliding part 1120 is in its initial position, lock feature knot is solvedStructure 1124 laterally engages on the direction transverse to axis axis SA and the corresponding lock part 1654 of bias.Work as lock part1654 in those unlock orientation when, central retainer feature structure 1680 it is not corresponding locking window 1658 holding connectIt closes.When in those orientations, firing member 1660 can axially be promoted (percussion) towards distal side.However, when storehouse is not presentIn elongated passageway 1102 or sliding part has moved out its initial position (this means that storehouse is partially or even wholly hitHair) when, lock part 1654 is laterally resiliently flexible to keep engaging with firing member 1660.When at that position, as shown in figure 19,Firing member 1660 can not be moved distally.

Figure 16 and Figure 17 shows percussion storehouse 1110 and towards distal side drive sliding part 1120 after firing member1660 arrive the retraction of initial position.Figure 16 depicts the first starting weight for the locking window 1658 for keeping feature structure 1680 correspondingNew engagement.Figure 17 shows the holding when firing member 1660 has been fully retracted to its initial position in its latched position is specialLevy structure.For the secondary locking when lock part 1654 is respectively initially contacted with the holding feature structure 1680 proximally movedThe lateral displacement of the part keeps each of feature structure 1680 to can be set towards nearside, lateral taperedEnd sections.When there is no new when not firing storehouse or when exist it is new do not fire storehouse but its be not correctly positioned in it is elongated logicalWhen in road 1102, such locking system prevents firing member 1660 to be activated.In addition, locking system can prevent clinician from existingUsed or part percussion storehouse promotes towards distal side in the case where being inadvertently correctly positioned in elongated passageway and fires structurePart.Another advantage that locking system 1650 can provide is, with need mobile firing member with the respective slots in nail bin/Via alignment is different with other firing members being misaligned locking arrangement, and firing member 1660 is when being in locking and unlocking positionIt keeps and storehouse via alignment.Lock part 1654 is designed to be displaced sideways to engage and take off with the corresponding side surface of firing memberFrom engagement.Such lateral movement of one or more lock parts can make its with moved in the vertical direction to engage and disengaging is hitOther locking arrangements for sending out the part of component distinguish.

Back to Figure 13 and Figure 14, in one form, anvil block 1130 includes elongate anvil main part 1132 and nearsideAnvil block installation section 1150.Elongate anvil main part 1132 includes outer surface 1134, which limits two and extend downwardlyTissue stopper element 1136, the two tissue stopper elements adjacent to nearside anvil block installation section 1150.Elongate anvil main partDividing 1132 further includes downside 1135, which limits elongate anvil slot 1138.In the illustration arrangement shown in Figure 14, anvil blockSlit 1138 is centrally positioned in downside 1135.Downside 1135 includes three rows being located on every side of anvil block slot 11381140,1141,1142 nail shapes pit 1143,1144 and 1145.Adjacent with every side of anvil block slot 1138 is twoElongated anvil block access 1146.Each access 1146 has nearside ramp portion 1148.Referring to Figure 13.Present dynasty distal side promotes percussionWhen component 1660, top anvil engagement features structure 1632 initially enters corresponding nearside ramp portion 1148 and enters and corresponds toElongate anvil access 1146.

Figure 12 and Figure 13 are gone to, anvil block slot 1138 and nearside ramp portion 1148 extend to anvil block installation section 1150In.In other words, anvil block installation section 1150 is divided into or is divided into two anvil block attachment flanges 1151 by anvil block slot 1138.AnvilSeat attachment flange 1151 is linked together at its proximal end by bridgeware fitting 1153.Bridgeware fitting 1153 is for beingAnvil block is attached flange 1151 and provides support, and may be used to anvil block installation section 1150 than mounting portion that other anvil blocks are arrangedDivide more rigidly, wherein anvil block attachment flange is not attached to together at its proximal end.It is same as in Figure 12 and Figure 14 as it can be seen thatAnvil block slot 1138 has wider portion 1139, to accommodate the top section and top anvil engagement features knot of firing member 1660Structure 1632.

As Figure 13 and Figure 20 into Figure 24 as it can be seen that anvil block attachment each of flange 1151 includes lateral mounting hole1156, which is configured to receive the pivot pin 1158 (Figure 10 and Figure 20) passed through.Anvil block mounting portionDivide 1150 proximal ends 1103 that elongated passageway 1102 is pivotally pinned to by pivot pin 1158, it is meticulous which extends throughThe mounting hole 1156 in mounting hole 1107 and anvil block installation section 1150 in the proximal end 1103 of long-channel 1102.It is suchArrangement is for being pivotally affixed to elongated passageway 1102 for anvil block 1130, for around the fixation anvil block transverse to axis axis SAAxis A-A is selectively pivoted and is advanced.Referring to Fig. 5.Anvil block installation section 1150 further includes cam face 1152, the cam face fromThe firing member parking area 1154 of concentration extends to the outer surface 1134 of anvil body part 1132.

In the arrangement of illustration, opening anvil block 1130 by axially promoting and bouncing back distal closure tube segment 1430It is moved between position and closed position.It is discussed in detail as discussed further below, the distal end portion of distal closure tube segment 1430Dividing has the interior cam surface being formed thereon, which is configured to cam engagement cam surfaces 1552Or it is formed in the cam face on anvil block installation section 1150.Figure 22 shows cam face 1152a, which is formed inIt is individually connect on anvil block installation section 1150 to be established with the interior cam surface 1444 for example on distal closure tube segment 1430Touch path 1155a.Figure 23 shows cam face 1152b, and the cam face is relative to the inner cam on distal closure tube segmentSurface 1444 constructs, convex with the cam face 1152 on anvil block installation section 1150 and the inside on distal closure tube segment 1430Two sseparated and different bow contact path 1155b is established between wheel surface 1444.Other are potential except discussed in this articleExcept advantage, such arrangement can be used for closing force being better distributed to anvil block 1130 from distal closure tube segment 1430.Figure 24Cam face 1152c is shown, which constructs relative to the interior cam surface 1444 of distal closure tube segment 1430, withThree different contact zone 1155c are established between the cam face on anvil block installation section 1150 and distal closure tube segment 1430And 1155d.The one or more CAM tables of area 1155c, 1155d on distal closure tube segment 1430 and anvil block installation section 1150Bigger cam contact region is established between face, and can be used for for closing force being better distributed to anvil block 1130.

When the anvil block installation section 1150 of 1430 cam of distal closure tube segment engagement anvil block 1130, anvil block 1130 surrounds anvilSeat axis AA is pivoted, this makes the distal end of the end 1133 of elongate anvil main part 1132 towards 1110 He of surgery nail binThe distal end 1105 of elongated passageway 1102 is pivotally displaced.As anvil body part 1132 starts to pivot, the anvil bodyPart contacts to be cut and suture tissue, which is now located at the downside 1135 of elongate anvil main part 1132 and outerBetween the platform 1116 of section's nail bin 1110.As anvil body part 1132 is compressed to tissue, anvil block 1130 may be met withSizable resistance.It is promoted as distal closure tube 1430 continues its distal side, these resistances are overcome.However, according to theseThe size of resistance and its application point to anvil body part 1132, these resistances may tend to so that anvil block 1130 onePart is bent, this usually may be unexpected.For example, such bending may cause in firing member 1660 and anvil block 1130Access 1148,1146 misalignments.In the case where curved transitions, percussion needed for this bending can significantly increase percussion instrumentThe amount (driving firing member 1660 to final position from its initial position that is, passing through tissue) of power.Such excessive percussion forceIt is impaired to may cause end effector, and/or firing member, and/or knife bar, and/or percussion drive system component etc..Therefore,Being configured to can to resist such bending for anvil block may be advantageous.

Figure 25 to Figure 27 shows alternative anvil block embodiment comprising can improve the rigidity of anvil body and its rightThe feature structure of the resistance of issuable bending force during closure and/or percussion process.Except difference discussed in this articleExcept, anvil block 1130' constructively can be identical as anvil block 1130 described above.As in those attached drawings as it can be seen that anvil block 1130'With elongate anvil main body 1132', which has the upper body part for being attached with anvil block cap 1170 thereon1165.In Figure 25 into Figure 27 in discribed embodiment, anvil block cap 1170 it is substantially rectangular in shape, and there is outer capPeriphery 1172.The periphery 1172 of anvil block cap 1170 be configured to the correspondence being passed through in upper body part 1165 atShape opening 1137 is inserted into, and can be received on axially extending internal nib part 1139 formed therein.GinsengSee Figure 27.Internal nib part 1139 is configured to the correspondence long side 1177 of support anvil block cap 1170.In alternative implementationIn scheme, anvil block cap 1170 can slide into interior across the opening (not shown) in the distal end 1133 of anvil body 1132'On portion protrusion 1139.In yet another embodiment, internal nib part is not provided.Anvil body 1132' and anvil block cap 1170It can be by being made convenient for the suitable metal of welding.First weld seam 1178 can prolong around the entire cap periphery 1172 of anvil block cap 1170It stretches or it can be only along the positioning of long side 1177 of anvil block cap 1170 and not along its distal end 1173 and/or its proximal endPortion 1175 positions.First weld seam 1178 can be it is continuous or its can be it is discontinuous or intermittent.In the first weld seam1178 be discontinuous or those of interruption is in embodiment, and weld seam section can be uniformly distributed along the long side 1177 of anvil covers 1170,Or the distal end of weld seam section closer to long side 1177 then can be more densely packed spaced apart, or closer to the nearside of long side 1177End then can be more densely packed spaced apart.In other arrangement, weld seam section can be in the long side 1177 of anvil block cap 1170Heart district is more densely packed spaced apart in domain.

Figure 28 to Figure 30 shows anvil block cap 1170', which is configured to " mechanical with anvil body 1132'Property interlocking " and upper body part 1165 can be welded to.In this embodiment, multiple holding structures 1182 are formed inIn the wall 1180 of portion's main part 1165, which limits opening 1137.As used in this context, term " mechanicalnessInterlocking " will be it is meant that the orientation regardless of elongate anvil main body, anvil block cap will remain attached to elongate anvil main body, and be not required toWant any additional holding or fastening, such as welding and/or adhesive.Keep structure 1182 inwardly prominent from perforated wall 1180Out into opening 1137.Keep structure 1182 that can be integrally formed in wall 1180 or be otherwise attach to thereon.It protectsStructure 1182 is held to be designed to be mounted in opening 1137 when the holding structure anvil covers 1170' to be frictionally held in whereinWhen frictional engagement anvil covers 1170' corresponding part.In the embodiment of illustration, structure 1182 is kept to project inwardly into openingIn 1137, and it is configured to the corresponding forming received in the outer periphery 1172' for being formed in anvil block cap 1170' that rubbedIn engaging zones 1184.In the arrangement of illustration, keep structure 1182 only corresponding with the long side 1177' of anvil block cap 1170', andIt is not disposed in wall 1180 in part corresponding with the distal end 1173 of anvil block cap 1170' or proximal end 1175.OptionallyArrangement in, keep structure 1182 distal end portion in wall 1180 with anvil block cap 1170' and its long side 1177' also can be setIn portion 1173 and the corresponding part of proximal end 1175.In other arrangement, keep structure 1182 that can be provided only on wallIn 1180 and in the corresponding part of one or both of the distal end 1173 of anvil block cap 1170' and proximal end 1175.?In addition in arrangement, keep structure 1182 can be set it is corresponding with long side 1177' in wall 1180 and only with anvil covers 1170'Proximal end 1173 and the corresponding part of one of distal end 1175 in.It is also understood that all foregoing embodimentsIn holding protruding portion can be alternatively formed on anvil block cap, wherein engaging zones are formed in elongate anvil main body.

In the embodiment shown in Figure 28 to Figure 30, structure 1182 is kept to be equally spaced along wall part 1180 orEven distribution, the wall part are corresponding with the long side 1177' of anvil block cap 1170'.In alternative embodiment, structure 1182 is kept moreDistal end close to long side 1177' then can be more densely packed spaced apart, or then may be used closer to the proximal end of long side 1177'To be more densely packed spaced apart.In other words, neighbouring distal end, neighbouring proximal end or neighbouring distal end and proximal endInterval between those of the two holding structure, which can be less than, to be located between the structure in the central part of anvil covers 1170'Interval.In other arrangement, keep structure 1182 can be closeer in the central area of the long side 1177' of anvil block cap 1170'Collection it is spaced apart.Equally in alternative embodiment, the engaging zones 1184 of corresponding forming can be not arranged in outer peripheryIn 1172' or it can be not arranged in a part of outer periphery 1172' of anvil covers 1170'.In other embodiments, it protectsDifferent shape and size can be set in the engaging zones for holding structure and corresponding forming.In alternative arrangement, knot is keptStructure can determine size relative to engaging zones, so that keeping that interference fit is not present between structure and engaging zones.HereinIn class arrangement, anvil covers can be held in place by welding, adhesive etc..

In the example of illustration, weld seam 1178' can extend around the entire periphery 1172' of anvil block cap 1170', or welderingStitching 1178' can be only along the long side 1177' positioning of anvil block cap 1170' and not along its distal end 1173' and/or its proximal endPortion 1175' positioning.Weld seam 1178' can be it is continuous or its can be it is discontinuous or intermittent.It is in weld seam 1178'In those of discontinuous or interruption embodiment, weld seam section can be uniformly distributed along the long side 1177' of anvil covers 1170', orThe distal end of weld seam section closer to long side 1177' then can be more densely packed spaced apart, or closer to the proximal end of long side 1177'Portion then can be more densely packed spaced apart.In other arrangement, weld seam section can be in the long side 1177' of anvil block cap 1170'Heart district is more densely packed spaced apart in domain.

Figure 31 and Figure 32 shows another anvil block arrangement 1130 " for being attached with anvil block cap 1170 " thereon.DiscribedIn example, anvil block cap 1170 " it is substantially rectangular in shape, and have outer cap periphery 1172 ".Outer cap periphery 1172 " is configuredIt is inserted at the opening 1137 " of the corresponding forming in the upper body part 1165 that can pass through anvil body 1132 ", and canIt is received on axially extending internal nib part 1139 " and 1190 " formed therein.Referring to Figure 32.Lobe portion1139 " and 1190 " are configured to the correspondence long side 1177 " of support anvil block cap 1170 ".In alternative embodiment, anvilSeat cap 1170 " can slide into internal nib across the opening (not shown) in the distal end 1133 " of anvil body 1132'On 1139 " and 1190 ".Anvil body 1132 " and anvil block cap 1170 " can be by being made convenient for the metal material of welding.First welderingSeam 1178 " can extend around the entire periphery 1172 " of anvil block cap 1170 " or it can be only along the long side of anvil block cap 1170 "1177 " position and do not position along its distal end 1173 " and/or its proximal end (not shown).Weld seam 1178 " can be companyIt is continuous or its can be it is discontinuous or intermittent.It should be appreciated that (such as, scheming with the embodiment with straight perimeter sidesAnvil covers shown in 26) it compares, since anvil covers 1170 " have irregular shape periphery, continuous weld embodiment hasBigger face of weld product.In weld seam 1178 " be discontinuous or those of interruption is in embodiment, and weld seam section can be along anvil covers1170 " long side 1177 " be uniformly distributed or weld seam section closer to long side 1177 " distal end then can more densely packed betweenIt separates, or then can be more densely packed spaced apart closer to the proximal end of long side 1177 ".In other arrangement, weld seam section canTo be more densely packed spaced apart in the central area of the long side 1177 " of anvil block cap 1170 ".

Referring also to Figure 31 and Figure 32, anvil covers 1170 " can pass through the multiple second discrete " depth " weld seams 1192 " additionally weldIt is connected to anvil body 1132 ".For example, each weld seam 1192 " can be placed through the corresponding aperture or opening of the setting of anvil covers 1170 "At 1194 " bottom, allow to the part along anvil body 1132 " between protrusion 1190 " and 1139 " formed it is discreteWeld seam 1192 ".Referring to Figure 32.Weld seam 1192 " can be uniformly distributed along the long side 1177 " of anvil covers 1170 " or weld seam1192 " then can more densely packed be spaced apart closer to the distal end of long side 1177 ", or closer to the proximal end of long side 1177 "Portion then can be more densely packed spaced apart.In other arrangement, weld seam 1192 " can be in the long side 1177 " of anvil block cap 1170 "It is more densely packed spaced apart in central area.

Figure 33 shows another anvil block cap 1170 " ', which is configured to and anvil body 1132 " ' machineryProperty interlock and upper body part 1165 can be welded to.In this embodiment, along anvil covers 1170 " ' each long side1177 " ' are arranged using " joint tongue insertion groove ".In particular, the continuously or discontinuously tab 1195 " extended laterally ' from anvil covers1170 " ' each long side 1177 " ' is prominent.Each tab 1195 " be formed in anvil body 1132 " ' in axial slots1197 " ' is corresponding.Anvil block cap 1170 " ' from anvil body 1132 " ' distal end in opening (not shown) slide into, by anvilSeat cap " mechanically " is attached to anvil body 1132 " '.Tab 1195 " ' and slit 1197 " ' it can determine ruler relative to each otherIt is very little, to establish sliding friction cooperation between them.In addition, anvil block cap 1170 " ' can be soldered to anvil body 1132 " '.AnvilSeat main body 1132 " ' can be by being made convenient for the metal of welding with anvil block cap 1170 " '.Weld seam 1178 " ' anvil block cap can be surrounded1170 " ' entire periphery 1172 " ' extends or it can be only along the long side 1177 " of anvil block cap 1170 " ' ' positioning.Weld seam1178 " ' can be it is continuous or its can be it is discontinuous or intermittent.Weld seam 1178 " ' be discontinuous or intermittentIn those embodiments, weld seam section can be uniformly distributed along anvil covers 1170 " ' long side 1177 " ' or weld seam section closer toLong side 1177 " ' distal end then can more densely packed be spaced apart, or closer to long side 1177 " ' proximal end then can be moreDensely it is spaced apart.In other arrangement, weld seam section can anvil block cap 1170 " ' long side 1177 " ' central area inMore densely packed it is spaced apart.

The anvil block embodiment with anvil block cap as described herein can provide several.For example, advantage can be withIt is easier anvil block and firing member assembling process.That is, firing member can be worn when anvil block is attached to elongated passagewayThe opening crossed in anvil body is installed.Another advantage is, upper cover can improve anvil block rigidity and its to clamping tissueThe resistance for the above-mentioned bending force that Shi Keneng is met with.

By resisting such bending, the frictional force that firing member 1660 normally suffers from can reduce.And hence it is also possible to subtractAmount of major general's firing member from its initial position driving in surgery nail bin to percussion force needed for final position.

As described above, anvil body 1132 contacts to be cut and suture tissue, the group as anvil block 1130 starts to pivotIt knits between the lower surface for being located in elongate anvil main body 1132 and the platform of surgery nail bin 1110.As anvil body 1132 is pressedIt is reduced to tissue, anvil block 1130 may meet with sizable resistance.In order to continue closing course, when distal closure tube section 1430 is convexWhen wheel contact anvil block installation section 1150, it is necessary to overcome these resistances.These resistances can be usually applied on vertical direction VDistal closure tube segment 1430, it is envisaged that if excessive, these resistances may make distal closure tube section 1430 in vertical directionUpper expansion or elongation (the distance ID in Figure 31 may increase).If distal closure tube 1430 extends in the vertical direction, farSide closure pipeline section 1430 possibly can not effectively closed anvil 1130 and maintain in a fully closed position anvil block 1130.If gone outExisting such case, then firing member 1660 may meet with significant higher resistance, this will need distal side higher percussion force tomorrowPromote firing member.

Figure 34 and Figure 35 shows the enclosed member of the movable jaw for closed action to be applied to surgical instrumentsA kind of form.In the arrangement of illustration, enclosed member includes the distal closure tube segment for example with closure main part 14701430.As described above, a kind of form of interchangeable surgical tool component 1000 is configured to convenient for surgical end-effector1100 carry out selective joint motions.For the ease of such joint motions, distal closure tube segment 1430 utilizes upper 1434 He of tangLower tang 1436 and top double pivot links 1220 and lower double pivot link 1222 are moveably coupled to nearside and closeClose pipeline section 1410.Referring to Figure 10.In one arrangement, distal closure tube segment 1430 can be processed or otherwise by pole materialIt is formed, which is made of for example suitable metal material.In the arrangement of illustration, closure body 1470 has outer surface1431 and inner surface 1433, which limits upper wall portion 1440 with upper wall tranverse sectional thickness UWT and with lower wall thicknessSpend the lower wall portion 1442 of LWT.Upper wall portion 1440 is located in above axis axis SA, and lower wall portion 1442 is located in axis axisBelow line SA.The distal end 1441 of upper wall portion 1440 has the interior cam surface being formed thereon with cam angle degree Θ1444.Equally in the embodiment of illustration, UWT > LWT, when this has even wall thickness than distal closure tube segment for providingThe obtainable longer interior cam surface 1444 of interior cam surface.Long interior cam surface can be conducive to closing forceThe cam face being transmitted on anvil block installation section 1150.As it can be seen that being located in upper wall portion 1440 in same such as Figure 34 and Figure 35Transition side wall 1446,1448 on every side of axis axis SA between lower wall portion 1442 includes general planar, verticalThe inner side wall surfaces 1451,1453 of extension, which can be roughly parallel to each other.Transition side wall 1446,1448 respectively have from upper wall thickness transitions to the wall thickness of lower wall thickness.

In the arrangement of illustration, distal closure tube segment 1430 further includes positive jaw or anvil block opening features structure 1462,It is corresponding with each of side wall 1446 and 1448 and from wherein protruding inwardly from.As in Figure 34 and Figure 35 as it can be seen that anvil block be openFeature structure 1462, which is formed in, to be mounted laterally in main body 1460, which is set to can be received in pairIn the chamber 1447,1449 that should be shaped, which is processed or adjacent to the distal end 1438 of distal closure tube segment 1430 with its other partyFormula is formed in transition side wall 1446,1448.Positive anvil block opening features structure 1462 extend inwardly through transition side wall 1446,Corresponding opening 1450,1452 in 1448.In the arrangement of illustration, main body 1460 is mounted laterally with weld seam 1454 and is welded to distal sideIt is closed pipeline section 1430.As the supplement to welding or as the substitution to welding, machine can be passed through by being mounted laterally main body 1460Tool/frictional fit, joint tongue insertion groove arrangement, adhesive etc. are held in place.

