CN105307578A - Modular motor driven surgical instruments with status indication arrangements - Google Patents

Abstract

A surgical end effector for use in connection with a surgical instrument. In one form the end effector includes an end effector housing that is configured for operable attachment to the surgical instrument. A first end effector drive system is configured to linearly move a first end effector actuator between a first linear position and a second linear position in response to first rotary motions applied thereto by the surgical instrument. A second end effector drive system is configured to linearly move a second end effector actuator between a beginning and ending position in response to second rotary motions applied thereto by the surgical instrument. The instrument further includes a status assembly arrangement for provide an indication on the end effector housing of a linear location of at least one of the first and second end effector actuators.

Description

The modular motor with state indication structure drives surgical instruments

The cross reference of related application

According to the regulation of 35U.S.C. § 119 (e), this non-provisional requires that the name being filed on April 16th, 2013 is called the copending United States temporary patent application serial number 61/812 of " SURGICALINSTRUMENTWITHMULTIPLEFUNCTIONSPERFORMEDBYASINGL EMOTOR ", the rights and interests of 365, the full text of this application is incorporated herein by reference.According to the regulation of 35U.S.C. § 119 (e), this non-provisional also requires that the name being filed on April 16th, 2013 is called the copending United States temporary patent application serial number 61/812 of " LINEARCUTTERWITHPOWER ", the rights and interests of 376, the full text of this application is incorporated herein by reference.According to the regulation of 35U.S.C. § 119 (e), this non-provisional also requires that the name being filed on April 16th, 2013 is called the copending United States temporary patent application serial number 61/812 of " LINEARCUTTERWITHMOTORANDPISTOLGRIP ", the rights and interests of 382, the full text of this application is incorporated herein by reference.According to the regulation of 35U.S.C. § 119 (e), this non-provisional also requires that the name being filed on April 16th, 2013 is called the copending United States temporary patent application serial number 61/812 of " SURGICALINSTRUMENTHANDLEWITHMULTIPLEACTUATIONMOTORSANDMO TORCONTROL ", the rights and interests of 385, the full text of this application is incorporated herein by reference.According to the regulation of 35U.S.C. § 119 (e), this non-provisional also requires that the name being filed on April 16th, 2013 is called the copending United States temporary patent application serial number 61/812 of " SURGICALINSTRUMENTWITHMULTIPLEFUNCTIONSPERFORMEDBYASINGL EMOTOR ", the rights and interests of 372, the full text of this application is incorporated herein by reference.

Background technology

Various forms of the present invention relates to surgical instruments, and in various embodiments, relates to the surgical cutting and suture instruments and nail bin thereof that are designed to cutting and suture tissue.

Accompanying drawing explanation

Carry out the following explanation with reference to the embodiment of the present invention in conjunction with the drawings, various feature and advantage of the present invention and acquisition methods thereof will become more obvious, and can understand invention itself better, wherein:

Fig. 1 comprises the perspective view that motor drives the modularity Surgery Systems of surgical instruments and three interchangeable end effectors;

Fig. 2 is the side perspective view that motor drives surgical instruments, wherein for the sake of clarity, removes a part for shank shell;

Fig. 3 is the exploded assembled view of the surgical instruments of Fig. 2;

Fig. 4 is another exploded assembled view of the surgical instruments of Fig. 2 and Fig. 3;

Fig. 5 is the side front view that motor drives surgical instruments, wherein removes a part for shank shell;

Fig. 6 is the perspective view of motor-driven system and transmission assembly, and wherein transmission assembly is in the first activation point, and wherein the actuating of motor will cause the actuating of the first drive system of the surgical instruments of Fig. 2-5.

Fig. 6 A is the perspective view of the alternative transmission balladeur train with locking device;

Fig. 6 B is the motor-driven system of transmission balladeur train and the perspective view of transmission assembly that comprise Fig. 6 A, and wherein transmission assembly is in the first activation point, wherein the actuating of motor will cause the actuating of the first drive system and the second drive system be locked device locking;

Fig. 6 C is the motor-driven system of Fig. 6 B and the perspective view of transmission assembly, and wherein transmission assembly is in the second activation point, wherein the actuating of motor will cause the actuating of the second drive system and the first drive system be locked device locking;

Fig. 7 is the motor-driven system of Fig. 6 and another perspective view of transmission assembly, and wherein transmission assembly is in the second activation point, and wherein the actuating of motor will cause the actuating of the second drive system;

Fig. 8 is the side front view that another motor drives surgical instruments, wherein for the sake of clarity, eliminates a part and other parts of shank shell;

Fig. 9 is the perspective view of the motor of the surgical instruments of Fig. 8, transmission assembly and the first and second drive system, and wherein its transmission assembly is in the first activation point;

Figure 10 is the cross-section front view of the motor of Fig. 9, transmission assembly and the first and second drive system, and wherein transmission assembly is in the first activation point;

Figure 11 is another perspective view of the motor of Fig. 9 and Figure 10, transmission assembly and the first and second drive system, and wherein transmission assembly is in the second activation point;

Figure 12 is another cross-section front view of the motor of Fig. 9-11, transmission assembly and the first and second drive system, and wherein transmission assembly is in the second activation point;

Figure 13 is the schematic partial front perspective view that another motor drives a part for surgical instruments;

Figure 14 is the side front view of the motor of the surgical instruments of Figure 13, transmission assembly and the first and second drive system;

Figure 15 is the sectional view of the transmission assembly of the surgical instruments of Figure 13 and Figure 14, and this transmission assembly is in the first activation point;

Figure 16 is another sectional view of the transmission assembly of the surgical instruments of Figure 13-15, and this transmission assembly is in the second activation point;

Figure 17 is the perspective view that another motor drives surgical instruments structure, wherein for the sake of clarity, removes a part for shell;

Figure 18 is the perspective view of the motor of the surgical instruments of Figure 17, transmission assembly and the first and second drive system;

Figure 19 is the decomposition assembled view of the motor of Figure 18, transmission assembly and the first and second drive system;

Figure 20 is the sectional view of some part of the motor of Figure 18 and Figure 19, transmission assembly and the first and second drive system, and wherein its transmission axle assembly is in the first activation point;

Figure 21 is another sectional view of some part of the motor of Figure 20, transmission assembly and the first and second drive system, and wherein its transmission axle assembly is in the second activation point;

Figure 22 is the perspective view of another motor of a kind of form surgical instruments of the present invention, transmission assembly and the first and second drive system;

Figure 23 is the decomposition assembled view of the motor of Figure 22, transmission assembly and the first and second drive system;

Figure 24 is the sectional view of the motor of Figure 22 and Figure 23, transmission assembly and the first and second drive system, and wherein transmission assembly is in the first activation point;

Figure 25 is another sectional view of the motor of Figure 22-24, transmission assembly and the first and second drive system, and wherein transmission assembly is in the second activation point;

Figure 26 is the motor of Figure 22-25 and another sectional view of transmission assembly, and wherein transmission assembly is in the first activation point;

Figure 27 is the motor of Figure 22-26 and another sectional view of transmission assembly, and wherein transmission assembly is in the second activation point;

Figure 28 is the side front view that another motor drives a part for surgical instruments, wherein for the sake of clarity, eliminates a part for shell;

Figure 29 is the perspective view that another motor drives a part for surgical instruments, wherein for the sake of clarity, eliminates a part for shell;

Figure 30 is the front perspective view of the motor drive unit with the first and second rotary drive systems;

Figure 31 is the bottom perspective view of the motor drive unit of Figure 30;

Figure 32 is the perspective view of the motor drive unit of Figure 31 and Figure 32, wherein removes shell from motor drive unit;

Figure 33 is the decomposition assembled view of the mechanical coupling system for being operationally linked together by four rotating driveshafts;

Figure 34 is the front perspective view of surgical end-effector, wherein for the sake of clarity, removes a part for this end effector shell;

Figure 35 is another front perspective view of the surgical end-effector of Figure 34, wherein for the sake of clarity, eliminates some part of closed-system and lower jaw;

Figure 36 is the exploded perspective assembled view of the surgical end-effector of Figure 34 and Figure 35;

Figure 37 is the side front view of the surgical end-effector of Figure 33-36, wherein for the sake of clarity, eliminates a part for shell;

Figure 38 is the left side perspective view of the other end executor structure, wherein for the sake of clarity, eliminates a part for this end effector shell;

Figure 39 is the decomposition assembled view of the end effector of Figure 38;

Figure 40 is the right side perspective view of the end effector configuration of Figure 37 and Figure 38, wherein for the sake of clarity, eliminates another part of this end effector shell;

Figure 41 is the sectional view of the surgical end-effector structure of Figure 38-40;

Figure 42 is the profile perspective of another surgical end-effector;

Figure 43 is the exploded assembled view of the surgical end-effector of Figure 42;

Figure 44 is another fragmentary, perspective view of a part for the surgical end-effector of Figure 42 and Figure 43;

Figure 45 is another sectional view of the surgical end-effector of Figure 42-44;

Figure 46 has the perspective view driving the end effector configuration departing from assembly;