Figure 36 to Figure 41, which is shown, has been moved to anvil block 1130 from fully closed position using distal closure tube segment 1430One example of full open position.Figure 36 and Figure 39 shows the position of distal closure tube segment 1430, more specifically, showsWhen distal closure tube segment 1430 in the fully closed position when, the position of a positive anvil block opening features structure 1462.In exampleIn the example shown, anvil block opening slope 1162 is formed in anvil block attachment flange 1151 on the downside of each.When anvil block 1130When being in fully closed position shown in Figure 36 with distal closure tube segment 1430, in positive anvil block opening features structure 1462Each is both positioned in chamber 1164, and the base portion which establishes on anvil block opening slope 1162 and elongated passageway 1102 divides itBetween.When at that position, positive anvil block opening features structure 1462 does not contact anvil block installation section 1150 or at least not to itApply any significant opening action or power.Figure 37 and Figure 40 is shown on proximal direction PD at the beginning of distal closure tube segment 1430The position of anvil block 1130 and distal closure tube segment 1430 when beginning to apply opening action.As shown in Figure 37, positive jaw opening is specialLevying structure 1462, initially contact anvil block is open slope 1164 so that anvil block 1130 starts to be pivoted to open position.In the arrangement of illustrationIn, each of positive anvil block opening features structure 1462 has slope or circular distal end 1463, in order to more preferableGround and corresponding anvil block are open 1162 cam contact of slope.In Figure 38 and Figure 41, distal closure tube segment 1430 has retracted to itFully retracted position, this make positive anvil block opening features structure 1462 be driven to anvil block opening slope 1162 distal end portionPortion, so that anvil block 1130 is pivoted to fully open position wherein as shown in the figure.Other embodiments can not use justTo jaw opening features structure, but when distal closure tube segment has retracted to its recent side initial position, spring can be relied onOr anvil block is biased into open position by other biass arrangement.

Figure 42 and Figure 43 shows another closure of the movable jaw for closed action to be applied to surgical instrumentsComponent.In this example, enclosed member includes distal closure tube segment 1430', can be similar to distal closure tube segment 1430, butWithout positive anvil block opening features structure.Distal closure tube segment 1430' has closure main body 1470', which hasLimit the outer surface 1440' and inner surface 1433' of upper wall portion 1440' and lower wall portion 1442'.As described above, it may be desirable toUsing as far as possible such as interior cam surface 1444' big interior cam surface, so as to make with it is convex on anvil block installation section 1150The cam contact of wheel surface maximizes, thus effectively will be in closed force transfer to the cam face.Therefore, distal closure tube segmentMost thick wall thickness UWT, and the low portion of distal closure tube segment 1430' can be set in the upper wall portion 1440' of 1430'It can have most thin wall thickness LWT.For reference purposes, along extend through distal closure tube segment 1430' central axis orThe collective reference line of point C measures UWT and LWT.Therefore, UWT and LWT relatively diametrically in the case where, UWT > LWT.This wallThickness arrangement advantageously forms longer interior cam surface 1444'.

As seen in Figure 43, distal closure tube segment 1430' has outer surface 1431', which has circular cross sectionShape.Distal closure tube segment 1430' can be process by solid bar.In the example of illustration, the first central axis is come fromA_{It is interior}Inside radius R₁Inner surface 1433' is extended to, and comes from the second central axis A_OutsideOuter radius R₂Extend to outer surface1431'.In the example of illustration, axis A_{It is interior}With distance OR off-axis A_Outside, and R₂>R₁。

Figure 44 shows another enclosed member of the movable jaw for closed action to be applied to surgical instruments.?In the example, enclosed member includes the distal closure tube segment 1430 " with closure main body 1470 ".Main body 1470 " is closed with outerSurface 1431' and inner surface 1433 " limit upper wall portion 1440 " with upper wall thickness UWT, with lower wall thickness LWT'sLower wall portion 1442 " and the two side walls part 1435' respectively with sidewall thickness SWT.In the example of illustration, UWT >LWT.In addition, UWT > LWT.Therefore, SWT > UWT > LWT.In the arrangement of illustration, sidewall sections 1435' side wall having the sameThickness SWT.In other arrangements, sidewall sections 1435' can have different thickness.As shown in Figure 44, each sidewall portionDivide the inner surface portion 1437' extended vertically inside 1435' restriction.In the embodiment of illustration, the interior table that extends verticallyFace part is roughly parallel to each other.This thicker upright side walls part 1435' can contribute to prevent or at least minimize remoteSide is closed the vertical elongation of pipeline section 1430 " in use.

Depicted in figure 45 in example, R is measured according to common central point or central axis C₁And R₂, and R₁>R₂.The distal closure tube segment 1430 " extended between upper part 1431 " and 1433 " ' closure main part 1470 " ' sideEach of wall part 1435 " all has the sidewall thickness SWT for the UWT being substantially equal at the point along horizontal reference line HR.Horizontal reference line HR can be surveyed perpendicular to the vertical reference line VR for extending through central axis C along the vertical reference line VRMeasure and compare UWT and LWT.Therefore, SWT=UWT.In other examples, when along horizontal reference line HR measurement, SWT can be omitedLess than UWT.SWT can continue to reduce, until sidewall sections 1435' transition is the low portion with constant lower wall thickness LWT1433'.Therefore, when according to perpendicular to horizontal reference axis HR and being parallel to the vertical axis of reference of correspondence of vertical axis of reference VRWhen VR' is measured, inner sidewall 1437 " is with angle A₂Extend.

Figure 46 shows another enclosed member of the movable jaw for closed action to be applied to surgical instruments.?In the example, enclosed member includes the distal closure tube segment 1430 " with closure main body 1470 ", which has circleOuter surface 1431 " and extend through rectangle inside access 1439 therein.Outer surface 1431 " be positioned to geometric center point orCentral axis C distance R.It is surveyed when along the vertical axis of reference VR for extending through central point or central axis C as shown in the figureWhen amount, upper wall thickness UWT is equal to lower wall thickness LWT.When edge extends through central point or central axis C and perpendicular to vertical ginsengWhen examining the horizontal reference axis HR measurement of axis VR, the thickness SWT of sidewall sections 1437 " is greater than upper wall thickness UWT and lower wall thicknessSpend LWT.Therefore, SWT is greater than UWT and LWT.In other words, it is located in distal closure tube segment 1430 " above horizontal reference line HRPart be the mirror image that the part below horizontal reference line HR is located in distal closure tube segment 1430 ".In this example, side1437 " is thicker than upper wall portion and lower wall portion, and can tend to prevent or minimize distal closure tube segment in vertical directionThe trend of upper elongation.Interior cam surface can be formed in the distal end of upper wall portion 1440 ".

In the arrangement of illustration, by towards distal side promote distal closure tube segment 1430 come make anvil block 1130 open position withIt is moved between closed position.As shown in Figure 41, when anvil block 1130 is in a fully open position, anvil block is attached flange 1151Distal end 1163 can extend above the platform surface 1116 of nail bin 1110.When by being pushed away on distal direction DD towards distal sideWhen starting closing course into distal closure tube segment, the distal end 1163 of anvil block attachment flange 1151 extends past nail bin 1110Platform surface 1116, to prevent from penetrating into tissue therebetween (this may interfere with closing course).Referring to fig. 40.Once distal closure tube segmentAnvil block 1130 is moved to fully closed position by 1430, the distal end portion for being mounted laterally main body on distal closure tube segment 1430Portion 1461 is further used as tissue stop to prevent tissue from penetrating into therebetween.Referring to fig. 41.

Figure 47 depicts a part of surgical end-effector 110', the surgical end-effector can be similar to Fig. 1 andThe surgical end-effector 110 of the interchangeable surgical tool component 100 of Fig. 2.In the example shown in Figure 47, anvil block 114 is wrappedInclude elongated body portion 190 and anvil block installation section 192.Anvil block installation section 192 includes that two anvil block installations spaced apart are convexEdge 194 is proximally protruded from elongated body portion 190.Each anvil block mounting flange 194 has outwardly extending ear on itAxis 196.Trunnion 196 is respectively movably received in the correspondence kidney shape slit or elongate arcuate trunnion provided in elongated passageway 112In slit 197.When anvil block 114 is in " fully opening " position, trunnion 196 is usually located at elongate arcuate gudgeon slit 197In bottom part 198.It can be by promoting distal closure tube segment 142 towards distal side on distal direction DD, so that distal closure tubeThe end 148 of section 142 is mounted on the cam face 193 formed on the anvil block installation section 192 of anvil block 114, to make anvil block 114It is moved to closed position.When the cam face 193 on anvil block installation section 192 promotes distal closure tube segment 142 towards distal sideWhen distal end 148, distal closure tube segment 142 make the main part 190 of anvil block 114 relative to surgery nail bin 116 axiallyIt pivots and mobile.When distal closure tube segment 142 reaches the terminal of its closing stroke, the distal end of distal closure tube segment 142The precipitous anvil block protrusion 191 of 148 adjoining/contacts, and for positioning anvil block 114, so that the forming in the downside of main part 190Pit (not shown) is properly aligned with the nail in storehouse.Anvil block protrusion 191 is limited to the cam face on anvil block installation section 192Between 193 and elongate anvil main part 190.In other words, in this arrangement, cam face 193 does not extend to anvil body190 outmost surface 195.After distal closure tube 142 arrived the fully extended position, anvil block 114 is further appliedAny closed action/power can lead to anvil block and/or closed system parts damages.As shown in Figure 47, in this arrangement, it closesResultant force F_HIt is parallel to axis axis SA.Pass through the axis or plane T at the center of trunnion 196_AWith closing force vector F_HThe distance betweenIt is expressed as distance X_R.Distance X_RMultiplied by closing force F_HIndicate the closure torque C for being applied to anvil block 114_M。

Figure 48 and Figure 49 shows the anvil block 1130 of the surgical end-effector 1100 for interchangeable tools component 1000Closing force configuration.As described above, anvil trunion 1158 is pivotally mounted in the hole 1154 in elongated passageway 1102.With it is above-mentionedAnvil block 114 is different, and anvil block 1130 does not axially move.On the contrary, anvil block 1130 is confined to pivot only around anvil block axis AA.WhenIn horizontal closed power F_H1Under inside when promoting distal closure tube segment 1430 on distal direction DD, on distal closure tube segment 1430The interaction between cam face 1152 on cam face 1444 and anvil block installation section 1150 is so that distal closure tube segmentThe vertical closure force component V of 1430 experience_F.The resultant force vector F undergone by the cam face 1152 on anvil block installation section 1150_N" justMeet at " or perpendicular to interior cam surface 1444.Angle Θ in Figure 48 and Figure 49 indicates cam face 1152 and inner camThe angle of surface 1440 with respect to the horizontal plane.By resultant force vector F_NWith the axis at the center that extends through anvil trunion 1158 orPlane T_AThe distance between be expressed as moment arm M_A.Moment arm distance M_AAnvil block 1130 is applied to multiplied by resultant force vector FN expressionClosure torque C_M1.Therefore, in horizontal closed power F_H=F_H1Application in, be applied to anvil block 1130 practical closure torque capacity willGreater than the closure torque capacity for being applied to anvil block 114, because of M_A>X_R, and the closure torque for being thus applied to anvil block 1130 will be greater than applyingIt is added to the closure torque of anvil block 114.Figure 49 also shows the resistance as caused by organizing during closing course.F_TIt indicates to work as tissue quiltThe power generated when being clamped between anvil block and nail bin by tissue.Be applied to anvil block 1130 is somebody's turn to do " reversed " torque M_TEqual to power of organizationT_FWith the axis or plane T at the center for extending through anvil trunion 1158_AThe distance between X_TMultiplied by power of organization T_F.Therefore, in order toRealize the anvil block closure of desired amount, C_M1Have to be larger than M_T。

Back to example discribed in Figure 47, it can be seen that trigger shaft 170 is attached to firing member 174, the percussion structurePart is located in elongated passageway 112 when in starting or non-firing position, and more particularly, is fully located in distal side and is closedThe distal side for closing pipeline section 142, the position that the top section 175 in wherein firing member 174 is contacted with a part of anvil block 114Place.Since when anvil block 114 is moved to closed position, firing member 174, which is positioned in its top section 175, can contact anvilAt the position of seat, anvil block 114 is moved to by the closing force that this arrangement may make needs bigger is totally or fully closed positionIt sets.In addition, when starting trigger system, it may be necessary to bigger percussion force come overcome the top section 175 of firing member 174 withFrictional interference between anvil block 114.On the contrary, as shown in Figure 48, in end effector 1100, firing member 1660 " is parked "In the firing member parking area 1154 in distal closure tube segment 1430.When firing member 1660 is located in distal closure tube segmentWhen in the firing member parking area 1154 in 1430, significant frictional force can not be generated with anvil block.Therefore, by the way that structure will be firedPart 1660 is parked in one of the advantages of may be implemented in distal closure tube segment 1430 completely can be, and reduces and is closed into anvil blockThe amount of closing force needed for fully closed position, and/or reduce firing member from the start bit in end effectorSet the amount of percussion force needed for being advanced to final position.In other words, firing member 1660 is parked, so that firing member 1660 is completeInterior cam surface 1444 close to the distal end of distal closure tube segment 1430 and thereon entirely, and it is in initial position,Wherein any CONTACT WITH FRICTION between firing member and anvil block is eliminated or reduced, finally may need to generate it is lower closure andPercussion force carrys out operation end actuator.

As described above, the overbending of anvil block may undesirably to need bigger hit during closure and percussion processIt has an effect.It is therefore generally desirable to which more rigid anvil block is arranged.Back to Figure 20 and Figure 21, can be retouched by anvil block 1130 and whereinAnother advantage that the elongated passageway 1102 drawn provides is, the anvil block installation section 1150 of anvil block 1130 is usually more steady and thereforeIt is more more rigid than other anvil blocks and elongated passageway arrangement.Figure 50 shows more rigid gusset 199 in anvil block mounting flangeUse between 194 and elongate anvil main part 190.It can also be in the anvil block master of anvil block attachment flange 1151 and anvil block 1130It is arranged between body 1132 using similar gusset, to further enhance anvil block rigidity.

As described above, interchangeable surgical tool 1000 includes elastic ridge component 1520.As Fig. 6, Fig. 7, Fig. 7 A, Fig. 8 andFigure 51 is into Figure 54 as it can be seen that the distal end portion 1522 of elastic ridge component 1520 is by being formed in elastic ridge component 1520Stretch characteristic structure 1530 and the proximal end part 1524 of elastic ridge component 15 separate.In addition, stretching limitation insertion piece 1540It is retentively supported between distal end portion 1522 and proximal end part 1524.In various arrangements, elastic ridge component1520 can be made of for example suitable polymer material, rubber etc., have and are marked as ME₁With the springform for referenceAmount.Stretch characteristic structure 1530 may include multiple elongated cavities 1532.As in Fig. 7 A as it can be seen that illustrated in stretch characteristic structure 1530Including four triangle elongated cavities 1532, it is arranged to limit flexible wall section 1534 therebetween to a certain extent.It can useThe elongated cavity 1532 of other shapes and quantity.For example, elongated cavity 1532 can be moulded or be worked into elastic ridge component 1520.

Referring still to Fig. 6, Fig. 7 and Figure 51 to Figure 54, stretching limitation insertion piece 1540 includes main part 1541, toolIt is marked as ME₂With the elasticity modulus for reference.As it can be seen that main part 1541 is extended downwardly including two such as in Fig. 6Installation lug 1542, which is respectively configured to be placed in the peace being formed in elastic ridge component 1520It behave affectedly in 1535.See also Fig. 7 A.Insertion piece is limited in order to provide the stretching of the stretch capability with desired amount and elasticity1540, the main part 1541 illustrated in arrangement is provided with multiple epicoeles 1543.The example of illustration includes four epicoeles 1543, thisFour epicoele shapes are opposite to be in square or rectangular, and is spaced apart to limit flexible wall 1544.Other embodimentsIt may include the epicoele of other quantity and shape.The main part 1541 of the stretching limitation insertion piece 1540 of illustration further includes placed in the middleCentral ear portions 1545 be arranged, downward projection of, the center ear portions are configured to be placed in stretching spyIn the center cavity 1536 for levying 1530 top of structure.Referring to Fig. 7 A.In the example of illustration, central ear portions 1545 include oneTo centre gangway 1546, this is to central channel side to extending through wherein to define therebetween flexible wall 1547.

Equally in the example of illustration, stretching limitation insertion piece 1540 includes each side for being located in main part 1541On elongated lateral chamber 1548.It can be only seen a lateral chamber 1548 into Figure 54 in Fig. 6 and Figure 51.It is each elongated lateralChamber 1548 is configured to support corresponding stretching limiter 1550 wherein.Therefore, it in the example, is limited stretchingTwo stretching limiters 1550 are used in insertion piece 1540 processed.In at least one arrangement, it includes elongated for stretching limiter 1550Main part 1552, the elongated body portion terminate on each end with the installation lug 1554 extended downwardly.OftenA installation lug 1554 receives in the correspondence lug chamber 1549 being formed in main part 1541.For reference purposes,Stretching limiter can have elasticity modulus ME_3..In at least one arrangement, ME₃<ME₂<ME₁。

It is described in further detail referring now to Figure 51 to Figure 54 and is operably attached to the interchangeable outer of handle assembly 500The actuating of section's tool assembly 1000.Figure 51 shows anvil block 1130 in an open position.As seen in this figure, distal closure tubeSection 1430 is in its starting or unactuated position, and positive anvil block opening features structure 1462 is pivoted to anvil block 1130 to beatOpen position.It is not activated or initial position in addition, firing member 1660 is in, including the top portion of top nose part 1630Divide and is parked in the firing member parking area 1154 of anvil block installation section 1150.When interchangeable tools component 1000 is in this notWhen actuating state, stretches limitation insertion piece 1540 and be in unstretched state.When being in unstretched state, limitation insertion piece is stretched1540 axial length is by the L in Figure 51_usIt indicates.L_usIt indicates and stretches the close of the main part 1541 for limiting insertion piece 1540The distance between the corresponding axis of reference A in side end and axis of reference B corresponding with the distal end of main part 1541 such as schemeShown in 51.It is marked as the axis of F and the distal end for the nail bin 1110 being properly positioned in elongated passageway 1102Position is corresponding.It should be appreciated that elastic ridge component 1520 is in relaxation not when tool assembly 1000 is in the unactuated stateTensional state.

Figure 52 is shown in starting closure drive system 510 as described above to drive distal side towards distal side on distal direction DDThe interchangeable surgical tool component 1000 being closed after pipeline section 1430.When distal closure tube segment 1430 is moved distally, distal sideIt is closed the 1444 cam contact anvil block installation section of cam face in the distal end 1441 of the upper wall portion 1440 of pipeline section 1430Cam face 1152 on 1150, and anvil block 1130 is made to be pivoted to closed position, as shown in the figure.Closure drive system 510 makes farSide is closed the movement of pipeline section 1430 and is then deactivated by its entire closing stroke distance, and distal closure tube segment is driven by closureSystem 510 is axially locked or is otherwise kept at this location.When distal closure tube segment 1430 contacts anvil block mounting portionWhen dividing 1150, distal side of the distal closure tube segment 1430 on anvil block 1130 promotes generated closing force also will be in distal direction DDOn axially promote anvil block 1130 and elongated passageway 1102.Stretch characteristic structure 1530 in resilient ridge 1520 will start stretch withThis distal side for adapting to elongated passageway 1102 and anvil block 1130 promotes.Axis B as shown in Figure 52 be in relaxation orThe axis of reference of the stretching limitation insertion piece 1540 of unstretched state.Its maximum elongation has been stretched to stretching limitation insertion pieceAfter state, axis C is corresponding with the limitation end of insertion piece 1540 is stretched.Distance L_sIndicating to stretch limitation insertion piece 1540 can be withThe maximum or length of elongation.After anvil block 1130 is moved into " first " closed position, axis G and surgery nail binThe position of 1110 distal end is corresponding.The distance between axis of reference F and axis of reference G L_TIt indicates in closure drive systemThe axial distance that 510 activating elongated passageway 1102 and anvil block 1130 has been advanced.Distance L_TSuch as tension can be equal toStretch the distance L that the stretching limitation insertion piece 1540 of the limitation of limiter 1550 stretches during closing course_S。

Back to Figure 51, it may be noted that before starting closing course, stretch each installation ear shaped of limiter 1550There are space Ss between object 1554 and the inner wall 1551 of each lug chamber 1549.As in Figure 52 as it can be seen that space S disappears.AlsoIt is to say, the adjacent correspondence cavity wall 1549 stretched in limitation insertion piece 1540 of each installation lug 1554.Therefore, limitation is stretchedDevice 1550 for limit the stretching limitation elongation experienced of insertion piece 1540, this after and limit elongated passageway 1102 and anvil block1130 amounts being distally advanced relative to the proximal end part 1524 of resilient ridge 1520.Distal closure tube 1430 is driven by closureSystem 510 is axially locked at suitable position.When at that position, anvil block 1130 is maintained at relative to surgery nail bin 1110" first " closed position.Since percussion drive system 530 is not yet activated, firing member 1660 does not move and keeps stoppingIt is placed in firing member parking area 1154.When being in " first " closed position, the position of the downside of anvil block 1130 is by Figure 52It is indicated with the axis K in Figure 53.

Figure 53 shows the position of the firing member 1660 after initial activation percussion drive system 530.It can in such as figureSee, is advanced to firing member 1660 except firing member parking area 1154 towards distal side.The top of firing member 1660Part, and more particularly, each top anvil engagement features structure 1672 comes into corresponding axial in anvil block 1130The nearside ramp portion 1138 of access 1146.In this process at this point, anvil block 1130 can suffer from by being clamped in anvil block 1130Downside and nail bin 1110 platform between tissue caused by sizable bending stress.The bending stress and firing memberVarious pieces and anvil block 1130 and elongated passageway 1102 between frictional resistance be used for initially towards distal side promote firing memberSubstantially elongated passageway 1102 and distal closure tube segment are kept under static state when 1660.During the period, percussionThe amount of power needed for firing member 1660 constantly increases, or in other words, pushes firing member 1660 to pass through towards distal side and is clamped inThe amount of power needed for tissue between anvil block 1130 and storehouse 1110 constantly increases.Referring to the line 1480 in Figure 55.Equally at thisBetween during section, stretch limitation insertion piece and attempt elongated passageway 1102 and anvil block 1130 is made to retract to distal side on proximal direction PD to closeIt closes in pipeline section 1430.It is limited once the amount of friction between firing member 1660 and anvil block 1130 and elongated passageway 1102 is less than by stretchingThe retraction force that insertion piece 1540 processed generates, then stretch limitation insertion piece 1540 will so that elongated passageway 1102 and anvil block 1130 towards closeSide is further drawn in distal closure tube segment 1430.It advances on proximal direction PD in elongated passageway 1102 and anvil block 1130Later, the position of the distal end 1113 of nail bin 1110 is represented as position H in Figure 54.Elongated passageway 1102 and anvil block 1130The axial distance advanced on proximal direction PD is represented as distance I in Figure 54.Anvil block 1130 and elongated passageway 1102 enterThis nearside into distal closure tube segment 1430 it is mobile will so that distal closure tube segment 1430 apply to anvil block 1130 it is additionalClosing force.Line M in Figure 54 indicates " second " closed position of anvil block 1130.The distance between position K and position M (are expressed asDistance N) include anvil body 1132 distal end 1133 advance between the first closed position and the second closed position it is perpendicularStraight distance.