Figure 47 is the fragmentary, perspective view of the surgical end-effector of Figure 46, wherein for the sake of clarity, eliminates a part for this end effector, and wherein the nearside drivetrain part of closed-system departs from the distally drivetrain part of closed-system;

Figure 48 is the fragmentary, perspective view of the surgical end-effector of Figure 46 and Figure 47, wherein for the sake of clarity, eliminate a part for this end effector, and drive coupling pin to remove from slit in wherein distal coupler component is placed in proximal coupler component slit;

Figure 49 is another fragmentary, perspective view of the surgical end-effector of Figure 48, and this illustrates some part of end effector trigger system;

Figure 50 is the perspective view of another surgical end-effector structure;

Figure 50 A is the enlarged drawing of a part for the surgical end-effector of Figure 50;

Figure 51 is the perspective view of a part for the end effector of Figure 50, wherein for the sake of clarity, eliminates a part for shell;

Figure 52 is another perspective view of the end effector of Figure 50 and Figure 51, wherein for the sake of clarity, eliminates some part of shell and closed-system;

Figure 53 is another perspective view of the end effector of Figure 50-52, wherein for the sake of clarity, eliminates some part of closed-system and a part for shell;

Figure 54 is equipped with the perspective view driving the other end executor departing from assembly;

Figure 55 is the side front view of the end effector of Figure 54;

Figure 56 is the perspective view of a part for the end effector of Figure 54 and Figure 55, wherein for the sake of clarity, eliminates a part for this end effector shell;

Figure 57 is another perspective view of the end effector of Figure 54-56, and wherein the tool head of this end effector is in the close position;

Figure 58 is another fragmentary, perspective view of the end effector of Figure 57, wherein for the sake of clarity, eliminates a part for this end effector;

Figure 59 is another perspective view of the end effector of Figure 58, has wherein removed and has driven coupling pin;

Figure 60 is another perspective view of the end effector of Figure 59, has wherein removed and has driven coupling pin, and the closed beam assembly that drives proximally moves to open tool head;

Figure 61 is the block diagram of the modular motor driving surgical instruments comprising handle portions and shaft portion;

Figure 62 is the table of the load current demand having described the total time of stroke and the various operations of various assembly axis;

Figure 63 is divided into Figure 63-A and Figure 63-B, and this figure is the detail view that modular motor drives the electrical system in the handle portions of surgical instruments;

Figure 64 is the block diagram that modular motor drives the handle portions of surgical instruments and the electrical system of shaft portion;

Figure 65 illustrates the mechanical switch kinetic control system in order to eliminate the Microprocessor S3C44B0X of motor function;

Figure 66 is according to various embodiment of the present disclosure, comprises coupling shell and is positioned at the perspective view of coupling configuration of a pair pod in connector shell;

Figure 67 is the profile perspective of the coupling configuration of Figure 66, this diagram depicts not to be attached to this to a pair drive member of pod and depict the coupling configuration being in unlocked configuration according to various embodiment of the present disclosure;

Figure 68 is the profile perspective of the coupling configuration of Figure 66, this diagram depicts to be attached to this to a pair drive member of pod and depict the coupling configuration being in locked configuration according to various embodiment of the present disclosure;

Figure 69 is the profile perspective of the coupling configuration of Figure 66, this diagram depicts to be attached to this to a pair drive member of pod and depict the coupling configuration being in unlocked configuration according to various embodiment of the present disclosure;

Figure 70 is the perspective view of the insert of the coupling configuration of Figure 66 according to various embodiment of the present disclosure;

Figure 71 is the perspective view of the pod of the coupling configuration of Figure 66 according to various embodiment of the present disclosure;

Figure 72 is the perspective view of the breech lock of the coupling configuration of Figure 66 according to various embodiment of the present disclosure;

Figure 73 is the profile perspective of the surgical end-effector attachment used together with surgical instruments shank according to various embodiment of the present disclosure;

Figure 74 is the decomposition diagram of the drive system of the surgical end-effector attachment of Figure 73 according to various embodiment of the present disclosure;

Figure 75 is the perspective view of the shank for surgical instruments according to various embodiment of the present disclosure, and wherein shank comprises the drive system with the first output driven unit and the second output driven unit;

Figure 76 is the perspective view of the drive system of Figure 75 according to the various embodiment of the disclosure;

Figure 77 is the cross-section front view of the shank of Figure 75 according to the various embodiment of the disclosure, this diagram depicts joint first and exports driven unit and the drive system departing from the second output driven unit;

Figure 78 is the cross-section front view of the drive system of Figure 75 according to the various embodiment of the disclosure, this diagram depicts joint second and exports driven unit and the drive system departing from the first output driven unit;

Figure 79 is the perspective cutaway view of the surgical instruments comprising rotatable drive shaft, closed driving device can be operated by described driving shaft, and pull the trigger driving device to be operated by described driving shaft, wherein closed driving device shows and shows and do not pull the trigger configuration for being in partially open configuration and pull the trigger driving device for being in;

Figure 80 is the perspective view of the rotatable drive shaft of Figure 79;

Figure 81 is the perspective cutaway view of the surgical instruments of Figure 79, is shown with the closed driving device that is in and opens configuration and is in the percussion driving device of not pulling the trigger configuration;

Figure 82 is the perspective cutaway view of the surgical instruments of Figure 79, is shown with the closed driving device that is in closed configuration and is in the percussion driving device of not pulling the trigger configuration;

Figure 83 is the perspective cutaway view of the surgical instruments of Figure 79, is shown with the closed driving device being in closed configuration and the percussion driving device being in percussion configuration;

Figure 84 is the perspective cutaway view of the surgical instruments of Figure 79, is shown with the percussion driving device being in its retracted configuration and the closed driving device be in the process of reopening;

Figure 85 is to close, not pull the trigger the end effector of the surgical instruments shown in configuration and the partial sectional view of axle;

Figure 86 is the perspective view of the transmitting device of surgical instruments for operating Figure 85, shows for being in the configuration corresponding with the configuration of Figure 85;

Figure 87 is the exploded view of the transmitting device of Figure 86;

Figure 88 is the end effector of Figure 85 and the partial sectional view of axle, shows the configuration opened for being in, not pulling the trigger;

Figure 89 is the perspective view of the transmitting device of Figure 86, shows for being in the configuration corresponding with the configuration shown in Figure 88;

Figure 90 is the end effector of Figure 85 and the partial sectional view of axle, shows for being in configuration that is closed, that do not pull the trigger;

Figure 91 is the perspective view of the transmitting device of Figure 86, shows for being in the configuration corresponding with the configuration shown in Figure 90;

Figure 92 is the end effector of Figure 85 and the partial sectional view of axle, shows for being in configuration that is closed, that pull the trigger;

Figure 93 is the perspective view of the transmitting device of Figure 86, shows for being in the configuration corresponding with the configuration shown in Figure 92;

Figure 94 is the perspective view of the surgery suturing appliance according at least one embodiment;

Figure 95 is the exploded view of the shank of the surgery suturing appliance of Figure 94;

Figure 96 is the exploded view of the end effector of the surgery suturing appliance of Figure 94;

Figure 97 is the motor of the surgery suturing appliance of Figure 94 and the fragmentary, perspective view of gear assembly;

Figure 98 is the cross-section front view of the surgery suturing appliance of Figure 94;

Figure 99 is the perspective view of the surgery suturing appliance according at least one embodiment, show to open for being in, the situation of non-breech lock;

Figure 100 is the perspective view of the surgery suturing appliance of Figure 99, shows the situation for being in closed, non-breech lock;

Figure 101 is the perspective view of the surgery suturing appliance of Figure 99, shows for being in situation that is closed, breech lock;

Figure 102 is the plane graph of the surgery suturing appliance of Figure 99;

Figure 103 is the sectional view of the surgery suturing appliance of Figure 99;

Figure 104 is the detailed section view of the surgery suturing appliance of Figure 99;

Figure 105 is the exploded view of the percussion driving device of the surgery suturing appliance of Figure 99;

Figure 106 is the exploded view of the closed driving device of the surgery suturing appliance of Figure 99;

Figure 107 is the sectional view of the surgery suturing appliance according at least one embodiment, and it comprises shank, axle and end effector;

Figure 108 is the sectional view of the shank of the surgery suturing appliance of Figure 107, shows to open configuration for being in;

Figure 109 is the sectional view of the shank of the surgery suturing appliance of Figure 107, shows for being in closed configuration;

Figure 110 is the perspective view of the shank of the surgery suturing appliance of Figure 107, shows for removing some parts;

Figure 111 is the perspective view of the surgery suturing appliance according at least one embodiment, and it comprises shank and axle;

Figure 112 is the perspective view of the surgery suturing appliance of Figure 111, shows for shank and axle depart from;

Figure 113 is the exploded view of the surgery suturing appliance of Figure 111;

Figure 114 is the partial sectional view of the shank of Figure 111, illustrates that transmitting device operationally engages the closed-system of the surgery suturing appliance of Figure 111;

Figure 115 is the partial sectional view of the shank of Figure 111, and the transmitting device showing Figure 114 operationally engages the trigger system of the surgery suturing appliance of Figure 111;