When anvil block 1130 is in the second closed position, distal closure tube segment 1430 applies additional closure to anvil block 1130Power, to resist the amount for the bending force for being applied to anvil block 1130 by the tissue being clamped between anvil block 1130 and storehouse 1110.This feelingsCondition can make the access in anvil body 1130 preferably be aligned with firing member 1660, this can finally reduce in percussion structurePart 1660 continues towards the amount for being distally advanced the frictional resistance undergone by firing member when end effector 1100.Therefore, may be usedThe amount of percussion force needed for reaching final position by the remainder of its firing schedule with reduction propulsion firing member.PercussionThis reduction of power can be found out from the figure in Figure 55.The figure described in Figure 55 is compared since percussion process to firingPercussion (energy) needed for percussion firing member during journey terminates.Line 1480 indicates to be clamped in tissue when end effector 1100The amount of percussion force needed for firing member 1660 is moved to final position from its initial position when wherein.For example, 1482 table of lineThe amount of percussion force needed for showing the firing member of mobile above-mentioned interchangeable surgical tool component 1000.Line 1482 is indicated across clampingIt is hit needed for firing member 174 is moved to final position from its initial position in the tissue in end effector 110 or 110'It has an effect.As seen in this figure, percussion force needed for two surgical tool components 100,1000 is substantially the same or closely similar, directlyTo at time point 1484, locate at the time point, the resilient ridge component 1510 of interchangeable tools component 1000 to apply to anvil blockThe closing force of second amount.As Figure 55 figure in as it can be seen that when anvil block 1130 undergoes the closing force of the second amount (put 1484), complete to hitThe amount of closing force needed for the amount of closing force needed for hair process is less than the closing course in completion tool assembly 100.

Figure 56, which is compared, is moved to final position from initial position (0.0) for the firing member of various surgical end-effectors(1.0) amount of the percussion load needed for.Vertical axis indicates the amount of percussion load, and horizontal axis indicates firing member in start bitSet the percentage distance advanced between (0.0) and final position (1.0).Line 1490 depicts percussion such as surgical tool component100 or similar means component firing member needed for percussion force.Line 1492 depicts the percussion structure of percussion surgical tool componentPercussion force needed for part, which is improved using the various firing members that can be disclosed in following patent and configuration: for example,Entitled " STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS "U.S. Patent Application Serial Number 15/385,917, and other the above-mentioned U.S. Patent applications being submitted by one day with the application,Respectively full text has been herein incorporated by reference these patents.Line 1494 is depicted firing member from it in surgery tool groupPercussion force needed for initial position in part is fired into final position, the surgical tool component use and are disclosed herein for increasingIt is at least some in the feature and arrangement of strong anvil block rigidity.Percussion force needed for line 1496 depicts percussion surgical tool component, exampleSuch as, which is arranged and is disclosed herein for using resilient ridge in the feature and arrangement of enhancing anvil block rigidityIt is at least some.As seen in this figure, using resilient ridge arrangement and anvil block rigidity reinforced disclosed herein arrangement in extremelyFew some surgical tool components have much lower percussion force request.

In general, surgical stapling and cutting device include firm mechanical latch, which is configured toPrevent such unauthorized from firing because associated with the percussion of the unauthorized of surgical stapling and cutting device dangerous.For example, ifTissue cutting is executed in the case where the suture of no any tissue, then fires and is not loaded with nail bin or the nail bin that has been fired of loadSurgical stapling and cutting device may cause severe haemorrhage.

Most proximad motorized surgical suture and the transition of cutting device cause in terms of the safety operation for ensuring such instrumentNew challenge.Present disclose provides be suitble to suture the various electric locking parts and electromechanics being used together with cutting device with motorized surgicalLatching member etc..Since latching member failure may cause to seriously endanger to patient, the present disclosure presents operated with redundant fashionTo ensure to avoid a variety of protective devices of latching member failure.Present disclose provides for detecting when nail bin is attached to surgical staplingWith the various technologies of the end effector of cutting device.Whether the nail bin that the disclosure is also provided for detecting attachment is used variousTechnology.

Figure 57 shows the end effector 4000 of surgical stapling system.End effector 4000 includes frame 4002, storehouseJaw 4004 and anvil block 4006.Storehouse jaw 4004 fixedly extends from frame 4002.Anvil block 4006 can be relative to storehouse jaw4004 move between opening or released position and closure or clamped position (Figure 57).In alternative embodiment, storehouse jaw4004 can move between opening or released position and closure or clamped position relative to anvil block 4006.It is such at least oneIn embodiment, anvil block 4006 fixedly extends from frame 4002.

For example, storehouse jaw 4004 includes channel or carrier 4022, the channel or carrier are configured to receive nail bin, allSuch as nail bin 4008.Referring to Figure 58, nail bin 4008 includes warehouse 4010.Warehouse 4010 includes being configured to support patient tissuePlatform 4012, longitudinal slit 4014 and six longitudinal nail chambers 4016 defined therein.Each nail cavity 4016 is configuredIt is followed closely at that can receive and removedly store wherein.Nail bin 4008 further includes being configured to follow closely to expel nail cavity 4016Staple drivers.Also contemplate other nail bins of various other arrangements with nail cavity, platform and/or nail, with end effector4000 are used together.

Apart from the above, nail bin 4008 further includes sliding part 4018, which is configured to engagement staple drivers.More specifically, sliding part 4018 includes slope 4020, which is configured to the cam that engagement is limited on staple drivers,And the nail in staple drivers and nail cavity 4016 can be promoted when sliding part 4018 is moved distally through nail bin 4008.Firing member is configured to make during following closely firing schedule that sliding part 4018 does not fire proximally, or initial position is towards distal sideIt is moved to distal side, percussion or end position.

Referring to Figure 58, Figure 59, Figure 60 B, nail bin 4008 includes storehouse circuit 4024.Storehouse circuit 4024 includes: storage medium4026；Storehouse connector area 4017 comprising multiple external electrical contacts 4028；And storehouse status circuit part 4032, packetInclude trace elements 4034.Storage medium 4026 can be information (such as, the various spies of nail bin 4008 stored about nail bin 4008Property, including cock, nail type, nail dimension, storehouse lot number and/or storehouse color) memory.

Referring to Figure 61 to Figure 62, sliding part 4018 further includes breaker 4019, which includes clamping components 4021, shouldClamping components are configured to promote Shi Congcang status circuit part 4032 to catch from initial position towards distal side in sliding part 4018Obtain and cut off trace elements 4034.By cutting off trace elements 4034, breaker 4019 is by storehouse status circuit part 4032 from closingIt closes configuration and is converted to open configuration, which indicates nail bin 4000 never cock or not used state to cockOr the transformation of used state.Information about the transformation can store in storage medium 4026.Therefore, nail bin 4008 is sensedTrace elements 4034 with cutting can indicate that nail bin 4008 is fired.

As shown in Figure 61 to Figure 62, the clamping components 4021 of breaker 4019 have right angle configuration, wherein first part4023 bottom surfaces 4025 far from sliding part 4018 are prominent or extend, and second part 4027 limits and first part 4023Right angle.Second part 4027 is enough closely the distance interval of the trace elements 4034 of cutting to be kept to open with bottom surface 4025, such asShown in Figure 62.This arrangement ensures that after the percussion step for completing end effector 4000, the trace elements 4034 of cutting are notPatient's body can be unexpectedly retained in.In at least one situation, breaker 4019 may include magnetic component, the magnetic componentIt is configured to for example magnetically keep the trace elements 4034 of cutting.In all cases, it can cut or shift traceElement, to cut off or establish electrical connection, which indicates whether to fire in the case where not completely cutting through trace elementsNail bin.

In at least one situation, carrier 4022 may include hall effect sensor 4029 (Figure 62 A), the Hall effectSensor is configured to detect the presence for the magnet for being embedded in or being attached to sliding part 4018.When sliding part 4018 is inWhen beginning, nearside or non-firing position, hall effect sensor 4029 is able to detect that the presence of magnet.But once towards distal sideDirection terminates, distal side or firing position promote sliding part 4018, then hall effect sensor 4029 no longer senses depositing for magnet?.In at least one situation, controller 4050 is configured to receive from the defeated of hall effect sensor 4029Enter to assess the position of sliding part 4018, and therefore determines the nail bin of attachment based on the reading of hall effect sensor 4029Whether 4008 be previously used.In some cases, hall effect sensor 4029 can be attached to sliding part 4018, while correspondingMagnet is attached to and/or is embedded into carrier 4022.In some cases, other positions sensor can be used to determine slidingWhether part 4018 is in starting, nearside or non-firing position.

In some cases, the combination of hall effect sensor and magnet can be used, to be by detecting staple driversIt is no to be in starting or non-firing position to determine whether nail bin is previously used.As described above, during firing schedule, sliding part 4018Terminate from starting, nearside or non-firing position direction, the transformation of distal side or firing position, to promote multiple staple drivers deployment nail binsNail.Each staple drivers usually are promoted from starting or non-firing position towards final or firing position, with deployment one or moreA nail.Hall effect sensor can be connected to carrier 4022 or nail bin 4008.Respective magnet can be connected to staple drivers, allSuch as the nearside staple drivers of nail bin 4008.In at least one situation, the proximal nail that respective magnet is connected to nail bin 4008 is drivenDynamic device.In some cases, hall effect sensor is connected to carrier 4022 or nail bin 4008, while magnet is connected to nail drivingDevice.In some cases, hall effect sensor is connected to carrier 4022 or nail bin 4008, while magnet is connected to proximal nailDriver.

Hall effect sensor is configured to detect magnet when staple drivers are in starting or non-firing positionPresence.But once sliding part 4018 promotes to promote staple drivers, then hall effect sensor from starting or non-firing positionNo longer sense the presence of magnet.Alternatively, hall effect sensor and magnet arrangement are configured to for example detectWhen staple drivers reach final or firing position.Hall effect sensor and magnet arrangement are configured to for example examineSurvey when farthest side staple drivers reach final or firing position.Under any circumstance, controller 4050 may be configured to energyIt is enough to receive the input from hall effect sensor to assess the position of staple drivers, and therefore it is based on hall effect sensor4029 reading is to determine whether the nail bin 4008 of attachment is previously used.In some cases, other positions sensor can be usedTo determine whether staple drivers are in starting or non-firing position.

As shown in Figure 62 A, controller 4050 may include that processor 4052 and/or one or more storage mediums are allSuch as memory 4054.By executing the instruction code being stored in memory 4054, processor 4052 can control surgical staplingWith the various parts of cutting device, such as, trigger system 4056 and such as display of user interface 4058.Memory 4054Including program instruction, which makes processor 4052 be based on passing from one or more when being executed by processor 4052The input of sensor (such as, hall effect sensor 4029) is to determine whether the nail bin 4008 of attachment is previously used.

User interface 4058 may include one or more visual feedback elements comprising such as display screen, backlight and/Or LED.In some cases, user interface 4058 may include for example one or more audio feedback systems, such as loudspeakerAnd/or buzzer.In some cases, user interface 4058 may include for example one or more haptic feedback systems.At certainIn a little situations, user interface 4058 may include the combination of such as vision, audio and/or haptic feedback system.

In at least one situation, carrier 4022 includes one or more electric contact pieces, the one or more electric contact pieceIt is configured to be electrically connected to the correspondence electric contact piece in the sliding part 4018 for the nail bin 4008 being placed in carrier 4022.ElectricityContact limits circuit 4031 (Figure 62 B), and when sliding part 4018 is in the non-firing position of nearside, which is remained closed.WhenWhen direction terminates, distal side or firing position promote sliding part 4018, circuit 4031 is changed into open configuration, this is by carrier 4022Caused by the cutting of electrical connection between the electric contact piece of sliding part 4018.

Circuit 4031 can also include one or more sensors, and such as voltage sensor or current sensor are matchedBeing set to and being able to detect circuit 4031 is to be in open configuration in closed configuration.From the defeated of the one or more sensorsEntering can be received by controller 4050.Controller 4050 can be determined attached based on the input from the one or more sensorsWhether the nail bin 4008 connect is previously used.Memory 4054 may include program instruction, which holds by processor 4052Make when row processor 4052 based on from the one or more sensors input come determine attachment nail bin 4008 whether byIt is used.

In some cases, nail bin 4008 may include for example with along the sliding part path limited by sliding part guide railThe ETS latching member in continuity path.When sliding part is in nearest side position, sliding part is configured to interrupt circuit diameter.However, power path is completed and is for example sensed by the inductance type transducer in carrier 4022 when present dynasty distal side promotes sliding part.?In various situations, one or more inductance type transducers are configured to track one or more nearside forming pits,Fingerprint with the nail being received in nearside pit for identification.Inductance type transducer be configured to detect its accordingly atThe missing followed closely in shape pit.Entitled " the SURGICAL STAPLING that the example of ETS latching member was submitted on March 26th, 2012DEVICE WITH LOCKOUT SYSTEM FOR PREVENTING ACTUATION IN THE ABSENCE OF ANINSTALLED STAPLE CARTRIDGE " U.S. Patent Application Publication 2013/0248577 (be now United States Patent (USP) 9,078,653, the complete disclosure of the United States Patent (USP) is to be incorporated herein by reference) in be described.

In at least one situation, the nail bin similar with nail bin 4008 includes at least one circuit 4033 (Figure 62 C), this is extremelyA few circuit includes two electric contact pieces being separated from each other.Electronic contact part, which is configured to be in nail, does not fire positionIt is bridged when setting by the nail of nail bin.Therefore, when nail is in non-firing position, circuit 4033 is in closed configuration.In addition, when nail drivesWhen dynamic device promotes nail to be deployed in tissue, circuit 4033 is in open configuration.Staple drivers promote nail during firing scheduleThe electric contact piece of nail and circuit 4033 can be separated, so that circuit 4033 be made to be changed into open configuration.

Circuit 4033 can also include one or more sensors, and such as voltage sensor or current sensor are matchedBeing set to and being able to detect circuit 4033 is to be in open configuration in closed configuration.From the defeated of the one or more sensorsEntering can be received by controller 4050.Controller 4050 can be determined attached based on the input from the one or more sensorsWhether the nail bin 4008 connect is previously used.Memory 4054 may include program instruction, which holds by processor 4052Make when row processor 4052 based on from the one or more sensors input come determine attachment nail bin 4008 whether byIt is used.

In at least one situation, the nail bin similar with nail bin 4008 includes at least one circuit 4035 (Figure 62 D), this is extremelyA few circuit includes conducting bridge, which is configured to be elevated in the staple drivers of nail bin with will be one or moreRupture when nail is deployed in tissue, this makes circuit 4035 be changed into open configuration from closed configuration.Staple drivers are gone in percussionPromotion during journey is so that the conducting bridge of circuit 4035 is cut off, cuts or shifts, so that circuit 4033 is changed into opening structureType.The conducting bridge of circuit 4035 is placed in the predetermined path of staple drivers.In at least one situation, conducting bridge across orAt least partly extend across being configured to will to follow closely the nail pit being stored at non-firing position.

Circuit 4035 can also include one or more sensors, and such as voltage sensor or current sensor are matchedBeing set to and being able to detect circuit 4035 is to be in open configuration in closed configuration.From the defeated of the one or more sensorsEntering can be received by controller 4050.Controller 4050 can be determined attached based on the input from the one or more sensorsWhether the nail bin 4008 connect is previously used.Memory 4054 may include program instruction, which holds by processor 4052Make when row processor 4052 based on from the one or more sensors input come determine attachment nail bin 4008 whether byIt is used.

In all cases, determine attachment nail bin 4008 be previously used when, controller 4050 be configured to so thatTrigger system 4056 is deactivated, and/or can be provided by user interface (such as, display 4058) about deactivated reasonUser feedback.Controller 4050 can identify that the reason of deactivated trigger system 4056 and/or auxiliary user solve the reason.For example, controller 4050 can warn user, the nail bin of attachment is previously used or is not to make together with end effector 4000Right type.Entitled " the METHOD FOR OPERATING A SURGICAL submitted on April 18th, 2016It include other skills whether being previously used for determining nail bin in the U.S. Patent Application Serial Number 15/131,963 of INSTRUMENT "Art, which, which is incorporated by reference, is incorporated herein.

As shown in Figure 60 A, carrier 4022 includes the carrier circuit for being detachably coupled to the storehouse circuit 4024 of nail bin 40084043 (Figure 60 C).Carrier circuit 4043 has multiple electric contact pieces 4036.In addition, carrier circuit 4043 includes carrier connectorRegion 4013, the carrier connector area include the more of respective restriction the first electric contact piece 4038a and the second electric contact piece 4038bA connector 4038.Connector 4038 is located so that the first electric contact piece in electric contact piece 4036 and connector 4038Keep gap between 4038a at property position wherein.It include outstanding curved from supporting walls 4040 in connector 4038 eachBent portions.Second electric contact piece 4038b is limited at the bending part of connector 4038.When nail bin 4008 is inserted into carrierWhen in 4022, the external electrical contacts 4028 of nail bin 4008 are configured to engagement connector 4038 and are moved into biasingIn configuration, in the bias configuration, electric contact piece 4036 is electrically coupled to the first electric contact piece of correspondence 4038a of connector 4038.When nail bin 4008 is placed in carrier 4022, the external electrical contacts 4028 of nail bin 4008 are equally electrically coupled to connector 4038The second electric contact piece of correspondence 4038b.

In order to ensure firm electrical connection, electric connector 4038, external electrical contacts 4028, electric contact piece 4036, electricity are connectOne or more of contact element 4038a and/or electric contact piece 4038b can be coated with or be at least partially coated with fluid repulsionCoating, and/or seal in insulating materials such as silicon to prevent fluid from entering.As shown in Figure 60 A, fluid is repelled into coatingIt is added to electric connector 4038 and electric contact piece 4036.At at least one aspect, fluid repulsion coating is added to the institute of nail binThere are cable and/or connector.Repel coating it is, for example, possible to use one or more fluids by Aculon, Inc. manufacture.

Apart from the above, the electric contact piece 4038b of the electric connector 4038 of spring biasing includes the dome-shaped structure shape of protrusionThe wear characteristic structure or point contact part 4039 of formula are configured to remove from the external electrical contacts 4028 of nail bin 4008Or wipe fluid off and repel coating, it is electrically connected to establish with nail bin 4008.Compressible seal member 4041 is configured toFluid entrance is prevented or at least resisted between carrier 4022 and the nail bin 4008 being placed in carrier 4022.Compressible seal member4041 can be made of compressible material, which is snugly fit inside carrier 4022 and is placed in carrier 4022Between nail bin 4008.As shown in Figure 60 A, compressible seal member 4041 is limited to nail bin 4008 and is placed in restriction when in carrier 4022Surround or at least partly around nail bin 4008 electric connector 4038 and external electrical contacts 4028 periphery wall.

Referring primarily to Figure 58 to Figure 60, carrier connector area 4013 and storehouse connector area 4017 are configured toNail bin 4008 is conducive to being electrically connected between storehouse circuit 4024 and carrier circuit 4043 when being placed in carrier 4022.Such as Figure 60 instituteShow, carrier connector area 4013 is located on the side wall 4009 of carrier 4022.Carrier connector area 4013 is fixed to side wall4009 inner surface 4011.As shown in figure 59, storehouse connector area 4017 is located on the side wall 4007 of nail bin 4008.Storehouse connectionDevice region 4017 is fixed to the outer surface 4005 of side wall 4007.Carrier connector area 4013 is configured in nail bin 4008Adjacent storehouse connector area 4017 when being placed in carrier 4022.Compressible seal member 4041 is in 4013 He of carrier connector areaFluid entrance is prevented or at least resisted between storehouse connector area 4017.By carrier connector area 4013 and storehouse connector area4017 are located on corresponding side wall 4009 and 4007 and are conducive to by the way that nail bin 4008 to be placed in carrier 4022 come in nail binElectrical connection is established between 4008 and end effector 4000.Carrier connector area 4013 and storehouse connector area 4017 are positionedAllow only on corresponding side wall 4009 and 4007 by the way that nail bin 4008 to be placed in carrier 4022 come in carrier connector areaConnection is established between 4013 and storehouse connector area 4017.

As shown in Figure 63, the first electrical interface 4042 is limited by electric contact piece 4036 and 4038a.First electrical interface 4042 is matchedBeing set to can be in open configuration wherein electric contact piece 4036 and 4038a spaced apart and wherein electric contact piece 4036 and 4038a are electricIt is converted between the closed configuration of connection.Equally, the second electrical interface 4044 is limited by electric contact piece 4038b and 4028.Second electricity connectsMouthfuls 4044 are configured in wherein electric contact piece 4038b and 4028 open configuration being spaced apart and wherein electric contact pieceIt is converted between the closed configuration that 4038b and 4028 is electrically connected.In addition, third electrical interface 4046 is limited to 4000 He of end effectorBetween surgical stapling and the handle portions of cutting device.Third electrical interface 4046 is further configured to being capable of end effector wherein4000 be not attached to handle portions open configuration and its end effector 4000 be attached to handle portions closed configuration itBetween convert.

Conversion instruction nail bin of the electrical interface 4042 from open configuration to closed configuration has been attached to carrier 4022.In addition, electricThe nail bin of conversion instruction right type of the interface 4044 from open configuration to closed configuration has been attached to carrier 4022.Work as electrical interface4044 when being in closed configuration, the storage medium 4026 of accessible nail bin 4008 with obtain be stored therein about nail bin4008 information.