Figure 116 is the exploded view of the transmitting device of Figure 114;

Figure 117 is the perspective view of the surgery suturing appliance according at least one embodiment, and this surgery suturing appliance shows opens configuration for removing some parts and showing for being in;

Figure 118 is the perspective view of the surgery suturing appliance of Figure 117, and this surgery suturing appliance shows for removing some parts and showing for being in closed configuration;

Figure 119 is at perspective view nail bag being installed to the structure of the other end executor before in end effector and nail bag embodiment thereof;

Figure 120 is the end effector of Figure 119 and another perspective view of nail bag, and wherein nail bag has been installed in end effector; And

Figure 121 is the end effector of Figure 120 and another perspective view of nail bag, and wherein the align member of this nail bag therefrom removes.

Run through multiple view, the parts that corresponding reference marks instruction is corresponding.The example illustrated herein illustrates the preferred embodiments of the present invention in one form, and this example should be interpreted as it is limit the scope of the invention by any way.

Detailed description of the invention

The applicant of the application has the following patent application being filed on March 1st, 2013, and wherein each is incorporated herein by reference separately in full:

The U.S. Patent Application Serial Number 13/782,295 that-name is called " ARTICULATABLESURGICALINSTRUMENTSWITHCONDUCTIVEPATHWAYSFO RSIGNALCOMMUNICATION ";

The U.S. Patent Application Serial Number 13/782,323 that-name is called " ROTARYPOWEREDARTICULATIONJOINTSFORSURGICALINSTRUMENTS ";

The U.S. Patent Application Serial Number 13/782,338 that-name is called " THUMBWHEELSWITCHARRANGEMENTSFORSURGICALINSTRUMENTS ";

The U.S. Patent Application Serial Number 13/782,499 that-name is called " ELECTROMECHANICALSURGICALDEVICEWITHSIGNALRELAYARRANGEMEN T ";

The U.S. Patent Application Serial Number 13/782,460 that-name is called " MULTIPLEPROCESSORMOTORCONTROLFORMODULARSURGICALINSTRUMEN TS ";

The U.S. Patent Application Serial Number 13/782,358 that-name is called " JOYSTICKSWITCHASSEMBLIESFORSURGICALINSTRUMENTS ";

The U.S. Patent Application Serial Number 13/782,481 that-name is called " SENSORSTRAIGHTENEDENDEFFECTORDURINGREMOVALTHROUGHTROCAR ";

The U.S. Patent Application Serial Number 13/782,518 that-name is called " CONTROLMETHODSFORSURGICALINSTRUMENTSWITHREMOVABLEIMPLEME NTPORTIONS ";

The U.S. Patent Application Serial Number 13/782,375 that-name is called " ROTARYPOWEREDSURGICALINSTRUMENTSWITHMULTIPLEDEGREESOFFRE EDOM "; And

The U.S. Patent Application Serial Number 13/782,536 that-name is called " SURGICALINSTRUMENTSOFTSTOP ", these applications are incorporated to way of reference all accordingly in full.

The applicant of the application also has the following patent application being filed on March 14th, 2013, and wherein each is incorporated herein by reference separately in full:

The U.S. Patent Application Serial Number 13/803,097 that-name is called " ARTICULATABLESURGICALINSTRUMENTCOMPRISINGAFIRINGDRIVE ";

The U.S. Patent Application Serial Number 13/803,193 that-name is called " CONTROLARRANGEMENTSFORADRIVEMEMBEROFASURGICALINSTRUMENT ";

The U.S. Patent Application Serial Number 13/803,053 that-name is called " INTERCHANGEABLESHAFTASSEMBLIESFORUSEWITHASURGICALINSTRUM ENT ";

The U.S. Patent Application Serial Number 13/803,086 that-name is called " ARTICULATABLESURGICALINSTRUMENTCOMPRISINGANARTICULATIONL OCK ";

The U.S. Patent Application Serial Number 13/803,210 that-name is called " SENSORARRANGEMENTSFORABSOLUTEPOSITIONINGSYSTEMFORSURGICA LINSTRUMENTS ";

The U.S. Patent Application Serial Number 13/803,148 that-name is called " MULTI-FUNCTIONMOTORFORASURGICALINSTRUMENT ";

The U.S. Patent Application Serial Number 13/803,066 that-name is called " DRIVESYSTEMLOCKOUTARRANGEMENTSFORMODULARSURGICALINSTRUME NTS ";

The U.S. Patent Application Serial Number 13/803,117 that-name is called " ARTICULATIONCONTROLSYSTEMFORARTICULATABLESURGICALINSTRUM ENTS ";

The U.S. Patent Application Serial Number 13/803,130 that-name is called " DRIVETRAINCONTROLARRANGEMENTSFORMODULARSURGICALINSTRUMEN TS "; And

The U.S. Patent Application Serial Number 13/803,159 that-name is called " METHODANDSYSTEMFOROPERATINGASURGICALINSTRUMENT ".

The applicant of the application also has the following patent application being filed on March 25th, 2014, and wherein each is incorporated herein by reference separately in full:

Name is called the U.S. Patent Application Serial Number 14/226,106 of " POWERMANAGEMENTCONTROLSYSTEMSFORSURGICALINSTRUMENTS ";

Name is called the U.S. Patent Application Serial Number 14/226,099 of " STERILIZATIONVERIFICATIONCIRCUIT ";

Name is called the U.S. Patent Application Serial Number 14/226,094 of " VERIFICATIONOFNUMBEROFBATTERYEXCHANGES/PROCEDURECOUNT ";

Name is called the U.S. Patent Application Serial Number 14/226,117 of " POWERMANAGEMENTTHROUGHSLEEPOPTIONSOFSEGMENTEDCIRCUITANDW AKEUPCONTROL ";

Name is called the U.S. Patent Application Serial Number 14/226,075 of " MODULARPOWEREDSURGICALINSTRUMENTWITHDETACHABLESHAFTASSEM BLIES ";

Name is called the U.S. Patent Application Serial Number 14/226,093 of " FEEDBACKALGORITHMSFORMANUALBAILOUTSYSTEMSFORSURGICALINST RUMENTS ";

Name is called the U.S. Patent Application Serial Number 14/226,116 of " SURGICALINSTRUMENTUTILIZINGSENSORADAPTATION ";

Name is called the U.S. Patent Application Serial Number 14/226,071 of " SURGICALINSTRUMENTCONTROLCIRCUITHAVINGASAFETYPROCESSOR ";

Name is called the U.S. Patent Application Serial Number 14/226,097 of " SURGICALINSTRUMENTCOMPRISINGINTERACTIVESYSTEMS ";

Name is called the U.S. Patent Application Serial Number 14/226,126 of " INTERFACESYSTEMSFORUSEWITHSURGICALINSTRUMENTS ";

Name is called the U.S. Patent Application Serial Number 14/226,133 of " MODULARSURGICALINSTRUMENTSYSTEM ";

Name is called the U.S. Patent Application Serial Number 14/226,081 of " SYSTEMSANDMETHODSFORCONTROLLINGASEGMENTEDCIRCUIT ";

Name is called the U.S. Patent Application Serial Number 14/226,076 of " POWERMANAGEMENTTHROUGHSEGMENTEDCIRCUITANDVARIABLEVOLTAGE PROTECTION ";

Name is called the U.S. Patent Application Serial Number 14/226,111 of " SURGICALSTAPLINGINSTRUMENTSYSTEM "; And

Name is called the U.S. Patent Application Serial Number 14/226,125 of " SURGICALINSTRUMENTCOMPRISINGAROTATABLESHAFT ";

The applicant of the application also has following patent application, and described patent application and the application submit on the same day and be incorporated herein by reference separately in full:

-U.S. Patent Application Serial Number that name is called " MOTORDRIVENSURGICALINSTRUMENTSWITHLOCKABLEDUALDRIVESHAFT S " _ _ _ _ _ _ _ _ _ _ _ (attorney END7406USNP/140054);

-U.S. Patent Application Serial Number that name is called " SURGICALINSTRUMENTCOMPRISINGACLOSINGDRIVEANDAFIRINGDRIVE OPERATEDFROMTHESAMEROTATABLEOUTPUT " _ _ _ _ _ _ _ _ _ _ _ (attorney END7407USNP/140055);

-U.S. Patent Application Serial Number that name is called " SURGICALINSTRUMENTSHAFTINCLUDINGSWITCHESFORCONTROLLINGTH EOPERATIONOFTHESURGICALINSTRUMENT " _ _ _ _ _ _ _ _ _ _ _ (attorney END7408USNP/140056);

-U.S. Patent Application Serial Number that name is called " POWEREDLINEARSURGICALSTAPLER " _ _ _ _ _ _ _ _ _ _ _ (attorney END7409USNP/140057);

-U.S. Patent Application Serial Number that name is called " TRANSMISSIONARRANGEMENTFORASURGICALINSTRUMENT " _ _ _ _ _ _ _ _ _ _ _ (attorney END7410USNP/140058);