In some cases, as shown in Figure 63,4032 electricity of electrical interface 4042,4044 and 4046 and storehouse status circuit partIt is connected in control circuit 4048.In such cases, if electrical interface 4042, electrical interface 4044, electrical interface 4046 and storehouse shapeAt least one of state circuit part 4032 is in open configuration, then can be in conjunction with release mechanism to prevent end effector 4000Percussion.In other words, if control circuit 4048 is in open configuration, release mechanism prevents hitting for end effector 4000Hair.In other words, if end effector 4000 is not attached to the handle portions of surgical instruments correctly, if attached without nail binIt is connected to carrier 4022, if incorrect nail bin is attached to carrier 4022, and/or if used nail bin is attached to carrier4022, then release mechanism prevents the percussion of end effector 4000.

In some cases, in electrical interface 4042, electrical interface 4044, electrical interface 4046 and storehouse status circuit part 4032The section that do not cut off of one or more and control circuit 4048 is connected in parallel, this helps avoid complete because of control circuit 4048Interrupt and caused by any Single Point of Faliure.In electrical interface 4042, electrical interface 4044, electrical interface 4046 and storehouse status circuit partIn the case that one or more of 4032 are in open configuration, this arrangement ensures being continuously electrically connected in control circuit 4048It connects.For example, as shown in Figure 63, the trace elements 4034 of storehouse status circuit part 4032 it is in parallel with first resistor element 4037 andIt connects with second resistance element 4037', continue to operate in the case where trace elements 4034 are cut off to ensure and avoids controllingThe Single Point of Faliure of circuit 4048.It can be using one or more sensors (including but not limited to voltage sensor and/or electric current biographySensor) conversion to detect current configuration and/or being switched on or off between configuration and closure or complete configuration.

In some cases, in electrical interface 4042, electrical interface 4044, electrical interface 4046 and storehouse status circuit part 4032One or more is not connected in series.In such cases, electrical interface 4042, electrical interface 4044, electrical interface 4046 and/or storehouse stateOne or more of circuit part 4032 is configured to that the feedback about its special function is provided independently.

Referring to Figure 63 to Figure 65, in electrical interface 4042, electrical interface 4044, electrical interface 4046 and storehouse status circuit part 4032One of or more persons can be implemented as to convert between open configuration (as shown in Figure 64) and closed configuration (as shown in Figure 65)Conductive grid 4060 form.In closed configuration, conductive grid 4060 makes the two of circuit (such as, control circuit 4048)Electrical connection can be established between a endpoint.However, electrical connection is cut off when conductive grid 4060 is converted to open configuration.

Conductive grid 4060 can be converted repeatedly between closed configuration and open configuration.Conductive grid 4060 includes canIt is rotationally attached to the pivot section 4062 of the first end point 4068 of control circuit 4048.Conductive grid 4060 is configured toIt is pivoted between open configuration and closed configuration around first end point 4068.Conductive grid 4060 further includes and pivot section 4062Attachment part 4066 spaced apart.Center bridging part 4064 extend between pivot section 4062 and attachment part 4066 andConnect the pivot section and the attachment part.As shown in Figure 64 to Figure 65, attachment part 4066 is the form of hook or latch, quiltIt is configured to releasedly capture 4,048 second endpoint 4069 of control circuit, conductive grid 4060 is converted from open configurationTo closed configuration.In some cases, attachment part 4066 may include such as magnetic attachment part or any other mechanical attachmentPart.In at least one situation, conductive grid 4060 can be biased by the spring into closed configuration.Alternatively, conductive grid 4060Open configuration can be biased by the spring into.

As shown in Figure 65 A, the release mechanism 4047 of surgical instruments may include controller 4050, which may includeProcessor 4052 and/or one or more storage mediums such as memory 4054.It is stored in memory 4054 by executingInstruction code, processor 4052 can control the various parts of surgical instruments, such as, trigger system 4056 and user circleFace such as display 4058.Controller 4050 tracks electrical interface 4042, electrical interface 4044, electrical interface 4046 and/or storehouse state electricityThe state of road part 4032.As described in greater detail below, controller 4050 can be according to electrical interface 4042, the electricity reportedThe state of one or more of interface 4044, electrical interface 4046 and/or storehouse status circuit part 4032 deactivates trigger system4056 and/or provide user feedback about deactivated reason.In some cases, controller 4050 can be identified to deactivate and be hitThe reason of hair system 4056 and/or auxiliary user solve the reason.For example, controller 4050 can warn user, attachmentNail bin be previously used or be not the right type to be used together with end effector 4000.

In all cases, memory 4054 includes program instruction, which makes when being executed by processor 4052It obtains processor 4052 and determines that nail bin 4008 has been attached when processor 4052 detects conversion of the electrical interface 4042 to closed configurationTo carrier 4022.In addition, memory 4054 may include program instruction, which makes when being executed by processor 4052Processor 4052 detects electrical interface 4042 at the conversion of closed configuration but storehouse status circuit part 4032 in processor 4052Determine that the nail bin 4008 of attachment has been previously used or has fired when open configuration.

Apart from the above, memory 4054 can also include program instruction, which executes by processor 4052When make processor 4052 processor 4052 detect electrical interface 4044 arrive closed configuration conversion when determine attachment nail bin4008 memory 4026 may have access to.In addition, processor 4052, which is configured to retrieval, is stored in attachment nail bin 4008Memory 4026 in certain information.In some cases, it detects the closed configuration of electrical interface 4042 while being not detectedThe closed configuration of electrical interface 4044 indicates that incorrect nail bin is attached to carrier 4022.

Apart from the above, memory 4054 can also include program instruction, which executes by processor 4052When make processor 4052 when processor 4052 detects conversion of the electrical interface 4046 to closed configuration determination have detected that endBeing successfully connected between portion's actuator 4000 and the handle portions of surgical instruments.

Referring to Figure 65 B, block diagram depicts the surgical instruments that percussion includes end effector (such as, end effector 4000)Method 4071.In first step 4073, press firing trigger 4550 (Figure 80), while cutting end effector 4000Cut the nearside that component is located in predetermined no storehouse degating region.Cutting can be determined using one or more position sensorsThe position of component.Firing trigger can be positioned on the shank of surgical instruments, and can be pressed by user for example to initiateThe firing schedule of surgical instruments.Next, the first decision block 4075 is configured to check that trace elements 4034 (Figure 61) isIt is no complete, and the second decision block 4077 is configured to check whether can read memory 4026 (Figure 59).If markThread elements 4034 is imperfect or memory 4026 can not be read, then engages percussion latching member, as indicated by step 4079.SoAfterwards, once discharging captured tissue by free end actuator 4000 at step 4070, then heavy in step 4072New connecting joints motor pattern.However, allowing trigger system if trace elements 4034 are complete and memory 4026 can be read4056 are advanced through firing schedule, step 4074.Decision block 4076 is configured to provide at predetermined cutting lineThreshold value resets trigger system 4056 at this point.Resetting trigger system 4056 may include being back to cutting element in advance reallyFixed default location, as described in step 4078.As shown in step 4074a, if in the cutting of end effector 4000Component presses firing trigger 4550 when being located in predetermined no storehouse degating region distal side, then trigger system 4056 is allowed to continueFiring schedule.

Back to Figure 66 to Figure 70, nail bin 4100 is similar to nail bin 4008 in many aspects.Nail bin 4100 is releasedly attachedIt is connected to end effector 4000.In addition, nail bin 4100 includes storehouse status circuit 4102, the storehouse status circuit is for assessing nail binWhether 4100 be attached to end effector 4000 and/or previously whether fired the nail bin 4100 of attachment.

As shown in Figure 66, nail bin 4100 includes the conductive grid 4160 at the portions of proximal 4103 of nail bin 4100.It leadsElectric grid 4160 can move between the first closed configuration (Figure 68), the second closed configuration (Figure 70) and open configuration (Figure 69)It is dynamic.Controller is configured to by determining that conductive grid 4160 is in open configuration, is in the first closureConfiguration is in the second closed configuration, come assess nail bin 4100 whether be attached to end effector 4000 and/or previouslyWhether the nail bin 4100 of attachment has been fired.In at least one situation, the first closed configuration is the configuration of part closure, and secondClosed configuration is the configuration being closed completely.

In closed configuration, conductive grid 4160 is flat across the first terrace part 4112a and second for being limited to nail bin 4100Elongated slot 4114 between the 4112b of platform part extends.First end point 4168 of the conductive grid 4160 in storehouse status circuit 4102Extend between the second endpoint 4170 of storehouse status circuit 4102.First end point 4168 is limited to the first side of elongated slot 4114On wall 4114a, the second endpoint 4170 is limited on the second sidewall 4114b of elongated slot 4114.In order to connect in closed configurationFirst end point 4168 and the second endpoint 4170 are connect, conductive grid 4160 bridges elongated slot 4114, as shown in Figure 68.

As shown in Figure 66, conductive grid 4160 includes the first end point 4168 for being rotatably attached to storehouse status circuit 4102Pivot section 4162.Conductive grid 4160 is configured to around first end point 4168 in open configuration, the first closure structureIt is pivoted between type and the second closed configuration.Conductive grid 4160 further includes the attachment part being spaced apart with pivot section 41624166.Center bridging part 4164 extend between pivot section 4162 and attachment part 4166 and connect the pivot section andThe attachment part.As shown in Figure 66, attachment part 4166 is the form of hook or latch, is configured to by the second endpoint4170 releasedly capture.Attachment part 4166 includes " C " shape ring 4171, is somebody's turn to do " C " shape ring and is configured in the second closureThe second endpoint 4170 is received in configuration.The opening 4173 of " C " shape ring 4171 is slightly less than the second endpoint 4170.Therefore, for waitingThe second endpoint 4170 being contained in " C " shape ring 4171, the opening for needing external force that the second endpoint 4170 is made to pass through " C " shape ring 41714173 and conductive grid 4160 is made to be in the second closed configuration, as shown in Figure 68.

Although conductive grid is biased by the spring into closed configuration, the spring biases strength is insufficient to allow conductive grid 4160 to biasTo the second closed configuration.Therefore, come to drive conductive grid 4160 towards open configuration or the second closed configuration in no external forceIn the case of, conductive grid 4160 will swing to the resting position at the first closed configuration under the action of the spring biases strength, such as schemeShown in 70.Centre at the first closed configuration, between " C " the shape ring 4171 and center bridging part 4164 of attachment part 4166Region 4175 is contacted with the second endpoint 4170.However, the second endpoint 4170 is not accepted in " C " shape ring 4171.

Nail bin 4100 further includes sliding part 4118, which is similar to sliding part 4018 in many aspects.Firing member4113 are configured to make during following closely firing schedule that sliding part 4118 does not fire proximally, or initial position is moved distallyTo distal side, percussion or end position.In addition, sliding part 4118 includes fastener component 4119, which is configured toIt can be connect when not firing proximally, or initial position promotes sliding part 4118 towards distal side towards distal side, percussion or end positionIt closes conductive grid 4160 and it is made to be converted to open configuration from the second closed configuration.Conductive grid 4160 no longer with fastener structureWhen part 4119 contacts, which is configured under the influence of the spring biases strength and any external force is being not presentIn the case of from open configuration return to the first closed configuration.

Referring to Figure 67, fastener component 4119 is extended proximally from sliding part 4118, and the portion including extending proximallyPoint 4119a and from the proximal end of the part 4119a extended proximally bonding part 4119b outstanding.Bonding part 4119b is by clothBe set to so that, when do not fire proximally, or initial position towards distal side, percussion or end position promote sliding part 4118 with outsideWhen disposing nail during the firing schedule of section's suture and cutting device, conductive grid 4160 is captured by bonding part 4119b.

At least part of fastener component 4119 can be made of non-conducting material.In at least one example, it engagesPart 4119b is at least partly made from a material that be electrically non-conductive.

The disclosure contemplates other arrangements and configuration of fastener component 4119.At at least one aspect, fastener component4119 can be the column for example away from the base portion 4118a of sliding part 4118 extension.In another case, fastener component 4119It can be the form on slope, wherein conductive grid 4160 is configured to the lower part on engagement slope, and present dynasty distal side promotesWhen sliding part 4118, slope makes conductive grid 4160 be transformed into open configuration.Once conductive grid 4160 reaches the top on slope,Then the spring biases strength makes conductive grid 4160 back to the first closed position.

Referring to Figure 68 to Figure 71, the first closed configuration, the second closed configuration and open configuration respectively indicate first resistor shapeState, second resistance state and finite resistive state, wherein first resistor state and second resistance state and finite resistive state be notTogether, and wherein second resistance state is different from first resistor state and finite resistive state.By sensing three kinds of states in whichOne is current state and/or by the conversion between sensing state, and controller 4050 (Figure 71) can determine nail binWhether 4100 be attached to end effector 4000 and/or previously whether fired the nail bin 4100 of attachment.

Conductive grid 4160 may be configured to: can limit the when conductive grid 4160 is in the first closed configurationOne resistance；And when conductive grid 4160 is in the second closed configuration, the second resistance different from first resistor is limited.ControlDevice 4050 may include processor 4052 and/or one or more storage medium such as memories 4054.It is deposited by executingThe instruction code in memory 4054 is stored up, processor 4052 can identify the current resistance states of conductive grid 4160.ControlDevice 4050 can execute one or more functions according to the resistance states that detect, for example, make trigger system 4056 inactivate and/Or user feedback of the offer about such deactivated reason.

In all cases, memory 4054 includes program instruction, which makes when being executed by processor 4052It obtains processor 4052 and determines that nail bin 4100 that is not used or not firing is attached when processor 4052 detects second resistance stateTo carrier 4022.In addition, memory 4054 may include program instruction, which makes when being executed by processor 4052Processor 4052 determines that the used or previous nail bin 4100 fired is attached when processor 4052 detects first resistor stateTo carrier 4022.Memory 4054 may include program instruction, which to handle when being executed by processor 4052Device 4052 determines that no nail bin is attached to carrier 4022 when processor 4052 detects finite resistive state.

Controller 4050 is configured to read by executing to the first of resistance states or repeatedly read, and comes trueNail bin 4008 whether is detected when being scheduled on enabling or power supply surgical stapling and cutting device.If detecting finite resistive state,Then controller 4050 can indicate that nail bin 4008 is for example loaded or be inserted into carrier 4022 by user by display 4058.Such asFruit controller 4050 detects attached nail bin 4008, then controller 4050 can be read by executing the second of resistance statesIt takes or repeatedly reads to determine the nail bin for previously whether having fired attachment.If detecting first resistor state, controller4050 can indicate that user had previously fired the nail bin 4008 of attachment and/or instruction user replaces nail bin 4008.

Controller 4050 detects current resistance states using resistance states detector 4124, and then determines conductive gatePole 4160 is in open configuration, is in the first closed configuration, is in the second closed configuration.In at least one sideFace, resistance states detector 4124 may include current sensor.For example, controller 4050 can make in first end point 4168And second generate predetermined voltage potential between endpoint 4170, and then measurement passes through the electric current of conductive grid 4160.If the electric current of measurement is corresponding with first resistor, controller 4050 determines that conductive grid 4160 is in the first closed configuration.SeparatelyOn the one hand, if the electric current of measurement is corresponding with second resistance, controller determines that conductive grid 4160 is in the second closed configuration.Finally, controller 4050 determines that conductive grid 4160 is in open configuration if electric current is not detected.In at least one sideFace, resistance states detector 4124 may include other sensors, such as voltage sensor.

In all cases, one or more controllers (such as, controller 4050) of the disclosure can be used it is integrated and/Or the combination of discrete hardware element, software element and/or the two is realized.The example of integrated hardware element may include processingDevice, microprocessor, controller, integrated circuit, specific integrated circuit (ASIC), programmable logic device (PLD), at digital signalManage device (DSP), field programmable gate array (FPGA), logic gate, register, semiconductor devices, chip, microchip, chipset,Microcontroller, system on chip (SoC) and/or package system (SIP).The example of discrete hardware component may include circuit and/or electricityCircuit component (such as logic gate, field effect transistor, bipolar junction transistor, resistor, capacitor, inductor, relay etc.).?In other embodiments, one or more controllers of the disclosure may include hybrid circuit, such as in one or more substratesUpper includes discrete and integrated circuit component or component.

In one embodiment, as shown in Figure 72, circuit 4080 may include controller, which includes being connected toThe one or more processors 4082 (for example, microprocessor, microcontroller) of at least one processor circuit 4084.This at least oneA memory circuit 4084 stores machine-executable instruction, which makes when being executed by processor 4082It manages device 4082 and executes machine instruction, to realize by one or more controllers (such as, controller 4050) execution of the disclosureOne or more of function.

Processor 4082 can be any one of a variety of single or multiple core processors as known in the art.Memory electricityRoad 4084 may include volatile storage medium and non-volatile memory medium.In one embodiment, as shown in Figure 72, locateManaging device 4082 may include instruction process unit 4086 and arithmetic element 4088.Instruction process unit be configured to fromOne memory circuit 4084 receives instruction.

In one embodiment, circuit 4090 may include finite state machine, which includes being configured toIt can be realized by one or more of the function of one or more controllers (such as, controller 4050) execution of the disclosureCombinational logic circuit 4092 (as shown in Figure 74).In one embodiment, circuit 4200 may include finite state machine, this hasLimiting state machine includes sequential logical circuit as shown in Figure 74.For example, sequential logical circuit 4200 may include combinational logic electricityRoad 4202 and at least one processor circuit 4204.At least one processor circuit 4204 can store finite state machineCurrent state, as shown in Figure 74.Sequential logical circuit 4200 or combinational logic circuit 4202 be configured to realize byOne or more of the function that one or more controllers (such as, controller 4050) of the disclosure execute.In certain situationsUnder, sequential logical circuit 4200 can be synchronous or asynchronous.

In other embodiments, circuit may include the combination of processor 4082 and finite state machine to realize by this public affairsOne or more of the function that the one or more controllers (such as, controller 4050) opened execute.In other embodimentsIn, finite state machine may include the combination of combinational logic circuit 4090 and sequential logical circuit 4200.

In some cases, various embodiments can be realized as article of manufacture.The article of manufacture may include being arranged toIt stores for executing the logics of the various operations of one or more embodiments, instruction and/or the computer-readable storage medium of dataMatter.In various embodiments, for example, the product may include disk, CD, flash memories or firmware, these products containThere are the computer program instructions for being suitable for being executed by general processor or application specific processor.However, embodiment is not limited to that.

In conjunction with presently disclosed embodiment describe various functional elements, logical block, module and circuit element functionCan implement in the general environment of computer executable instructions, such as by processing unit execute software, control module, patrolVolume, and/or logic module.In general, software, control module, logic, and/or logic module include being arranged to execute spySurely any software element operated.Software, control module, logic, and/or logic module may include executing particular task or implementationRoutine, programs, objects, component, data structure of particular abstract data type etc..Software, control module, logic, and/or logicThe specific implementation of module and technology is storable on some form of computer-readable medium and/or by some form ofComputer-readable medium transmitting.In this regard, computer-readable medium, which can be, can be used for storing information and can be filled by calculatingSet any usable medium of access.Some embodiments can also be practiced in a distributed computing environment, in the distributed computingIn environment, operation is executed by the one or more remote processing devices being linked through a communication network.In a distributed computing environment,Software, control module, logic and/or logic module can be located at the local and remote computer including memory storage apparatusIn storage medium the two.

In addition, it should be understood that embodiment as described herein illustrates exemplary specific implementation, and functional element, patrolCollecting block, module and circuit element can implement with the consistent various other modes of the embodiment.In addition, by this class functionProperty the operation that executes of element, logical block, module and circuit element can combine and/or separate with the specific implementation for giving, andAnd it can be executed by greater number or lesser amount of component or module.Such as those skilled in the art institute upon reading this disclosureIt will be apparent that each of independent embodiment described and illustrated herein has discrete parts and feature, without departing substantially from thisUnder the premise of scope of disclosure, the component and feature can easily with the character separation of any aspect in other several aspects orCombination.It can logically possible sequence executes any the method by the sequence of the event or by any other.

Above-mentioned specific embodiment elaborates the more of equipment and/or method by using block diagram, flow chart and/or exampleA embodiment.As long as such block diagram, flow chart and/or example include one or more functions and/or operation, the technology of this fieldThe each function and/or operation that personnel will be understood as in such block diagram, flow chart or example can be independent and/or be total toImplemented with ground by multiple hardwares, software, firmware or actually any combination of them.In one embodiment, this paper instituteIf the stem portion for the theme stated can pass through specific integrated circuit (ASIC), field programmable gate array (FPGA), digital signalProcessor (DSP) or other integrated formats are implemented.However, it will be appreciated by those skilled in the art that reality disclosed hereinApplying some aspects in scheme can be used as one or more computer programs (e.g., the work run on one or more computerFor the one or more programs run in one or more computer systems), as running on the one or more processorsOne or more programs (e.g., as the one or more programs run in one or more microprocessors), as firmware,Or entirely or partly equally realized in integrated circuits as actually any combination of them, and according to the present invention,Design electronic circuit and/or the code for writing software and/or hardware will within the technical scope of those skilled in the art.In addition,It will be appreciated by those skilled in the art that the mechanism of theme described herein can be divided as the program product of diversified formsCloth, and the exemplary embodiment of theme described herein is applicable in, but regardless of the signal bearing medium for being actually distributedWhat concrete type is.The example of signal bearing medium is including but not limited to as follows: recordable media, such as floppy disk, hard disk driveDynamic device, CD (CD), digital video disk (DVD), digital magnetic tape, computer storage etc.；It is such as digital with conveying type mediumAnd/or analogue communication medium is (for example, Connectorized fiber optic cabling, waveguide, wired communications links, wireless communication link are (for example, transmitter, connectReceive device, transmission logic, receive logic etc.) etc.).

This document describes the various mechanisms of the attachment for detecting nail bin and surgical stapling and cutting device.In addition, hereinDescribe the whether used various mechanisms of nail bin for determining attachment.Due to without nail bin that is not used and being correctly attachedIn the case of fire surgical stapling and cutting device patient can be caused significantly to threaten, therefore such as fired in conjunction with trigger system and beSystem 4056 uses electric-magnetic lock mechanism 4300, in order to be not attached to the carrier 4022 of surgical stapling and cutting device in nail binWhen, or when the nail bin of attachment is previously used, prevent percussion surgical stapling and cutting device.

Biography referring to Figure 75 to Figure 78, for the blocking mechanism 4300 of surgical stapling and cutting device and trigger system 4056Dynamic is 4302 interactions.Blocking mechanism 4300 includes electromechanical latching member, which includes can have transmissionIt is the latch 4304 converted between 4302 locked configuration and the unlocked configuration with power train 4302.In unlocked configuration, such asShown in Figure 77, allows power train 4302 to promote and be deployed in tissue and/or cut tissue will follow closely.In locked configuration,As shown in Figure 76, since the nail bin for not having nail bin to be attached to carrier 4022 or attachment is previously used, prevent power train 4302 from being pushed awayInto.