-U.S. Patent Application Serial Number that name is called " MODULARMOTORDRIVENSURGICALINSTRUMENTSWITHALIGNMENTFEATUR ESFORALIGNINGROTARYDRIVESHAFTSWITHSURGICALENDEFFECTORSHA FTS " _ _ _ _ _ _ _ _ _ _ _ (attorney END7411USNP/140059);

-U.S. Patent Application Serial Number that name is called " POWEREDSURGICALSTAPLER " _ _ _ _ _ _ _ _ _ _ _ (attorney END7412USNP/140060); And

-U.S. Patent Application Serial Number that name is called " DRIVESYSTEMDECOUPLINGARRANGEMENTFORASURGICALINSTRUMENT " _ _ _ _ _ _ _ _ _ _ _ (attorney END7413USNP/140061).

Now some exemplary embodiment will be described, to understand the structure of apparatus and method disclosed herein, function, manufacture and purposes principle on the whole.One or more examples of these embodiments are shown in the drawings.Those of ordinary skill in the art will be understood that, specifically describes in this article and the apparatus and method be illustrated in accompanying drawing are nonrestrictive exemplary embodiment, and the scope of multiple embodiment of the present invention is only defined by the claims.The feature of carrying out graphic extension or description in conjunction with an exemplary embodiment can combine with the feature of other embodiments.These amendments and modification are intended to comprise within the scope of the present invention.

" various embodiment ", " some embodiments ", " embodiment " or " embodiment " that this description is mentioned in the whole text etc., mean that specific features, structure or the characteristic described in conjunction with described embodiment comprises at least one embodiment.Therefore, this description occurs in the whole text phrase " in various embodiments ", " in certain embodiments ", " in one embodiment " or " in an embodiment " etc. might not all refer to identical embodiment.In addition, in one or more embodiments, specific features, structure or characteristic can combine in any suitable manner.Therefore, under unconfined situation, the specific features, structure or the characteristic that illustrate or describe in conjunction with an embodiment can be combined with the feature structure of other embodiments one or more or characteristic whole or in part.This type of amendment and modification are intended to comprise within the scope of the present invention.

Term " nearside " and " distally " are use relative to the clinician of the handle portions of manipulation of surgical apparatus in this article.Term " nearside " refers to the part near clinician, and term " distally " refers to the part away from clinician.It is also understood that for succinct and clear for the purpose of, the spatial terminology of " vertically ", " level ", "up" and "down" and so on can be used such as herein by reference to the accompanying drawings.But surgical operating instrument uses in many directions and position, and these terms nonrestrictive and/or absolute.

There is provided various exemplary means and method to perform abdominal cavity mirror and micro-wound surgical operation.But those of ordinary skill in the art will readily appreciate that, various method and apparatus disclosed herein can be used for, in many surgical operations and application, comprising and such as combining with open surgery.Continue see this detailed description of the invention, those of ordinary skill in the art will be further understood that, various apparatus disclosed herein can by any way in insertosome, such as by nature tract, by being formed at otch in tissue or puncturing hole etc.The access to plant that the working portion of apparatus or end effector part can be plugged directly in patient body or by having service aisle inserts, and end effector and the slender axles of surgical instruments advance by service aisle.

Forward accompanying drawing to, wherein in multiple view, the assembly that similar numeral is similar, Fig. 1 depicts the modularity surgical instrument system being typically expressed as 2, it comprises motor in one form and drives surgical instruments 10, this motor drives surgical instruments can use in conjunction with multiple surgical end-effector such as end effector 1000,2000 and 3000.In illustrative embodiment, motor drives surgical instruments 10 to comprise shell 12, and this shell is made up of the shank 14 being configured to be grasped by clinician, handle and activate.Continue see this detailed description of the invention, but, should be appreciated that the various uniqueness described in conjunction with shank 14 and various end effector configuration disclosed herein and novel drive system structure also can use effectively together with the Surgery Systems of robot controlling.Therefore, term " shell " also can be contained can holding of robot system or otherwise operationally support shell or the similar portions of the various forms of drive system described herein, and this shell or similar portions can be configured to generate the controlled motion that can be used for activating end effector configuration as herein described and corresponding equivalent structure thereof.Term " framework " can refer to a part for hand-held surgical instruments.Term " framework " also can represent a part for the surgical instruments of motor-driven system or robot controlling and/or can be used for a part for the robot system operationally controlling surgical instruments.Such as, drive system structure disclosed herein and end effector configuration can with the U.S. Patent Application Serial Number 13/118 being called " SURGICALSTAPLINGINSTRUMENTSWITHROTATABLESTAPLEDEPLOYMENT ARRANGEMENTS " in name, disclosed in 241 (being now U.S. Patent Application Publication 2012/0298719), various robot system, apparatus, parts and method use together, and this patent is incorporated herein by reference accordingly in full.