As shown in Figure 75, power train 4302 includes being configured to receive latch when latch 4304 is in locked configuration4304 hole 4306.Circuit 4308 is configured to selectively convert latch between locked configuration and unlocked configuration4304.Circuit 4308 includes electromagnet 4310, which is configured to selectively in locked configuration and unlocked configurationBetween conversion locking mechanism 4300.Circuit 4308 further includes power source 4312 and power relay 4314, the power relay quiltIt is configured to selectively transmit energy to power to electromagnet 4310.It powers to electromagnet 4310 so that blocking mechanism 4300Unlocked configuration is transformed into from locked configuration.In alternative embodiment, blocking mechanism can be made to the power supply of electromagnet 43104300 are transformed into locked configuration from unlocked configuration.

Electromagnet 4310 is configured to move latch 4304 between the first position and the second position,In first position, latch 4304 is positioned at least partially in hole 4306, and in the second position, latch 4304 is outside hole 4306.In other words, electromagnet 4310 is configured to move latch 4304 between the first position and the second positionDynamic, in first position, latch 4304 interferes the propulsion of power train 4302, and in the second position, latch 4304 allows power train 4302Propulsion.In alternative embodiment, the power train of trigger system 4056 includes protrusion or latch, the protrusion or latchIt is configured to be accepted in the hole for the counter structure for being operably attached to electromagnet 4310.In such embodimentIn, electromagnet 4310 is configured to selectively make to include that the structure in hole moves between the first position and the second position.Although describing latch in conjunction with blocking mechanism 4300 and including the counter structure in hole, it is to be understood that, it can be mechanical using otherMating component.

As shown in Figure 75, blocking mechanism 4300 further includes piston 4315, which includes biasing member, such as can such as schemedThe spring 4316 moved between first compressed configuration shown in 76 and the second compressed configuration as shown in Figure 75.Structure is compressed secondIn type, spring 4316 is promoted or keeps latch 4304 to be disengaged with power train 4302, as shown in Figure 77.When permission spring4316 return to the first compressed configuration when, latch 4304 equally return engaged at power train 4302, as shown in Figure 76.

Apart from the above, permanent magnet 4318 is attached to latch 4304.Alternatively, latch 4304 or its at least part can be withIt is made of ferromagnetic material.When circuit 4308 starts electromagnet 4310, permanent magnet 4318 is attracted towards electromagnet 4310, so thatSpring 4316 is biased or is compressed.In addition, permanent magnet 4318 makes latch 4304 be elevated or convert with de- with power train 4302From engagement, as shown in Figure 77.However, the bias force of spring 4316 makes permanent magnet when circuit 4308 deactivates electromagnet 43104318 and latch 4304 back to home position that wherein latch 4304 is engaged with power train 4302, as shown in Figure 76.

Referring to Figure 78, the release mechanism 4347 of surgical stapling and cutting device may include controller 4050, the controllerIt may include processor 4052 and/or one or more storage mediums such as memory 4054.Storage is stored in by executingInstruction code in device 4054, processor 4052 can control the enabling of blocking mechanism 4300 and/or deactivate.Processor 4052 canTo receive the input 4320 that whether is previously used of nail bin for whether being attached to carrier 4022 and/or attachment about nail bin.According toReceived input, processor 4052 can enable or deactivate blocking mechanism 4300, to allow or prevent trigger system 4056It is used to carry out nail firing schedule.

Figure 80 to Figure 82 B generally depicts surgery fastening and the cutting device 4500 of motor driving.Such as Figure 80 and Figure 81 instituteShow, surgical instruments 4500 include handle assembly 4502, shaft assembly 4504 and (PCC) power 4506 (" power source ", " power packages " or" battery pack ").Shaft assembly 4504 includes end effector 4508, which, which is configured to serve as scope, cutsCutter can use different types of end effector for clamping, cutting off and/or suturing tissue, but in other cases,End effector such as other kinds of surgical instruments, for example, grasper, cutter, stitching unstrument, applicator, into dressIt sets, medicine/gene therapeutic device, Vltrasonic device, radio-frequency unit and/or laser aid.Several radio-frequency unit is found in 1995The United States Patent (USP) No.5,403 of entitled " ELECTROSURGICAL HEMOSTATIC DEVICE " that on April 4, in announces,Entitled " the SURGICAL FASTENING AND CUTTING INSTRUMENT submitted for 14 days 2 months 312 and 2008 yearsThe U.S. Patent Application Serial Number 12/031,573 of HAVING RF ELECTRODES ", the entire disclosure of the patent is completeText is herein incorporated by reference.

Referring primarily to Figure 81 to Figure 82 B, handle assembly 4502 can be with multiple interchangeable shaft assemblies (for example, shaft assembly4504) it is used together.This kind of interchangeable shaft assembly may include surgical end-effector, such as end effector 4508, the endPortion's actuator is configured to execute one or more surgical tasks or surgical operation.Suitable interchangeable shaft assemblyThe beauty of entitled " CONTROL SYSTEM OF A SURGICAL INSTRUMENT " that example was submitted on March 14th, 2013It is disclosed in state's temporary patent application sequence number 61/782,866, the complete disclosure of the patent application is accordingly in full with the side of referenceFormula is incorporated herein.

Referring primarily to Figure 81, handle assembly 4502 may include shell 4510, and the shell is by may include being configured toEnough shanks 4512 for being grasped, manipulating and being activated by clinician.It will be appreciated, however, that it is disclosed herein it is various forms of can be mutualChange shaft assembly various arrangements can also effectively with robot control surgery system be used in combination.Therefore, term " shell "The receiving of robot system can also be covered or be operably supported the shell or similar of at least one drive system in other waysPart, wherein at least one drive system be configured to generate and application can be used for activating it is disclosed herein interchangeableAt least one control action of shaft assembly and its corresponding equivalent.For example, interchangeable shaft assembly disclosed herein can be with nameThe U.S. of referred to as " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT " is specialVarious robot systems, instrument, component disclosed in sharp patent application serial numbers 13/118,241 (being now United States Patent (USP) 9,072,535)It is used together with method, the complete disclosure of the patent application is herein incorporated by reference.

Referring again to Figure 81, handle assembly 4502 is wherein operably supported multiple drive systems, multiple drive systemBe configured to generate various control actions and these control actions are applied to be operably attached to thereon canExchange the corresponding part of shaft assembly.For example, handle assembly 4502 be operably supported the first drive system (or closure driving systemSystem), which is operationally attached or coupled to handle assembly for closed action and opening action to be applied to4502 shaft assembly 4504.Handle assembly 4502 is operably supported percussion drive system, which is configured toFiring action can be applied to the corresponding part for being attached to interchangeable shaft assembly thereon.

Referring primarily to Figure 82 A and Figure 82 B, handle assembly 4502 includes motor 4514, and the motor is by motor control circuit4515 controls, and can be used by the trigger system of surgical instruments 4500.Motor 4514 can be that be rotated up to value be about 25,The DC of 000RPM has brush drive motor.Alternatively, motor 4514 may include brushless motor, wireless motor, syncmotor, steppingMotor or any other suitable electric motor.Motor control circuit 4515 may include H bridge field effect transistor (FET)4519, as shown in Figure 82 A and Figure 82 B.Motor 4514 provides power, the power packages by (PCC) power 4506 (Figure 82 A and Figure 82 B)Part can be releasably attached to handle assembly 4502, to provide control power to surgical instruments 4500.(PCC) power 4506 wrapsBattery is included, which is connected in series, can be used as power source to provide multiple electricity of power for surgical instruments 4500Pool unit.The battery unit of (PCC) power 4506 can be interchangeable and/or rechargeable.In at least one example,Battery unit can be the lithium ion battery that can be detachably coupled to (PCC) power 4506.

Shaft assembly 4504 includes shaft assembly controller 4522, and the shaft assembly controller is in shaft assembly 4504 and (PCC) power4506 when being connected to handle assembly 4502, is communicated by interface with power management control 4516.Interface may includeOne interface section 4525 and second interface part 4527, wherein first interface part includes one or more is used for and corresponding axisThe electric connector of element electrical connectors realization connection engagement, second interface part include one or more be used for and corresponding powerElement electrical connectors realize the electric connector of connection engagement, to be connected to shank group in shaft assembly 4504 and (PCC) power 4506When part 4502, allow to carry out telecommunication between shaft assembly controller 4522 and power management control 4516.It can be passed by interfaceOne or more power requirements of the interchangeable shaft assembly 4504 of attachment are transmitted to power by defeated one or more signal of communicationManagement Controller 4516.In response, power requirement of the power management control according to attachment shaft assembly 4504, regulation power groupThe power output of the battery of part 4506, as described in greater detail below.One or more electric connectors include switch, these are openedPass can be joined to shaft assembly 4504 and/or (PCC) power 4506 in handle assembly 4502, to allow shaft assembly to controlIt carries out being activated after telecommunication between device 4522 and power management control 4516.

One or more signals of communication are routed through the master controller 4517 in handle assembly 4502 by interface, thusIt can be conducive to transmit this kind of signal of communication between power management control 4516 and shaft assembly controller 4522.Alternatively, work as axisWhen component 4504 and (PCC) power 4506 are connected to handle assembly 4502, interface can be conducive to conduct power Management Controller 4516 withCommunication line between shaft assembly controller 4522 passes through handle assembly 4502.

Master controller 4517 can be any single or multiple core processor, such as be provided by Texas InstrumentsThose of trade name ARM Cortex processor.Surgical instruments 4500 may include power management control 4516, such as wrapInclude secure microcontroller platform (the trade name Hercules of two series (such as TMS570 and RM4x) based on microcontrollerARM Cortex R4, also available from Texas Instruments).However, microcontroller and safety can be used without restrictionOther suitable substitutes of processor.Safe processor is configured to dedicated for IEC 61508 and ISOThe vital application of 26262 safeties and other application are delivered simultaneously with providing advanced integrated security feature structureScalable performance, connectivity and memory option.

Master controller 4517 can be the LM 4F230H5QR for being purchased from Texas Instruments.TexasInstruments LM4F230H5QR is that ARM Cortex-M4F processor cores include dodging 256KB monocycle of up to 40MHzThe on-chip memory of fast memory or other nonvolatile memories, 40MHz or more for mentioning high performance prefetch bufferingArea, is loaded at 32KB monocycle serial random access memory (SRAM)The built-in read-only storage of softwareDevice (ROM), 2KB electrically erasable programmable read-only memory (EEPROM), one or more pulsewidth modulation (PWM) modules, oneOr multiple orthogonal encoder input (QEI) simulations, one or more 12 A/D converters with 12 analog input channels(ADC) and from product data sheet other feature structures being easy to get.The disclosure should not necessarily be limited by this context.

(PCC) power 4506 includes management circuit, which includes power management control 4516, functionRate modulator 4538 and current sensing circuit 4536.Management circuit is configured in shaft assembly 4504 and (PCC) power4506 when being connected to handle assembly 4502, the power output of the power requirement regulating cell based on shaft assembly 4504.For example, powerManagement Controller 4516 can be programmed to control the power output of 4538 regulation power component 4506 of power modulators, current senseCircuit 4536 is used to monitor the power output of (PCC) power 4506, to provide the function with battery for power management control 4516Rate exports related feedback, so that the power output of 4516 regulating power component 4506 of power management control is to remain idealOutput.

It is worth noting that, one or more controllers of the disclosure may include that one or more can store multiple softwaresThe processor and/or memory cell of module.Although the mode that illustration can be used describes certain moulds of surgical instruments 4500Block and/or block, it is to be understood that, the more or fewer modules of number and/or block can be used.In addition, although various situations can pressThe form of lighting module and/or block describes in order to illustrate, but these modules and/or block can pass through one or more hardware componenies(such as processor, digital signal processor (DSP), programmable logic device (PLD), specific integrated circuit (ASIC), circuit,Register) and/or software component (such as program, subroutine, logic), and/or the combination of hardware component and software component be subject toImplement.

Surgical instruments 4500 may include output device 4542, which includes one or more for mentioning to userFor the device of sensory feedback.Such device may include visual feedback means (for example, LCD display, LED indicator), the sense of hearingFeedback device (for example, loudspeaker, buzzer) or haptic feedback devices (for example, tactile actuator).Output device 4542 can be withIncluding display 4543, which may include in handle assembly 4502.Shaft assembly controller 4522 and/or power management controlDevice 4516 processed can provide feedback to the user of surgical instruments 4500 by output device 4542.Interface 4524 is configured toShaft assembly controller 4522 and/or power management control 4516 are connected to output device 4542.Reader will be appreciated that, asSubstitution, output device 4542 can be integrated with (PCC) power 4506.In such cases, when shaft assembly 4504 is connected to handle assemblyWhen 4502, the communication between output device 4542 and shaft assembly controller 4522 can be realized by interface 4524.

Surgical instruments 4500 is briefly described, various electric power/electricity of surgical instruments 4500 are described more fully belowSubassembly.For convenience, any position refers to surgical instruments 4500 herein, should all be understood as referring to combine Figure 80 to figureSurgical instruments 4500 shown in 82B.Figure 79 is gone to, circuit 4700 is depicted.Circuit 4700 is configured to control electronic outerSection's instrument, such as surgical instruments 4500 shown in Figure 80.Circuit 4700 is configured to control Motorized surgical instrument 4500One or more operations.Circuit 4700 includes safe processor 4704 and primary processor or Main Processor Unit 4702.Safe placeReason device 4704 and/or primary processor 4702 are configured to interact with one or more additional circuit components, with controlThe operation of Motorized surgical instrument 4500.Primary processor 4702 includes the multiple input terminals for being connected to one or more circuit elements.Circuit 4700 can be segment circuit.In all cases, circuit 4700 can be by any suitable circuit (such as Motorized surgicalPrinted circuit-board assembly (PCBA) in instrument 4500) Lai Shixian.

It should be appreciated that term processor as used herein includes any microprocessor, microcontroller, or by computerThe function of central processing unit (CPU) be incorporated in an integrated circuit or other basic calculations at most on several integrated circuitsDevice.Processor is multiduty programmable device, which receives numerical data as input, store according in its memoryInstruction come handle input, then provide result as output.It is sequence number because processor has internal storageThe example of logic.The operation object of processor is the numbers and symbols indicated with binary digital system.

Primary processor 4702 is any single or multiple core processor, the commodity such as provided by Texas InstrumentsThose of entitled ARM Cortex processor.Safe processor 4604 can be (all including two series based on microcontrollerSuch as TMS570 and RM4x) secure microcontroller platform, it is known that equally produced by Texas Instruments and trade nameHercules ARM Cortex R4.However, can be without restriction using the other suitable of microcontroller and safe processorSubstitute.In one embodiment, safe processor 4704 can be closed specifically to IEC 61508 and 26262 safety of ISOKey application etc. is constructed, special to provide advanced integrated security when conveying quantifiable performance, connectivity and the Save optionSign.

Primary processor 4702 can be the LM 4F230H5QR for being purchased from Texas Instruments.TexasInstruments LM4F230H5QR is that ARM Cortex-M4F processor cores include dodging 256KB monocycle of up to 40MHzThe on-chip memory of fast memory or other nonvolatile memories, 40MHz or more for mentioning high performance prefetch bufferingArea, is loaded at 32KB monocycle serial random access memory (SRAM)The built-in read-only storage of softwareDevice (ROM), 2KB electrically erasable programmable read-only memory (EEPROM), one or more pulsewidth modulation (PWM) modules, oneOr multiple orthogonal encoder input (QEI) simulations, one or more 12 A/D converters with 12 analog input channels(ADC) and from product data sheet other feature structures being easy to get.Other processors, therefore, this public affairs can easily be used insteadIt opens and should not necessarily be limited by this context.The example of Motorized surgical instrument including primary processor and safe processor is in March, 2014Entitled " the POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT submitted for 26thIt is described in the U.S. Patent Application Publication 2015/0272574 of AND WAKE UP CONTROL ", the whole of the patent applicationDisclosure is herein incorporated by reference.

Safe processor 4704 is configured to realize relative to one or more operations of Motorized surgical instrument 4500Watchdog function.In this regard, safe processor 4704 detects the failure of primary processor 4702 using watchdog functionAnd restore from the failure of the primary processor.In the normal operation period, safe processor 4704 monitors the hard of primary processor 4702Part failure or program error, and initiate one or more correct actions.Correct action may include that primary processor 4702 is placed in peaceTotal state, and restore normal system operatio.At at least one aspect, primary processor 4702 and safe processor 4704 are with redundancyMode operation.

Primary processor 4702 and safe processor 4704 are contained in the shank portion of Motorized surgical suture and cutting device 4500In point.At least one of primary processor 4702 and safe processor 4704 are led to by interface 4707 with axis processor 4706Letter.Axis processor 4706 is configured to receive from storehouse detection system 4709 and input, which is configured toDetect whether unworn nail bin is already attached to Motorized surgical suture and cutting device 4500.

Circuit 4700 further includes the horse for being operably linked to the firing member of Motorized surgical suture and cutting device 4500Up to 4714.One or more rotary position encoders 4741 are configured to primary processor 4702 and/or safe placeManage the feedback for the mode of operation that device 4704 is provided about motor 4714.Including Metal Oxide Semiconductor Field Effect Transistor(MOSFET) 4711 motor driver is controlled from power source 4713 to the power transmission of motor 4714.MOSFET 4711 is by patrollingIt collects and is controlled with door 4717.The high output of logical AND gate 4717 is activated MOSFET 4711, so that motor 4714 is run.The high output of logical AND gate 4717 depends on the input received from primary processor 4702 and safe processor 4704, such as Figure 79 instituteShow.Primary processor 4702 and safe processor 4704 are configured to independently determine whether that motor 4714 is run.It changesWord says that primary processor 4702 and safe processor 4704 are configured to independently determine whether to promote Motorized surgicalThe firing member of suture and cutting device 4500.

In the consistent situation that wherein primary processor 4702 both determines operation motor 4714 with safe processor 4704,Logical AND gate 4717 generates high output, and height output causes MOSFET 4711 to be activated, so that motor 4714 is allowed to run, andAnd then it is pushed into firing member to fire electronic surgical stapling and cutting device 4500.However, primary processor wherein4702 and safe processor 4704 in only another one determine operation motor 4714 and primary processor 4702 and safe processor 4704Middle another one determination is not run in the inconsistent situation of motor 4714, and logical AND gate 4717 can not generate high output, and thenMOSFET 4711 keeps not enabled.

Apart from the above, it depends, at least partially, on transmitting by interface 4702 about whether the decision of operation motor 4714To primary processor 4704 and/or safe processor 4707, Motorized surgical seam whether is already attached to about unworn nail binClose the information with cutting device 4500.As elsewhere herein is more fully described, can using storehouse detection system 4709 comeDetermine whether unworn nail bin is attached to Motorized surgical suture and cutting device 4500 etc..

Referring to Figure 79 A to Figure 79 B, the translatable nail of the suturing assembly 4400 of Motorized surgical suture and cutting device 4500 is hitHair component 4460 can along nail percussion path 4463 not fired in nearside, or initial position and distal side, percussion or end position betweenIt is mobile.Detectable magnetic element 4461 be for example installed to nail firing member 4460, the nail firing member along or at least substantiallyIt is moved along nail percussion path 4463.In at least one example, magnetic element 4461 be for example by iron, nickel and/or it is any itsThe permanent magnet that his suitable material is constituted.Storehouse detection system 4709 includes first or proximal sensor 4401' and second or distal sideSensor 4401, the two sensors are configured to fire along nail together in magnetic element 4461 and nail firing member 4460The magnetic element is detected when mobile in path 4463.First sensor 4401' and second sensor 4401 respectively include Hall effectSensor；But sensor 4401 ' and 4401 may include any suitable sensor.Sensor 4401' and 4401 output voltagesThe respective distance according to them and magnetic element 4461 and change and (high voltage exported when distance is smaller, when apart from largerWhen export small voltage).

Apart from the above, storehouse detection system 4709 include sensor circuit 4708, the sensor circuit include for example with biographyThe voltage source 4403 etc. sensor 4401' and 4401 communication and powered to sensor 4401' and 4401.Sensor circuit 4708 also wrapsInclude the first switch 4405' communicated with first sensor 4401' and the second switch communicated with second sensor 4401 4405.?In at least one situation, switch 4401' and 4401 respectively includes transistor, such as FET.Sensor 4401', 4401 output pointIt is not connected to center (gate pole) terminal of switch 4405', 4405.Before the firing stroke of nail firing member 4460, Lai ZichuanSensor 4401', 4401 output voltage it is higher so that first switch 4405' and second switch 4405 are in closed state.

When magnetic element 4461 is by first sensor 4401', the voltage output of first sensor 4401' is enough closingChange first switch between conjunction state and off-state.Similarly, when magnetic element 4461 is by second sensor 4401, theThe voltage output of two sensors 4401 is enough to change second switch 4405 between closed state and off-state.Work as switchWhen 4405' and 4405 is all in off-state, earthing potential is applied to operation amplifier circuit 4406.Operation amplifier circuit4406 carry out signal communication with the input channel of the axis processor 4706 of motor controller, and when earthing potential is applied to fortuneWhen calculating amplifier circuit 4406, processor 4706 receives ground signalling from circuit 4406.

When processor 4706 receives ground signalling from circuit 4406, processor 4706 can determine that nail firing schedule is completeAt and the nail bin that is located in suturing assembly 4400 used up completely.Other embodiments are contemplated, wherein sensor systemSystem is configured to the part firing schedule of detection nail firing member 4460 and provides instruction nail bin to processor 4706At least partly used signal.Under any circumstance, motor controller is configured to anti-non-magnetic shim firing member 4460Another firing schedule is executed, until nail bin is replaced with unworn nail bin.In at least one example, except it is above-mentioned itOutside, sensing system includes sensor, which is configured to detect whether to tear in used storehouse from suturing assembly openDown and/or whether unworn storehouse suturing assembly is assembled into.

Apart from the above, whether sensing system is configured to detection nail firing member 4460 along retraction roadDiameter 4462 bounces back.In at least one situation, when magnetic element 4461 bounces back along path 4462 and changes second switch 4405When becoming closed state again, sensor 4401 can detect magnetic element 4461.Similarly, when magnetic element 4461 is along path 4463When bouncing back and first switch 4405 being changed back closed state, sensor 4401 ' can detect magnetic element 4461.It is opened by closure4405 and 4405' is closed, the polarity of voltage from battery 4403 is applied to circuit 4406, therefore processor 4706 is logical in its inputVcc signal is received from circuit 4406 on road.

Than that described above, storehouse detection system 4709 includes storehouse circuit 4724.Storehouse circuit 4624 is similar to storehouse in many aspectsCircuit 4024 (Figure 59).For example, storehouse circuit 4724 includes trace elements 4734, the trace elements used cutting of nail bin whereinIt is converted between the unworn good working condition of state and wherein nail bin.As shown in Figure 79, trace elements 4734 are positioned to and the first electricityResistance element 4737 is in parallel and connects with second resistance element 4737', to ensure the detection of sensor fault or its Circuit Interrupt notOnly it is the absence of signal output.One or more sensors (including but not limited to voltage and or current sensor) can be usedTo detect the conversion between current state and/or dissengaged positions and good working condition.

As shown in Figure 79, security code can be used (for example, cyclic redundancy check (CRC), logical to be attached to dataThe error detection code for the unexpected change in transmission data that letter may occur during being transmitted with detection data) ensure processor4702, the accurate communication between 4704 and 4706.Into these systems data block based on more than the polynomial division of its contentNumber obtains additional short check value.In some cases, two parameter groups with independent CRC are loaded into axis processor 4706In, wherein one group is that normally, another group has such as STOP order and parameter such as 0mm cross-sectional length.

In at least one situation, for example, primary processor 4702 is via shared universal asynchronous receiver/transmitter(UART) pin tracks the states of trace elements 4734, and tracks the position of motor 4714 via rotary position encoder 4741It sets.Primary processor 4702 is configured to prevent when primary processor 4702 detects that trace elements 4734 have been cut offMotor 4714 is run.

In all cases, primary processor 4702 and/or safe processor 4704 may be configured to, and can pass in nearsideSensor 4401' detect firing member it is mobile when, as described above, after the dissengaged positions for detecting trace elements 4734,Prevent motor 4714 from running.The detection of the dissengaged positions of movement and trace elements 4734 to firing member can be by as described aboveStorehouse detection system 4709 execute.Axis processor 4706 is configured in the cutting shape for detecting trace elements 4734STOP order is sent to primary processor 4702 and/or safe processor 4704 when state.Axis processor 4706, primary processor 4702And/or the communication between safe processor 4704 can communicate for such as CRC.In all cases, 4704 quilt of safe processorIt is configured to monitoring STOP order and enters sleep pattern after receiving STOP order.In all cases, safe handlingDevice 4704 is configured to prevent horse when the calculating CRC calculated according to the data received is mismatched with the CRC receivedUp to 4714 operations.Safe processor 4704 can be used CRC validation module and to calculate CRC according to the data received and will calculateObtained CRC is compared with the CRC received.

In all cases, primary processor 4702, safe processor 4704 and/or axis processor 4706 may include safetyProperty code generator module and/or security code authentication module.Security code can by CHECK-SUM, HASH or otherSuitable agreement generates.Security code generation module and/or security code authentication module can be in hardware, firmware, softwaresOr it is realized in any combination of them.Ensure between primary processor 4702, safe processor 4704 and/or axis processor 4706The validity of communication is important, because body fluid may interfere with the signal transmitted between such processor.

As described above, axis processor 4706, which is configured to communicate via CRC, sends main place for STOP orderManage device 4702 and/or safe processor 4704.In one example, axis processor 4706 includes security code generator, shouldSecurity code generator is configured to for example generate security code and be attached to the security code to be transferred to masterThe STOP order of processor 4702.Primary processor 4702 includes security code authentication module, the security code authentication moduleIt is configured to verify the integrality of the transmission received from axis processor 4706.Security code authentication module is configured toCan based on received STOP order data come computational security code, and by the security code being calculated withThe security code that STOP order data receives is compared.If primary processor 4702 confirmed the complete of the message receivedWhole property, then primary processor 4702 can for example enable stop mode 4688.

In some cases, safe processor 4704 can have the complete of the message for ensuring to be transmitted to primary processor 4702The task of property.In one example, safe processor 4704 includes security code authentication module, which verifies mouldBlock is configured to verify the integrality of the transmission of the message from axis processor 4706.The safety generation of safe processor 4704Code authentication module is configured to based on received STOP order data come computational security code, and will be calculatedTo security code be compared with the security code received with STOP order data.If safe processor 4704 is trueThe integrality for the message received of accepting, then safe processor 4704 can for example enable stop mode 4688 (Figure 86).

Turning now to Figure 83, circuit 4600 is configured to control Motorized surgical instrument, such as shown in Figure 80 outsideSection's instrument 4500.Circuit 4600 is configured to one or more operations of control Motorized surgical instrument 4500.Circuit 4600Including safe processor 4604 and Main Processor Unit or primary processor 4602, they are analogous respectively to safe place in many aspectsManage device 4704 and primary processor 4702.Safe processor 4604 and/or primary processor 4602 are configured to and one or moreA additional circuit components interact, to control the operation of Motorized surgical instrument 4500.Primary processor 4602 includes being connected to oneMultiple input terminals of a or multiple circuit elements.Circuit 4600 can be segment circuit.In all cases, circuit 4600 can be withBy any suitable circuit (printed circuit-board assembly (PCBA) in such as Motorized surgical instrument 4500) Lai Shixian.

Circuit 4600 includes the feedback element of 4609 form of display.Display 4609 includes being connected to primary processor 4602Display connector.Primary processor 4602 is connected to aobvious by display connector by one or more display-driver IcsShow device 4609.Display driver integrated circuit, which can be integrated and/or can be separated with display 4609 with display 4609, to be determinedPosition.Display 4609 may include any suitable display, such as Organic Light Emitting Diode (OLED) display, liquid crystal displayDevice (LCD) and/or other any suitable displays.In some embodiments, display 4609 is connected to safe processor4604.In addition, circuit 4600 further includes for example one or more user controls 4611.

Safe processor 4604 is configured to realize relative to one or more operations of Motorized surgical instrument 4500Watchdog function.In this regard, safe processor 4604 detects the failure of primary processor 4602 using watchdog functionAnd restore from the failure of the primary processor.In the normal operation period, safe processor 4604 is configured to monitor main placeThe hardware fault or program error of device 4602 are managed, and initiates one or more correct actions.Correct action may include by main placeReason device 4602 is placed in safe condition, and restores normal system operatio.

At at least one aspect, primary processor 4602 and safe processor 4604 are operated with redundant mode.Primary processor4602 and safe processor 4604 be coupled at least to first sensor.First sensor measures the first spy of surgical instruments 4500Property.Primary processor 4602 is configured to determine output based on the first characteristic of measured surgical instruments 4500, andThe output is compared with predetermined value.Equally, safe processor 4604 is configured to based on measured outerFirst characteristic of section's instrument 4500 exports to individually determine, and the output is compared with same predetermined value.Safe processor 4604 and primary processor 4602 are configured to provide the signal of the instruction value that its determination exports.Work as safe placeWhen managing the value of device 4604 or the instruction of primary processor 4602 beyond tolerance interval, suitable safety measure can be enabled.CertainIn the case of, primary processor 4602 and safe processor 4604 receive its input from standalone sensor, which is configuredAt the first characteristic that can independently measure surgical instruments 4500.In some cases, when safe processor 4604 and main process taskWhen at least one of device 4602 indicates the value in tolerance interval, surgical instruments 4500 is allowed to continue in a normal operation modeOperation.For example, when the value at least one of safe processor 4604 and primary processor 4602 instruction tolerance interval, it canTo allow trigger system 4056 to complete the firing schedule of surgical instruments 4500.In such cases, by 4604 He of safe processorThe difference between value or result that primary processor 4602 determines can be attributed to such as sensor fault or calculate mistake.

As shown in Figure 83, linear position encoders 4640 and 4641 are respectively coupled to primary processor 4602 and safe processor4604.Position coder 4640 is provided to primary processor 4602 about Motorized surgical instrument by analog-digital converter 4623a (ADC)The speed and location information of 4500 firing member.Equally, position coder 4640 passes through independent analog-digital converter 4623b(ADC) speed and location information of the firing member about Motorized surgical instrument 4500 are provided to safe processor 4604.Main placeReason device 4602 and safe processor 4604 be configured to based on be originated from linear position encoders 4640 and 4641 information comeExecute the algorithm for calculating at least one acceleration of firing member.The acceleration of firing member can based on following formula comeIt determines:

Wherein a is the current acceleration of firing member, wherein v₂It is in time t₂Locate the current speed of the firing member of recordDegree, and wherein v₁It is in previous time t₁Locate the previous velocity of the firing member of record.

The acceleration of firing member is also based on following formula to determine:

Wherein a is the current acceleration of firing member, wherein d₂It is in time t₂Period firing member is in initial position and works asThe distance advanced between front position, and wherein d₁It is in time t₁Period firing member is between initial position and previous positionThe distance of traveling.

Primary processor 4602 is further configured to that identified acceleration value and predetermined threshold value can be acceleratedDegree is compared, which can store in the memory cell for example communicated with primary processor 4602In.Equally, safe processor 4604 be configured to the acceleration value determined and predetermined threshold acceleration intoRow compares, which can store in the memory cell for example communicated with safe processor 4604In.If primary processor 4602 and/or safe processor 4604 determine that identified acceleration value is more than predetermined threshold valueAcceleration can then take suitable safety measure, for example, stopping hitting the power transmission of motor 4514 and/or resettingHair system 4056.Alternatively, in some cases, when at least one of safe processor 4604 and primary processor 4602 indicateWhen acceptable acceleration value, surgical instruments 4500 is allowed to continue to run in a normal operation mode.For example, working as safe processorWhen acceptable acceleration is reported at least one of 4604 and primary processor 4602, it can permit trigger system 4056 and complete surgeryThe firing schedule of instrument 4500.In such cases, the value or result determined by safe processor 4604 and primary processor 4602Between difference can be attributed to such as sensor fault or calculate mistake.

As described above, be further configured to can be by identified acceleration for primary processor 4602 and safe processor 4604Angle value is compared with the predetermined threshold acceleration being for example storable in memory cell.Threshold acceleration can rootIt is determined according to threshold force corresponding with the breaking load of the blocking mechanism of trigger system 4056.In some cases, it is known that destroyLoad is about 100 pounds.In which case it is possible to use Newton interpolation algorithm based on following formula determines corresponding thresholdIt is worth acceleration:

F=m × a

Wherein F is threshold force, and m is the quality for applying the power.

Hitting for trigger system 4056 can also be assessed by tracking the electric current that motor 4514 consumes during firing scheduleSend out the acceleration of component.The load that is driven through on the firing member of firing schedule by motor 4514 with consumed by motor 4514Electric current is directly related.Therefore, firing member can be assessed by measuring the electric current that motor 4514 consumes during firing scheduleThe load being subjected to.Newton interpolation algorithm can be used and calculate firing member come the load being subjected to based on firing memberAcceleration, the load that firing member is subjected to can be commented by tracking the electric current that motor 4514 consumes during firing scheduleEstimate.

As shown in Figure 84 A, sensor 4617 can be connected to motor control circuit 4619, fired with measuring motor 4514The electric current consumed during stroke.In at least one situation, sensor 4617 can be such as current sensor or Hall effectSensor.Buffer amplifier 4625 can be used to amplify the reading of sensor 4617, ADC 4623 can be used to make the readingNumber digitlization, and the reading can be transferred to primary processor 4602 (Figure 83) and safe processor 4604 (Figure 83), the main placeReason device and safe processor are configured to execute algorithm, corresponding are loaded and based on newton the with determine on firing memberTwo laws of motion determine the acceleration of firing member.

Referring to Figure 84 A, sensor 4617 can be connected to motor control circuit 4619, be gone with measuring motor 4514 in percussionThe electric current consumed during journey.During the normal operating of motor 4514, it is contemplated that the reading of sensor 4617 is normal true in advanceDetermine in range.As shown in Figure 84 B, for example, normal range (NR) can have for example, about minimum threshold of 0.5A and, for example, about 5.0AMax-thresholds.It can be indicated greater than the sensor reading of max-thresholds or greater than zero but less than the sensor reading of minimum thresholdThere are failures in sensor 4617.Max-thresholds can be any value in the range of for example, about 4.0A to such as 6.0A.Minimum threshold can be any value in the range of for example, about 0.4A to such as 0.6A.

As set forth above, it is possible to amplify the reading of sensor 4617 using buffer amplifier 4625, ADC can be used4623 digitize the reading, and the reading can be transmitted to primary processor 4602, which is configured toExecute algorithm enough to determine the reading of sensor 4617 whether in predetermined normal range (NR).If it is determined that sensor 4617Reading exceed predetermined normal range (NR), then primary processor 4602 can take suitable safety measure.In an exampleIn, primary processor 4602 can permit completes firing schedule in the secure mode because abnormal motor current reading may be byCaused by 4617 failure of sensor.In another example, primary processor can to stop carrying out electric power biography to motor 4514It send and user is warned to use mechanical relief feature structure.Primary processor 4602 can warn user to contact clothes by display 4058Business department is to replace fault sensor 4617.Primary processor 4602 can provide to replace the finger of fault sensor 4617It enables.

In some cases, safe processor 4604 is configured to receive from independently of sensor 4617The reading of another sensor, which is configured to independently to measure motor 4514 consumes during firing scheduleElectric current.Similar with primary processor 4602, safe processor 4604 is configured to execute algorithm to determine other biographiesWhether the reading of sensor is in predetermined normal range (NR).If in primary processor 4602 and secondary processor 4604 at leastOne determines that the electric current of the consumption of motor 4514 in predetermined normal range (NR), then allows motor 4514 to complete firing schedule.In such cases, the difference between value or result determined by safe processor 4604 and primary processor 4602 is attributed to for exampleSensor fault calculates mistake.

In some cases, primary processor 4602 and safe processor 4604 are configured to utilize different skillsArt tracks or determines at least one acceleration of the firing member of trigger system 4056.If primary processor 4602 and safe placeThe acceleration for managing the determining firing member of at least one of device 4604 in the normal range, then allows firing member to complete percussion rowJourney.The difference between acceleration value determined by safe processor 4604 and primary processor 4602 can be attributed to sensor faultOr calculate mistake.This may insure that trigger system 4056 is optionally interrupted due to sensor fault or calculating mistake.

In one example, primary processor 4602 is configured to that percussion is determined or tracked using the first technologyThe acceleration of the firing member of system 4056.For example, primary processor 4602 is configured to by using sensor4617 measure the electric current that motors 4514 consume to determine or track the acceleration of firing member.Then, primary processor 4602 can be withExecute the algorithm for calculating at least one acceleration of firing member based on the input from sensor 4617, institute as aboveIt states.On the other hand, safe processor 4604 is configured to determine using second technology different from the first technologyOr the acceleration of tracking firing member.For example, safe processor 4604 is configured to by using position coderThe position of firing member determines or tracks the same acceleration of firing member during 4640 detection firing schedules.Safe processor4604 can execute at least one acceleration for calculating firing member based on the input from position coder 4640Algorithm, as described above.The acceleration being calculated can be compared with predetermined normal range (NR).If primary processor4602 it is consistent with safe processor 4604 think their corresponding acceleration values in the normal range, then allow firing member to completeFiring schedule.However, thinking its corresponding acceleration value normal if primary processor 4602 is consistent with safe processor 4604Except range, then suitable safety measure for example can be taken by primary processor 4602, as described above.By primary processor 4602In the case where having differences between the result about the acceleration of firing member of the determination of safe processor 4604, allow to fireComponent completes firing schedule.

Fire electronic surgery cuts and suture instruments 4500 are related to: mechanical part, wherein firing trigger is squeezed by user；And electronic component, wherein changing in response to motor control circuit 4515 from open configuration when user squeezes firing triggerFor closed configuration, electric current is flowed into motor 4514.The trigger sensing control circuit of Motorized surgical cutting and suture instruments 45004627 (Figure 84 A) include firing trigger hall effect sensor 4629, which is configuredAt being able to detect transformation of the firing trigger 4550 between open configuration and closed configuration.In addition, trigger sensing control electricityRoad 4627 further includes verifying trigger hall effect sensor 4631, which is configured toEnough electric currents for detecting motor 4514 when firing trigger is transformed into closed configuration and consuming.Sensor 4629 and 4631 and main process taskDevice 4602 and/or safe processor 4604 carry out signal communication.Amplify 4629 He of sensor using buffer amplifier 46254631 reading digitizes the reading using ADC 4623, and the reading is transmitted to primary processor 4602 and/or peaceFull processor 4604 is to be analyzed and be compared.

In the normal operation period, the reading of the sensor 4629 and 4631 transmitted provides electronic outer to primary processor 4602The redundancy that mechanical part involved in section's cutting and the percussion of suture instruments 4500 and electronic component work normally guarantees.WhereinSensor 4629 indicates that firing trigger has been extruded but sensor 4631 indicates that motor 4514 is not consuming the different of electric currentIn the case of cause, primary processor 4602 can determine that sensor 4631 does not work normally.Fail instruction percussion touching in sensor 4629In the case that hair device has been extruded but sensor 4631 indicates that motor 4514 is consuming electric current, primary processor 4602 can be determinedSensor 4629 does not work normally.In one aspect, it can permit primary processor 4602 and complete firing schedule in the secure mode,Because inconsistent be attributed to sensor fault.In another example, primary processor can to stop carrying out to motor 4514Power transmission simultaneously warns user for example to succour feature structure using machinery.Primary processor 4602 can be warned by display 4058User contacts service department to replace fault sensor.Primary processor 4602 can provide to replace fault sensorInstruction.

As shown in Figure 83, primary processor 4602 and/or safe processor 4604 and one or more linear position encoders4640 and/or one or more rotary position encoder 4641 carry out signal communication.Rotary position encoder 4641 is configured toIt can identify rotation position and/or the speed of motor 4514.It is hit in addition, linear position encoders 4640 are configured to identificationPosition and/or the speed of component are sent out, the firing member is during surgery cuts and the firing schedule of suture instruments 4500 by motor4514 drivings.

In the normal operation period, the reading phase of the reading of rotary position encoder 4641 and linear position encoders 4640It closes.This is because motor 4514 is operably linked to firing member, so that the rotation of motor 4514 causes firing member hittingIt is pushed into during distribution journey.If as linear position encoders 4640 measure firing member fltting speed tolerance range itOutside, then the reading of rotary position encoder 4641 can be uncorrelated to the reading of linear position encoders 4640.Detecting rotationIt, can be by leading when turning the loss of the correlation between the reading of position coder 4641 and the reading of linear position encoders 4640Processor 4602 and/or safe processor 4604 enable safety measure appropriate.

In all cases, input link such as sensor or switch may be positioned such that with first resistor element in parallel, andIt connects with second resistance element, to ensure that the detection of sensor fault or its Circuit Interrupt is not only to lack signal output.GinsengSee that Figure 85, circuit 4650 include that stroke starts switch 4652, the trip starts switch and is positioned to first resistor element 4654 simultaneouslyJoin and connects with second resistance element 4656.In addition, circuit 4650 includes end-of-stroke switch 4662, the trip end switch is fixedPosition is in parallel with first resistor element 4664 and connect with second resistance element 4666.Stroke starts switch and end-of-stroke switchExample entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " that announces on July 3rd, 2012It is described in United States Patent (USP) 8,210,411, which, which is incorporated by reference, is incorporated herein.

Circuit 4650 further include for example provide 5 volts input voltage voltage source 4660.As shown in Figure 85, output voltage4659 and 4669 can be by buffer amplifier 4625 and the processing of ADC 4623 to generate the number that can transmit to primary processor 4602Output.Primary processor 4602 be configured to execute algorithm with based on received numeral output come assessment circuit 4650One or more states.If output voltage 4659 is equal to the input voltage of voltage source 4660, primary processor 4602, which determines, to be connectedWiring 4658 disconnects.If output voltage 4659 is equal to the half of the input voltage of voltage source 4660, primary processor 4602 is trueFixed, connecting line 4658 has connected but stroke starts switch 4652 and is in open configuration.If output voltage 4659 is equal to voltage sourceThe one third of 4660 input voltage, then primary processor 4602 determines that connecting line 4658 has connected and stroke starts to switch4652 are in closed configuration.If output voltage 4659 is equal to zero, primary processor 4602, which determines, has short circuit in circuit 4650.In some cases, determine that output voltage 4659 is equal to zero instruction end-of-stroke switch 4652 and breaks down.In some cases,Determine that output voltage 4659 is equal to input voltage instruction end-of-stroke switch 4652 and breaks down.

If output voltage 4669 is equal to the input voltage of voltage source 4660, primary processor 4602 determines connecting line 4668It disconnects.If output voltage 4669 is equal to the half of the input voltage of voltage source 4660, primary processor 4602 is determined, connecting line4668 have connected but end-of-stroke switch 4662 is in open configuration.If output voltage 4669 is equal to the input of voltage source 4660The one third of voltage, then primary processor 4602 determines that connecting line 4668 has connected and end-of-stroke switch 4662 is in closureConfiguration.If output voltage 4669 is equal to zero, primary processor 4602, which determines, has short circuit in circuit 4650.In certain situationsUnder, determine that output voltage 4669 is equal to zero instruction end-of-stroke switch 4662 and breaks down.In some cases, output electricity is determinedPressure 4669 is equal to input voltage instruction end-of-stroke switch 4662 and breaks down.

Referring now to Figure 86, Motorized surgical suture and cutting device 4500 may include failure response system 4681, the eventHindering response system includes multiple operation modes, can be in response to from Motorized surgical suture described above and cutting device 4500Position coder, sensor and/or switch input or lack the input from it and be selectively engaged multiple operationMode.As shown in Figure 86, if sensor 4617 indicates that motor 4514 consumes the reading of electric current beyond predetermined normalRange then enables on-warning mode 4682.If detecting that stroke starts at least one in switch 4652 and end-of-stroke switch 4662When person is broken down, then on-warning mode 4682 is also enabled.

On-warning mode 4682 is limited to cut to Motorized surgical and the user of suture instruments 4500 provides warning, attached without takingAdd step to stop or modify the progress of firing schedule or parameter.In the case where not needing to stop firing schedule, warning is enabledMode 4682.For example, enabling on-warning mode when the mistake detected is considered to be attributed to sensor or switch fault4682.On-warning mode 4682 delivers vision, audio and/or tactile alert using user interface 4058.

Motorized surgical cutting and suture instruments 4500 further include warning/standby system mode 4680.If linear position is compiledThe reading of code device 4640 is uncorrelated to the reading of rotary position encoder 4641, then enables warning/standby system mode 4680.ClassIt is similar to on-warning mode 4682, warning/standby system mode 4680 delivers vision, audio and/or touching using user interface 4058Feel warning.In addition, warning/standby system mode 4680 is activated standby system.In the normal operation period, normal mode4684 using the main system for including master reference and master control set.However, needing to enable warning/standby system mould if detectedThe mistake of formula 4680 then replaces main system using including the standby system of aiding sensors and/or sub-controlling unit.

Apart from the above, Motorized surgical cutting and suture instruments 4500 further include limping mode 4686, which isFailure response mode or state, if (i) reading of the reading of linear position encoders 4640 and rotary position encoder 4641It is uncorrelated, and (ii) detects that stroke starts the failure of at least one of switch 4652 and end-of-stroke switch 4662, then touchesSend out the limping mode.Similar to on-warning mode 4682, limping mode 4686 delivers vision, audio using user interface 4058And/or tactile alert.In addition, limping mode 4686 slows down the process of firing schedule.

In some cases, limping mode 4686 can make motor 4514 current rotation speed reduce selected from about 75% toAny percentage in the range of about 25%.In one example, limping mode 4686 can make the current rotation of motor 4514Speed reduces by 50%.In one example, limping mode 4686 can make the current rotation speed of motor 4514 reduce by 75%.It is lameRow mode 4686 can make the current torque of motor 4514 reduce any percentage in the range of about 75% to about 25%.In one example, limping mode 4686 can make the current torque of motor 4514 reduce by 50%.

Apart from the above, Motorized surgical cutting and suture instruments 4500 further include stop mode 4688, which isThe failure response mode or state of upgrading, if (i) reading of linear position encoders 4640 and rotary position encoder 4641Reading it is uncorrelated, (ii) detects that stroke starts the failure of at least one of switch 4652 and end-of-stroke switch 4662,And (iii) indicates that the reading of the sensor 4617 for the electric current that motor 4514 currently consumes exceeds predetermined normal range (NR),Then trigger the stop mode.Similar to on-warning mode 4682, stop mode 4688 delivers vision, sound using user interface 4058Frequency and/or tactile alert.In addition, the stop mode to deactivate or stop motor 4514 when triggering stop mode 4688, fromAnd make only mechanical salvage system can be used for that firing member is made to retract to initial position.Stop mode 4688 uses user interface4058 come provide a user about operation salvage system instruction.The example of suitable salvage system was submitted on March 26th, 2014Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALIt is described in the U.S. Patent Application Publication 2015/0272569 of INSTRUMENTS ", which is incorporated by referenceIt is incorporated herein.

The operation mode of Motorized surgical suture mentioned above and cutting device 4500 generates redundant electronic control access, thisA little redundant electronic control access make when some in input, switch and/or sensor do not pass through completeness check,Motorized surgical suture and cutting device 4500 can be operated.For example, as shown in Figure 86, the triggering needs of limping mode 4686 detectTwo independent and discrete failures, and trigger stop mode 4688 and need to detect three independent and discrete failures.However,Single failure only triggers on-warning mode 4682.In other words, the failure response system of Motorized surgical suture and cutting device 45004681 are configured to upgrade to safer operation mode in response to detected progression of failure.

Integrated and/or discrete hardware element, software element and/or hardware member can be used in failure response system 4681The combination of both part and software element is realized.The example of integrated hardware element may include processor, microprocessor, controller,Integrated circuit, specific integrated circuit (ASIC), programmable logic device (PLD), digital signal processor (DSP), scene can compileJourney gate array (FPGA), logic gate, register, semiconductor devices, chip, microchip, chipset, microcontroller, system on chip(SoC) and/or package system (SIP).The example of discrete hardware component may include circuit and/or circuit element (such as logic gate,Field effect transistor, bipolar junction transistor, resistor, capacitor, inductor, relay etc.).In other embodiments, originallyDisclosed one or more controller may include hybrid circuit, such as include discrete and integrated electricity in one or more substratesCircuit component or component.

In at least one situation, failure response system 4681 can be realized by including the circuit of controller, the controlDevice includes the one or more processors (for example, microprocessor, microcontroller) for being connected at least one processor circuit.This is extremelyA few memory circuit stores machine-executable instruction, which makes processor when executed by the processorMachine instruction is executed, to realize one or more of the function of being executed by failure response system 4681.Processor can be abilityAny of known multiple single or multiple core processors in domain.Memory circuit may include volatile storage medium and non-Volatile storage medium.Processor may include instruction process unit and arithmetic element.Instruction process unit may be configured toInstruction can be received from a memory circuit.

At at least one aspect, failure response system 4681 may include finite state machine, which includes quiltIt is configured to realize the combinational logic circuit of one or more of function of the execution of failure response system 4681.In a realityIt applies in scheme, failure response system 4681 may include finite state machine, which includes sequential logical circuit.ExampleSuch as, sequential logical circuit may include combinational logic circuit and at least one processor circuit.At least one processor electricityRoad can store the current state of finite state machine.Sequential logical circuit or combinational logic circuit are configured to realizeOne or more of the function of being executed by one or more controllers (such as, some controller) of the disclosure.In certain feelingsUnder condition, sequential logical circuit can be synchronous or asynchronous.

At at least one aspect, as shown in Figure 86, failure response system 4681 is at least partly come using multiple logic gatesIt realizes.Logic circuit 4691 is configured to deliver the reading about linear position encoders 4640 to logical AND gate 4690Number whether binary system relevant to the reading of rotary position encoder 4641.Pass through the delivering of logic sum gate 4692 and door 4690The second input, which, which receives, starts the input of switch 4652 and end-of-stroke switch 4662 from stroke.If inspectionThe failure that stroke starts at least one of switch 4652 and end-of-stroke switch 4662 is measured, then logic sum gate 4692 exports heightIt is delivered to logical AND gate 4690.If height output is delivered to logical AND gate 4690 by logic circuit 4691 and logic sum gate 4692,Then logical AND gate 4690 delivers high output, this is activated limping mode 4686.

Apart from the above, the high output from logical AND gate 4690 is being not present in logic inverter or logic inverter 4694In the case of keep normal mode 4684.It is responsible for door 4696 so that in the high output received from logical AND gate 4690 and comingFrom stop mode 4688 is enabled when the high output of logic circuit 4698, which is configured to monitoring motor 4514 and disappearsThe electric current of consumption.Logic circuit 4698 is configured to the reading (reading expression consumption of motor 4514 of receiving sensor 4617Electric current), and can when such reading is beyond predetermined normal range (NR) (this indication sensor failure) delivering it is high defeatedOut.Logic sum gate 4699 is configured to so that receiving the one in logic circuit 4698 and logic sum gate 4692On-warning mode 4682 is enabled when height output.

Referring to Figure 87, which depict the alternative embodiments of failure response system 4681'.Failure response system 4681' existsMany aspects are similar to failure response system 4681, and including normal mode 4684, limping mode 4686 and stop mode4688.Failure response system 4681' includes logical AND gate 4690, logic sum gate 4692 and logical AND gate 4674.It can be configured toThe logic circuit 4670 that can be realized decision block is configured to receive the input from logical AND gate 4690.Logic circuit4670 are configured to enable limping mode 4686 when logic circuit 4670 receives positive input from logical AND gate 4690.SoAnd if logic circuit 4670 does not receive positive input, 4684 holding activity of normal mode from logical AND gate 4690.

Apart from the above, failure response system 4681' includes the second logic circuit 4672, which can be byIt is configured to realize decision block.Second logic circuit 4672 is configured to receive from logical AND gate 4674 and input.IfLimping mode 4686 be movable and logic circuit 4698 determine sensor 4617 reading (reading indicate motor 4514 disappearThe electric current of consumption) exceed predetermined normal range (NR), then logical AND gate 4674 delivers positive output.However, if logical AND gate4674 do not deliver output, then 4686 holding activity of mode of walking lamely to logic circuit 4672.

Referring to Figure 88, failure response system 5001 is similar to failure response system 4681 in many aspects, and including lameRow mode 4686 and stop mode 4688.Failure response system 5001 is configured to, in (i) trigger sensing control circuit4627 determine the reading of firing trigger Hall sensor 4629 and verify the reading of trigger hall effect sensor 4631 notWhen related, and (ii) (a) starts travel switch 4652 and is in closed configuration (Figure 85) or (ii) (b) linear position encodersWhen 4640 reading is uncorrelated to the reading of rotary position encoder 4641, by Motorized surgical suture and cutting device 4500 from lameRow mode 4686 is transformed into stop mode 4688.

As shown in Figure 88, if the reading of the reading of linear position encoders 4640 and rotary position encoder 4641 not phaseIt closes, then failure response system 5001 includes the logic sum gate for being configured to receive positive input 5008.Logic sum gate 5004 is alsoIt is configured to receive positive input 5006 from circuit 4650 (Figure 85) when starting travel switch 4652 and being in closed configuration.ThereforeHindering response system 5001 further includes logical AND gate 5010, which is configured to, in trigger sensing control circuitWhen 4627 determining firing trigger Hall sensors 4629 are uncorrelated with the reading of trigger hall effect sensor 4631 is verified,Slave flipflop sensing control circuit 4627 receives positive input 5012.Logic sum gate 5004 is configured to defeated in response to receivingEnter one of 5006 and 5008 and delivers positive input to logical AND gate 5010.

Failure response system 5001 further includes logic circuit 5002, which is configured to realize decision block.Logic circuit 5002 is configured to keep limping mode 4686 in the case where the positive output of logical AND gate 5010 is not present.Logic circuit 5002 is further configured to can be in the case where existing from the positive output of logical AND gate 5010 from limping mouldFormula 4686 is transformed into stop mode 4688.

Referring to Figure 89, which depict the alternative embodiments of failure response system 5021.Failure response system 5021 is being permittedVarious aspects are similar to failure response system 4681, and including normal mode 4684 and stop mode 4688.Failure response system5021 are configured to for Motorized surgical suture and cutting device 4500 being maintained under normal mode 4684, until detecting threeA independent failure, as described in greater detail below.When detecting such failure, failure response system 5021 to stopMode 4688 is activated.

Apart from the above, failure response system 5021 includes logical AND gate 5024, logic sum gate 5026 and logical AND gate5028.It is configured to realize that the logic circuit 5022 of decision block is configured to receive from logical AND gate 5024Input.Logic circuit 5022, which is configured to enable when logic circuit 5022 receives positive input from logical AND gate 5024, to be stoppedMode 4688.However, normal mode 4684 keeps living if logic circuit 5024 does not receive positive input from logical AND gate 5024It is dynamic.

As shown in Figure 89, logical AND gate 5024 is connected to logic circuit 4691, which is configured to patrollingIt collects whether related with the reading of rotary position encoder 4641 about the reading of linear position encoders 4640 to the delivering of door 5024Binary system.Logical AND gate 5026 by being connected to logic circuit 4698 delivers the second input with door 5024.LogicCircuit 4698 is configured to deliver the reading (reading expression motor 4514 about sensor 4617 to logical AND gate 5026The electric current of consumption) whether the binary system beyond predetermined normal range (NR) exports.It is delivered by logic sum gate 5028 and door5026 the second input, the logic sum gate receive the input for starting switch 4652 and end-of-stroke switch 4662 from stroke.Such asFruit detects that stroke starts the failure of at least one of switch 4652 and end-of-stroke switch 4662, then logic sum gate 5028 will be highOutput is delivered to logical AND gate 4690.

Therefore, failure response system 5021 by require to detect before enabling stop mode 4688 multiple sensors and/Or switch error is protected from the interference of the failure based on sensor and/or switch error.(such as, this ensures Single Point of FaliureThe failure of sensor and/or switch) it itself will not make Motorized surgical suture and cutting device 4500 that can not operate.Failure response systemSystem 5021 needs multiple inputs to indicate failure before enabling stop mode 4688.When one failure of report is (for example, linear positionSet and lack correlation between the reading of encoder 4640 and the reading of rotary position encoder 4641) when, failure response system5021 are configured to before enabling stop mode 4688, find other related or association inputs (for example, motor current is defeatedEnter, start the input of switch 4652 and end-of-stroke switch 4662 from stroke) in failure.

In at least one situation, the first circuit and second circuit are configured to independently assess or detect outside electronicThe operating parameter of section suture and cutting device 4500, for example, being sutured and cutting device 4500 with firing member in Motorized surgicalThe related operating parameter of performance during firing schedule.In at least one situation, if the output of the first circuit is identified asBe it is wrong, then second circuit output can be used for that first circuit is verified and/or substituted in the control loop of firing scheduleOutput.

For example, primary processor 4702 is configured to consume during firing schedule by assessing motor 4514Electric current tracks the first operating parameter, and safe processor 4704 is configured to the rotation by assessing motor 4514The dynamic correlation with firing member between the linear movement during firing schedule is transported to track the second operating parameter.NormalUnder operating condition, the electric current that motor 4514 consumes is corresponding with the speed of firing member and/or falls in predetermined normalIn range.In addition, in normal operation condition, the rotary motion of motor 4514 and the linear movement of firing member are related.Therefore,Primary processor 4702 and safe processor 4704 independently track Motorized surgical suture and the independent operation of cutting device 4500 is joinedNumber, the independent operation parameter provide the feedback of the performance about firing member in the control loop of firing schedule.

Primary processor 4702 and/or safe processor 4704, which are configured to generate, indicates its corresponding operation ginsengNumber whether the output in normal operating condition.In one example, if the assessment of the operating parameter of safe processor 4704Be identified as mistake or instruction abnormal operating conditions, while the second operating parameter indicate normal operating condition, then safetyThe output of processor 4704 can be used for that the defeated of primary processor 4702 is verified and/or substituted in the control loop of firing scheduleOut.

The output of primary processor 4702 and/or safe processor 4704 may include enabling Motorized surgical suture and cutterThe operation mode of tool 4500, the operation mode are selected from what normal mode, on-warning mode, limping mode and stop mode were constitutedGroup.In one example, the output of primary processor 4702 may include enabling failure response mode, such as limping mode or stoppingMode is then substituted using normal mode but if the output of safe processor 4704 includes enabling/continuation normal manipulation modeFailure response mode.Therefore, electronic although the assessment based on the operating parameter tracked by primary processor 4702 recognizes mistakeSurgical stapling and cutting device 4500 operate continuation in the normal mode.

In one example, failure response system is configured to: enabling first when detecting the first mistakeFailure response mode；The second failure response mode is enabled when also detecting the second mistake in addition to the first mistake；And it is removingThird failure response mode is enabled when also detecting third mistake except the first mistake and the second mistake.In at least one situationUnder, Motorized surgical suture and cutting device 4500 keep operation under Fisrt fault response modes and the second failure response mode,And it is deactivated under third failure response mode.

In one example, failure response system is configured to improve or upgrade failure response is to adapt to detectThe upgrading of the failure arrived.In one example, failure response system is configured to the increasing in response to detected mistakeAdd and be transformed into the second failure response mode from Fisrt fault response modes, wherein the mistake detected includes at least one sensingDevice failure and/or at least one switch fault.In one example, failure response system is configured in response to being detectedTo mistake increase and enable the conversion from Fisrt fault response modes to the second failure response mode, wherein the mistake detectedIt accidentally include at least one measurement structure except predetermined normal range (NR).

In one example, failure response system is configured to enable Fisrt fault sound when detecting the first mistakeMode is answered, and is configured to turn when also detecting the second mistake in addition to the first mistake from Fisrt fault response modesChange to the second failure response mode.In one example, failure response system is configured to detecting more than first mistakeIt mistakes and enables Fisrt fault response modes, and be configured to respond when detecting more than second mistake from Fisrt faultMode is transformed into the second failure response mode, wherein more than second mistake is greater than more than first a mistakes, and wherein more than secondMistake covers a mistake more than first.In one example, compared to Fisrt fault response modes, the second failure response mode is related toThe greater number of limitation to Motorized surgical suture and the operation of cutting device 4500.

Embodiment

A kind of embodiment 1-surgical instruments, including anvil block and elongated passageway, wherein at least one in anvil block and elongated passagewayPerson can move to capture tissue between anvil block and elongated passageway.Elongated passageway includes multiple first electric contact pieces and multipleElectric connector.Multiple electric connectors further comprise multiple second electric contact pieces, and wherein electric connector is spring biasing, so thatGap is kept between first electric contact piece and the second electric contact piece.Surgical instruments further includes that can be releasably attached to elongated lead toThe nail bin in road.Nail bin includes: warehouse, which includes multiple nail cavities；And multiple nails, multiple nail can be deployed to from nail cavityIn tissue.Nail bin further includes multiple third electric contact pieces, and wherein the attachment of nail bin and elongated passageway keeps electric connector mobile, this makesIt obtains the second electric contact piece bridge joint gap and is electrically coupled to the first electric contact piece.

The surgical instruments of 2-embodiment of embodiment 1, wherein nail bin includes being configured to store the information about nail binStorage medium.When warehouse is attached to elongated passageway, storage medium can by least one of third electric contact piece bySurgical instruments accesses.

The surgical instruments of 3-embodiment of embodiment 1 or 2, wherein storage medium includes memory cell.

The surgical instruments of 4-embodiment of embodiment 1,2 or 3, wherein information includes the identifier of nail bin.

The surgical instruments of 5-embodiment of embodiment 1,2,3 or 4, wherein information further includes the use state of nail bin.

The surgical instruments of 6-embodiment of embodiment 1,2,3,4 or 5, wherein electric connector is at least partially coated with fluidRepel coating.

The surgical instruments of 7-embodiment of embodiment 1,2,3,4,5 or 6, wherein third electric contact piece at least partly coatsThere is fluid to repel coating.

The surgical instruments of 8-embodiment of embodiment 5,6 or 7, wherein connector includes wear characteristic structure, the wear characteristicStructure is configured to during nail bin is attached to elongated passageway at least partly removing fluids and repels coating.

The surgical instruments of 9-embodiment of embodiment 8, wherein at least one of wear characteristic structure includes that protrusion is dome-shapedShape.

The surgical instruments of 10-embodiment of embodiment 1, wherein nail bin includes storehouse status circuit part, the storehouse status circuit portionDividing includes the trace elements for being configured to disconnect during following closely deployment.

The surgical instruments of 11-embodiment of embodiment 1, wherein elongated passageway includes compressible seal member, the compressible sealPart is configured to resist fluid entrance between nail bin and elongated passageway when nail bin is attached to elongated passageway.

A kind of nail bin being used together with the end effector of surgical instruments of embodiment 12-, wherein nail bin include canIt is attached to release the warehouse of end effector, and its middle warehouse includes multiple nail cavities.Nail bin further include: multiple nails, this is moreA nail is stored at least partly in nail cavity；And cam member, the cam member can be moved relative to warehouse from initial positionIt is dynamic, so that nail is disposed from nail cavity.Nail bin further includes circuit, which includes multiple external electrical contacts, multiple external electricalContact is configured to be electrically coupled to the correspondence electric contact piece of end effector when warehouse is attached to end effector.It shouldCircuit further includes storage medium, which is configured to store the information about nail bin, wherein when warehouse is attached toWhen end effector, storage medium can be accessed by least one of external electrical contacts.The circuit further includes storehouse shapeState circuit part, which includes trace elements, which is configured to the shifting in cam memberIt is disconnected during dynamic.

The nail bin of 13-embodiment of embodiment 12, wherein storage medium includes memory cell.

The nail bin of 14-embodiment of embodiment 12 or 13, wherein information includes the identifier of nail bin.

The nail bin of 15-embodiment of embodiment 12,13 or 14, wherein information includes the use state of nail bin.

The nail bin of 16-embodiment of embodiment 12, wherein External electrical connectors are at least partially coated with fluid repulsion and applyLayer.

A kind of nail bin being used together with the end effector of surgical instruments of embodiment 17-, wherein nail bin include canIt is attached to release the warehouse of end effector, and its middle warehouse includes multiple nail cavities.Nail bin further include: multiple nails, this is moreA nail is stored at least partly in nail cavity；And sliding part, during firing schedule, the sliding part can relative to warehouse fromInitial position is mobile, so that nail is disposed from nail cavity.Nail bin further include: for determining the detection device of the use state of nail bin；And storage medium, the storage medium are configured to the use state of storage nail bin.

The nail bin of 18-embodiment of embodiment 17, wherein detection device includes circuit, which is configured to hittingIt is converted between closed configuration and open configuration by sliding part during distribution journey.

The nail bin of 19-embodiment of embodiment 17 or 18, wherein detection device includes hall effect sensor.

The nail bin of 20-embodiment of embodiment 17,18 or 19, wherein detection device includes circuit, which includes being configuredAt the conducting bridge that can be cut off during firing schedule.

A kind of embodiment 21-Motorized surgical suture and cutting device, including nail bin, wherein nail bin includes shell, multiple nailsChamber and the multiple nails that can be disposed during firing schedule from nail cavity.Nail bin further includes that can move during firing scheduleWith the firing member followed closely from nail cavity deployment and the motor for being operably linked to firing member, wherein motor is configured toAt least one rotary motion is generated, is followed closely with promoting firing member to dispose during firing schedule from nail cavity.Motorized surgical suture andCutting device further includes failure response system, which includes the first circuit, which is configured toWhen the correlation of the rotary motion of the movement and motor of firing member exceeds predetermined range during firing schedule, detectionFirst operating mistake of Motorized surgical suture and cutting device.Failure response system further includes second circuit, the second circuit quiltIt is configured to detect Motorized surgical when detecting that stroke starts the failure of at least one of switch and end-of-stroke switchSecond operating mistake of suture and cutting device.Failure response system further includes control circuit, which is configured toEnough that Fisrt fault response modes are enabled when detecting the first operating mistake, wherein control circuit is configured to except detectionWhen also detecting the second operating mistake except to the first operating mistake, the second failure response mode, second failure response are enabledMode is different from Fisrt fault response modes.

The Motorized surgical of 22-embodiment of embodiment 21 sutures and cutting device, and wherein Fisrt fault response modes are warningsMode.

The Motorized surgical suture of 23-embodiment of embodiment 21 or 22 and cutting device, wherein the second failure response mode isLimping mode.

The Motorized surgical of 24-embodiment of embodiment 21,22 or 23 sutures and cutting device, and wherein motor is in limping modeUnder run with reduced speed.

The Motorized surgical of 25-embodiment of embodiment 21,22,23 or 24 sutures and cutting device, and wherein firing member is lameIt is mobile with reduced speed under row mode.

The Motorized surgical of 26-embodiment of embodiment 21 sutures and cutting device, further includes tertiary circuit, the tertiary circuitIt is configured to when the electric current that motor consumes during firing schedule is beyond predetermined range, detection Motorized surgical seamClose the third operating mistake with cutting device.

The Motorized surgical of 27-embodiment of embodiment 26 sutures and cutting device, and wherein control circuit is configured toWhen also detecting third operating mistake in addition to detecting the first operating mistake and the second operating mistake, third failure response is enabledMode, the third failure response mode and Fisrt fault response modes and the second failure response mode are different.

The Motorized surgical of 28-embodiment of embodiment 27 sutures and cutting device, and wherein third failure response mode is than secondFailure response mode is restricted bigger.

A kind of embodiment 29-Motorized surgical suture and cutting device, including nail bin, wherein nail bin includes shell, multiple nailsChamber and the multiple nails that can be disposed during firing schedule from nail cavity.Nail bin further includes that can move during firing scheduleSo that the firing member followed closely from nail cavity deployment and the motor for being operably linked to firing member, wherein motor is configured toAt least one rotary motion can be generated, is followed closely with promoting firing member to dispose during firing schedule from nail cavity.Motorized surgical seamIt closes and cutting device further includes failure response system, which includes the first circuit, which is configured toCan during firing schedule the rotary motion of the movement and motor of firing member correlation exceed predetermined range when,Detect the first operating mistake of Motorized surgical suture and cutting device.Failure response system further includes second circuit, second electricityRoad is configured to detect electronic when detecting that stroke starts the failure of at least one of switch and end-of-stroke switchSecond operating mistake of surgical stapling and cutting device.Failure response system further includes controller, which includes containing journeyThe memory and storage medium of sequence instruction, the program instruction make processor detect the first operation when executed by the processorFisrt fault response modes are enabled when mistake, and are detecting processor also in addition to detecting the first operating mistakeWhen the second operating mistake, the second failure response mode is enabled, the second failure response mode is different from Fisrt fault response modes.

The Motorized surgical of 30-embodiment of embodiment 29 sutures and cutting device, and wherein Fisrt fault response modes are warningsMode.

The Motorized surgical suture of 31-embodiment of embodiment 29 or 30 and cutting device, wherein the second failure response mode isLimping mode.

The Motorized surgical of 32-embodiment of embodiment 29,30 or 31 sutures and cutting device, and wherein motor is in limping modeUnder run with reduced speed.

The Motorized surgical of 33-embodiment of embodiment 29,30,31 or 32 sutures and cutting device, and wherein firing member is lameIt is mobile with reduced speed under row mode.

The Motorized surgical of 34-embodiment of embodiment 29 sutures and cutting device, further includes tertiary circuit, the tertiary circuitIt is configured to when the electric current that motor consumes during firing schedule is beyond predetermined range, detection Motorized surgical seamClose the third operating mistake with cutting device.

The Motorized surgical of 35-embodiment of embodiment 29 sutures and cutting device, and wherein storage medium includes program instruction,The program instruction makes processor in addition to detecting the first operating mistake and the second operating mistake when executed by the processorWhen also detecting third operating mistake, third failure response mode is enabled, the third failure response mode and Fisrt fault respondMode and the second failure response mode are different.

The Motorized surgical of 36-embodiment of embodiment 35 sutures and cutting device, and wherein third failure response mode is than secondFailure response mode is restricted bigger.

Embodiment 37-is a kind of to suture the failure response system being used together with cutting device with Motorized surgical, which ringsSystem is answered to be configured to that multiple nails are deployed in tissue during firing schedule, wherein failure response system includes firstCircuit and second circuit, the first circuit are configured to the of Motorized surgical suture and cutting device during detection firing scheduleOne operating mistake, Motorized surgical suture is grasped with the second of cutting device during second circuit is configured to detection firing scheduleMake mistake, wherein the second operating mistake is different from the first operating mistake.Failure response system further includes tertiary circuit, tertiary circuitMotorized surgical sutures the third operating mistake with cutting device during being configured to detection firing schedule, and wherein third operatesMistake and the first operating mistake and the second operating mistake are different.Failure response system further includes control circuit, the control circuitIt is configured to enable Fisrt fault response modes when detecting the first operating mistake, wherein control circuit is configured toEnough to enable the second failure response mode when also detecting the second operating mistake in addition to detecting the first operating mistake, thisTwo failure response modes are different from Fisrt fault response modes.Control circuit is configured to wrong except the first operation is detectedWhen accidentally and except the second operating mistake also detecting third operating mistake, third failure response mode is enabled, which ringsAnswer mode and Fisrt fault response modes and the second failure response mode different.

The failure response system of 38-embodiment of embodiment 37, wherein Fisrt fault response modes are on-warning modes.

The failure response system of 39-embodiment of embodiment 37 or 38, wherein the second failure response mode is limping mode.

The failure response system of 40-embodiment of embodiment 37,38 or 39, wherein third failure response mode is than the second eventIt is restricted bigger to hinder response modes.

A kind of embodiment 41-Motorized surgical suture and cutting device, including nail bin, the nail bin include shell, multiple nailsChamber and the multiple nails that can be disposed during firing schedule from nail cavity.Nail bin further includes that can move during firing scheduleSo that the firing member followed closely from nail cavity deployment and the motor for being operably linked to firing member.Motor is configured toAt least one rotary motion is generated, is followed closely with promoting firing member to dispose during firing schedule from nail cavity.Motorized surgical suture andCutting device further includes master controller, which includes primary processor and primary storage Jie for storing the first program instructionMatter, the first of firing member during which makes host processor determine firing schedule when being executed by primary processorFirst acceleration is simultaneously compared by acceleration with predetermined threshold acceleration.Motorized surgical suture and cutting device also wrapPilot controller is included, which includes secondary processor and the secondary storage medium for storing the second program instruction, is somebody's turn to doThe second of firing member during second program instruction makes secondary processor determine firing schedule when being executed by secondary processorSecond acceleration is simultaneously compared by acceleration with predetermined threshold value.

The Motorized surgical of 42-embodiment of embodiment 41 sutures and cutting device, wherein being based on first position and the second positionThe distance between determine the first acceleration, during wherein the distance is firing schedule firing member advance distance.

The Motorized surgical suture of 43-embodiment of embodiment 41 or 42 and cutting device, further include being configured to detectThe sensor of firing member in the second place.

The Motorized surgical of 44-embodiment of embodiment 43 sutures and cutting device, and wherein sensor is linear position codingDevice.

The Motorized surgical suture of 45-embodiment of embodiment 43 or 44 and cutting device, wherein sensor and primary processor are electricConnection.

The Motorized surgical of 46-embodiment of embodiment 41,42,43,44 or 45 sutures and cutting device, wherein second acceleratesDegree is independently determined by secondary processor based on the distance.

The Motorized surgical of 47-embodiment of embodiment 41,42,43,44,45 or 46 sutures and cutting device, further includes being matchedIt is set to another sensor for being able to detect the firing member in the second place.

The Motorized surgical of 48-embodiment of embodiment 47 sutures and cutting device, and wherein another sensor is linear positionEncoder.

The Motorized surgical of 49-embodiment of embodiment 47 or 48 sutures and cutting device, wherein another sensor and auxiliaryProcessor is electrically connected.

The Motorized surgical of 50-embodiment of embodiment 41,42,43,44,45,46,47,48 or 49 sutures and cutting device,Wherein primary processor is configured to exceed predetermined threshold value in (i) the first acceleration and (ii) second acceleration is superOut when predetermined threshold value, failure response mode is enabled.

The Motorized surgical of 51-embodiment of embodiment 41,42,43,44,45,46,47,48,49 or 50 sutures and cutterTool, wherein failure response mode includes stopping motor.

The Motorized surgical of 52-embodiment of embodiment 41,42,43,44,45,46,47 or 48 sutures and cutting device, whereinPrimary processor is configured to when at least one of the first acceleration and the second acceleration are beyond predetermined threshold value,Enable failure response mode.

The Motorized surgical of 53-embodiment of embodiment 52 sutures and cutting device, and wherein failure response mode includes stopping horseIt reaches.

The Motorized surgical of 54-embodiment of embodiment 41 sutures and cutting device, wherein the second program instruction also to assistProcessor generates output based on the second acceleration compared with predetermined threshold value, and the output is made to be sent to main controlDevice.

A kind of embodiment 55-Motorized surgical suture and cutting device, including nail bin, the nail bin include shell, multiple nailsChamber and the multiple nails that can be disposed during firing schedule from nail cavity.Motorized surgical suture and cutting device further include canThe firing member followed closely from nail cavity deployment and the horse for being operably linked to firing member are moved so that during firing scheduleIt reaches.Motor is configured to generate at least one rotary motion, to promote firing member during firing schedule from nail cavity portionAdministration's nail.Motorized surgical suture and cutting device further include main circuit, which includes primary processor, which is configuredAt can during assessment instruction firing schedule the performance of firing member the first operating parameter, and can be based on being operated to firstThe assessment of parameter generates the first output.Motorized surgical suture and cutting device further include second circuit, which includes peaceFull processor, the safe processor are configured to: the second behaviour of the operation of firing member during assessment instruction firing scheduleMake parameter, wherein the second operating parameter is different from the first operating parameter；And the is generated based on the assessment to the second operating parameterTwo outputs, wherein the first output in control loop of second output for verifying firing schedule.

The Motorized surgical of 56-embodiment of embodiment 55 sutures and cutting device, wherein if it is determined that the first operating parameter refers toShow the abnormal operation of firing member during firing schedule, while the normal operating of the second operating parameter instruction firing member, then makesThe first output is substituted with the second output.

The Motorized surgical of 57-embodiment of embodiment 55 sutures and cutting device, wherein the first output is configured to openWith the operation mode of the group constituted selected from normal mode, on-warning mode, limping mode and stop mode.

The Motorized surgical suture of 58-embodiment of embodiment 55 or 57 and cutting device, wherein the second output is configured toEnough operation modes for enabling the group constituted selected from normal mode, on-warning mode, limping mode and stop mode.

The Motorized surgical of 59-embodiment of embodiment 55 sutures and cutting device, wherein the first output is including the first outputSafe processor is transmitted to in the message of security code.

The Motorized surgical of 60-embodiment of embodiment 59 sutures and cutting device, and wherein security code includes cyclic redundancyIt verifies (CRC).

Many surgical instrument systems as described herein are actuated by electric motor；But surgical instrument system as described herein canIt actuates in any suitable manner.In various examples, for example, surgical instrument system as described herein can be by the touching that is manually operatedHair device actuates.In some instances, motor disclosed herein may include a part or multiple portions of robot control system.ThisOutside, any end effector and/or tool assembly disclosed herein can be used together with robotic surgical Instrument system.For example,Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTThe U.S. Patent Application Serial Number 13/118,241 (being now United States Patent (USP) 9,072,535) of ARRANGEMENTS " is public in more detailSeveral examples of robotic surgical Instrument system are opened.

The deployment and deformation for having combined nail describe surgical instrument system as described herein；However, implementation as described hereinScheme is without being limited thereto.For example, it is contemplated to dispose the various embodiments of the fastener such as fixture or tack in addition to nail.ThisOutside, it is also contemplated that utilize the various embodiments of any appropriate device for seal tissue.For example, according to various embodimentsEnd effector may include be configured to heating and seal tissue electrode.In addition, for example, according to certain embodimentEnd effector can apply vibrational energy and carry out seal tissue.

The complete disclosure of following patents is hereby incorporated by reference:

It is published in the U.S. of entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " on April nineteen ninety-five 4Patent 5,403,312；

It is published on 2 21st, 2006 entitled " SURGICAL STAPLING INSTRUMENT HAVINGThe United States Patent (USP) 7,000,818 of SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS "；

It is published on September 9th, 2008 entitled " MOTOR-DRIVEN SURGICAL CUTTING ANDThe United States Patent (USP) 7,422,139 of FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK "；

It is published in entitled " the ELECTRO-MECHANICAL SURGICAL INSTRUMENT on December 16th, 2008The United States Patent (USP) 7,464,849 of WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS "；

It is published in entitled " the SURGICAL INSTRUMENT HAVING AN on March 2nd, 2010The United States Patent (USP) 7,670,334 of ARTICULATING END EFFECTOR "；

It is published in the United States Patent (USP) of entitled " the SURGICAL STAPLING INSTRUMENTS " on July 13rd, 20107,753,245；

It is published in entitled " the SELECTIVELY ORIENTABLE IMPLANTABLE on March 12nd, 2013The United States Patent (USP) 8,393,514 of FASTENER CARTRIDGE "；

The United States Patent (USP) of entitled " SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES "Patent application serial numbers 11/343,803；It is now United States Patent (USP) 7,845,537；

It is filed on 2 14th, 2008 entitled " SURGICAL CUTTING AND FASTENINGThe U.S. Patent Application Serial Number 12/031,573 of INSTRUMENT HAVING RF ELECTRODES "；

It is filed on 2 15th, 2008 entitled " END EFFECTORS FOR A SURGICAL CUTTING ANDThe U.S. Patent Application Serial Number 12/031,873 (being now United States Patent (USP) 7,980,443) of STAPLING INSTRUMENT "；

The U.S. Patent Application Serial Number of entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT "12/235,782, it is now United States Patent (USP) 8,210,411；

Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYThe U.S. Patent Application Serial Number 12/249,117 of RETRACTABLE FIRING SYSTEM " is now United States Patent (USP) 8,608,045；

It is filed in entitled " the MOTOR-DRIVEN SURGICAL CUTTING on December 24th, 2009The U.S. Patent application of INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY "Sequence number 12/647,100；It is now United States Patent (USP) 8,220,688；

It is filed in the U.S. Patent Application Serial Number 12/ of on September 29th, 2012 entitled " STAPLE CARTRIDGE "893,461, it is now U.S. Patent number 8,733,613；

It is filed in the United States Patent (USP) of on 2 28th, 2011 entitled " SURGICAL STAPLING INSTRUMENT "Patent application serial numbers 13/036,647 are now U.S. Patent number 8,561,870；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEThe U.S. Patent Application Serial Number 13/118,241 of DEPLOYMENT ARRANGEMENTS " is now United States Patent (USP) 9,072,535；

It is filed in entitled " the ARTICULATABLE SURGICAL INSTRUMENT on June 15th, 2012The U.S. Patent Application Serial Number 13/524,049 of COMPRISING A FIRING DRIVE "；It is now United States Patent (USP) 9,101,358；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013The U.S. Patent Application Serial Number 13/800,025 of SYSTEM " is now U.S. Patent Application Publication 9,345,481；

It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013The U.S. Patent Application Serial Number 13/800,067 of SYSTEM " is now U.S. Patent Application Publication 2014/0263552；

It is filed in entitled " the SURGICAL CUTTING AND FASTENING on January 31st, 2006The U.S. Patent Application Publication 2007/ of INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM "0175955；And

It is filed in entitled " the SURGICAL STAPLING INSTRUMENT WITH AN on April 22nd, 2010The U.S. Patent Application Publication 2010/0264194 of ARTICULATABLE END EFFECTOR " is now United States Patent (USP) 8,308,040。

It is also implementable that these embodiments are permitted although certain embodiments has been combined to describe various devices hereinMore modifications and variations.In one or more embodiments, specific features, structure or characteristic be can be done in any suitable mannerCombination.Therefore, without limitation, the specific features that show or describe in conjunction with an embodiment, structure or characteristic canEntirely or partly combined with feature, the structure or characteristic of other one or more embodiments.In addition, using Mr. Yu disclosingIn the case where the material of a little components, it is possible to use other materials.In addition, single component can be replaced according to multiple embodimentsFor multiple components, and multiple components can also be replaced by single component, to execute given one or more functions.Above-mentioned toolBody embodiment and following the claims are intended to cover all such modifications and variations.

Apparatus as disclosed herein is designed to discard after a single use or it is designed to be used for multiple times.However no matter what kind of situation it is, which all can be at least using exercising use by finishing after primary again.Reparation may include followingAny combination of step, these steps include but is not limited to provision for disengagement, later carry out the specific component of device cleaning or replacement,And then re-assembly device.Specifically, restoration facilities and/or surgical team's detachable apparatus, and in cleaning and/or moreAfter the particular elements of changing device, device can be reassembled for subsequent use.It will be appreciated by those skilled in the art that finishingDevice can be dismantled using multiple technologies, clean/replace and re-assembly.The use of such technology and resulting reparationDevice is within the scope of application.

Apparatus as disclosed herein can be handled before the surgery.Firstly, can get new or used instrument, andIt is cleaned as needed.Then, it can carry out disinfection to instrument.In a kind of sterilization technology, the instrument is placed on closedAnd in the container (such as, plastics or TYVEK bag) of sealing.Then container and instrument can be placed in the radiation field that can penetrate container,Such as γ radiation, X-ray and/or high energy electron.Radiation can kill the bacterium on instrument and in container.Sterilized instrument is subsequentIt can be stored in sterile chamber.Sealing container instrument can be remained it is sterile, until the container is beaten in medical facilitiesIt opens.Also any other technology known in the art can be used to carry out disinfection device, the technology include but is not limited to β radiation,γ radiation, ethylene oxide, plasma peroxide and/or steam.

Although the present invention has been described as having exemplary design, can further be repaired in the spirit and scope of the disclosureChange the present invention.Therefore, this application is intended to cover use any modification of the invention of General Principle of the invention, purposes or changeType.

Any patent, announcement or other public materials incorporated in this article in full or in part by reference only simultaneouslyThe material entered is not incorporated herein in existing definition of the present invention, statement or the conflicting range of other public materials.CauseThis, and at the necessary level, disclosure specifically listed herein replaces any conflict being herein incorporated by referenceMaterial.It is said that being herein incorporated by reference but conflicting with the existing definitions, statements, or other disclosure materials listed hereinAny material or part thereof will not generated only between incorporated material and existing public material under the degree that conflicts simultaneouslyEnter.

Claims (20)

1. a kind of Motorized surgical suture and cutting device, comprising:

Nail bin, the nail bin include:

Shell；

Multiple nail cavities；

The multiple nails that can be disposed during firing schedule from the nail cavity；

The firing member followed closely and disposed from the nail cavity can be moved so that during the firing schedule；And

It is operably linked to the motor of the firing member, wherein the motor is configured to generate at least one rotationMovement, to promote the firing member to dispose the nail from the nail cavity during the firing schedule；

Master controller, the master controller include:

Primary processor；And

The primary storage medium of the first program instruction is stored, first program instruction makes institute when being executed by the primary processorState primary processor:

First acceleration of the firing member during determining the firing schedule；And

First acceleration is compared with predetermined threshold acceleration；And

Pilot controller, the pilot controller include:

Secondary processor；And

The secondary storage medium of the second program instruction is stored, second program instruction makes when being executed by the secondary processorObtain the secondary processor:

Second acceleration of the firing member during determining the firing schedule；And

Second acceleration is compared with the predetermined threshold value.

2. Motorized surgical suture according to claim 1 and cutting device, wherein first acceleration is based on firstWhat the distance between position and the second position determined, wherein distance firing member traveling during being the firing scheduleDistance.

3. Motorized surgical suture according to claim 2 and cutting device, further include sensor, the sensor is configuredAt being able to detect the firing member in the second place.

4. Motorized surgical suture according to claim 3 and cutting device, wherein the sensor is linear position codingDevice.

5. Motorized surgical suture according to claim 3 and cutting device, wherein the sensor and the primary processorIt is electrically connected.

6. Motorized surgical suture according to claim 5 and cutting device, wherein second acceleration is by described auxiliaryProcessor is helped independently to determine based on the distance.

7. Motorized surgical suture according to claim 6 and cutting device, further include another sensor, another sensingDevice is configured to the firing member that detection is in the second place.

8. Motorized surgical suture according to claim 7 and cutting device, wherein another sensor is linear positionEncoder.

9. Motorized surgical suture according to claim 7 and cutting device, wherein another sensor and the auxiliaryProcessor is electrically connected.

10. Motorized surgical suture according to claim 9 and cutting device, wherein the primary processor is configured toIn (i) described first acceleration beyond the predetermined threshold value and (ii) described second acceleration beyond described true in advanceWhen fixed threshold value, failure response mode is enabled.

11. Motorized surgical suture according to claim 10 and cutting device, wherein the failure response mode includes makingThe motor stops.

12. Motorized surgical suture according to claim 9 and cutting device, wherein the primary processor is configured toWhen at least one of first acceleration and second acceleration exceed the predetermined threshold value, failure is enabledResponse modes.

13. Motorized surgical suture according to claim 12 and cutting device, wherein the failure response mode includes makingThe motor stops.

14. Motorized surgical suture according to claim 1 and cutting device, wherein second program instruction also makes instituteState secondary processor:

Output is generated compared with the predetermined threshold value based on second acceleration；And

So that the output is sent to the master controller.

15. a kind of Motorized surgical suture and cutting device, comprising:

Nail bin, the nail bin include:

Shell；

Multiple nail cavities；And

The multiple nails that can be disposed during firing schedule from the nail cavity；

The firing member followed closely and disposed from the nail cavity can be moved so that during the firing schedule；

It is operably linked to the motor of the firing member, wherein the motor is configured to generate at least one rotationMovement, to promote the firing member to dispose the nail from the nail cavity during the firing schedule；

Main circuit, the main circuit include primary processor, and the primary processor is configured to:

First operating parameter of the performance of the firing member during firing schedule described in assessment instruction；And

The first output is generated based on the assessment to first operating parameter；And

Second circuit, the second circuit include safe processor, and the safe processor is configured to:

Second operating parameter of the performance of the firing member during firing schedule described in assessment instruction, wherein described secondOperating parameter is different from first operating parameter；And

The second output is generated based on the assessment to second operating parameter, wherein second output is for verifying the percussionFirst output in the control loop of stroke.

16. Motorized surgical suture according to claim 15 and cutting device, wherein if it is determined that the first operation ginsengThe abnormal performance of the firing member during the number instruction firing schedule, while second operating parameter indicates the percussionThe performance of component is normal, then first output is substituted using second output.

17. Motorized surgical suture according to claim 15 and cutting device, wherein first output is configured toEnough operation modes for enabling the group constituted selected from normal mode, on-warning mode, limping mode and stop mode.

18. Motorized surgical suture according to claim 15 and cutting device, wherein second output is configured toEnough operation modes for enabling the group constituted selected from normal mode, on-warning mode, limping mode and stop mode.

19. Motorized surgical suture according to claim 15 and cutting device, wherein first output is including describedThe safe processor is sent in the message of first output and security code.

20. Motorized surgical suture according to claim 19 and cutting device, wherein the security code includes circulationRedundancy check (CRC).