Refer now to Fig. 2-5, shank 14 can comprise a pair shank shell segments 16 and 18, this to shank shell segments by interconnection such as screw rod, snap in features, binding agents.In shown structure, shank shell segments 16,18 coordinates to form the pistol grip portion 19 that can be grasped by clinician and handle.As will be hereafter discussed in detail further, shank 14 operationally supports two rotary drive systems 20 wherein, 40, described rotary drive system is configured to generate various controlled motion and these controlled motions is applied to the respective drive part of the specific end effector being attached to it.First rotary drive system 20 such as can be used to close driving shaft structure to the correspondence be operationally supported in end effector and applies " close " motion, and the second rotary drive system 40 can be used to apply " percussion " to the correspondence percussion driving shaft structure be attached in its end effector moves.

Unique and novel " displaceable " transmission assembly 60 that first rotary drive system 20 and the second rotary drive system 40 are shifted by the chien shih power substantially two drivetrains/motion by motor 80 is powered.First rotary drive system 20 comprises the first rotating driveshaft 22, and this first rotating driveshaft to be rotatably supported in the shell 12 of shank 14 and to limit the first drive axis " FDA-FDA ".First driven wheel 24 key is locked into or is otherwise non-rotatably attached to the first rotating driveshaft 22, thus therewith rotates around the first drive axis FDA-FDA.Similarly, the second rotary drive system 40 comprises the second rotating driveshaft 42, and this second rotating driveshaft to be rotatably supported in the shell 12 of shank 14 and to limit the second drive axis " SDA-SDA ".In at least one structure, the second drive axis SDA-SDA offsets with the first drive axis FDA-FDA and parallel or be arranged essentially parallel to the first drive axis FDA-FDA.As in this context use, term " skew " represent such as the first drive axis and the second drive axis disalignment.Second rotating driveshaft 42 has the second driven wheel 44, and this second driven wheel key is locked into or is otherwise non-rotatably attached to the second driving shaft 42, thus therewith rotates around the second drive axis SDA-SDA.In addition, the second driving shaft 42 has rotatably axle journal and connects idler drive gear 46 thereon, and idler drive gear 46 can be rotated freely around the second drive axis SDA-SDA on the second rotating driveshaft 42.

See Fig. 2-5, in one form, motor 80 comprises motor output shaft 81, and this motor output shaft has the motor driven gear wheel 82 be non-rotatably attached on it.Motor driven gear wheel 82 is configured to for engaging, as hereafter discussed in more detail to engage each other mode " operationally " with transmission assembly 60.In at least one form, transmission assembly 60 comprises transmission balladeur train 62, and this transmission balladeur train is supported between the gear 44 and 46 on driven wheel 82 and the second rotating driveshaft 42 and axially advances.Such as, transmission balladeur train 62 slidably axle journal is connected on back shaft 63, and this back shaft is arranged in the shell 12 on axle mount pad 61, makes the gear train of position perpendicular to rotary drive system of transmission balladeur train.Axle mount pad 61 is configured to be supported on rigidly in slit in shell 10 or other features.Transmission balladeur train 62 comprises balladeur train gear 64, and this balladeur train gear to be rotatably supported on back shaft 63 and to be configured to for optionally engaging joint when driving engage with driven wheel 82 with gear 44 and 46.In the structure that Fig. 2-5 describes, transmission balladeur train 62 is operationally attached to shift unit or " device for shifting " 70, and this shift unit is configured to make transmission balladeur train 62 axially displaced between " the first activation point " and " the second activation point ".Such as, device 70 in one form, for being shifted comprises the shift unit solenoid 71 be supported in the shell 12 of shank 14.Shift unit solenoid 71 can comprise bistable solenoid, or such as can comprise " two-position, spring-loaded " solenoid.Illustrate that structure such as comprises spring 72, this spring will transmit balladeur train 62 distally direction " DD " be biased in the first activation point, at this first activation point, balladeur train gear 64 engages with idler drive gear 46 and engages, and also engages with driven wheel 82 simultaneously and engages.When being in this first activation point, the startup of motor 80 will cause the rotation of gear 82,46 and 24, and this rotates finally causing the first driving shaft 22.As discussed further herein, shift unit solenoid 71 can be activated by the percussion trigger 90 be pivotally supported on the shell 12 of shank 14, as shown in Figure 2 and Figure 5.In illustrative embodiment, percussion trigger 90 is pivotally supported and is being arranged on the percussion trigger axle 92 in shank 14.Percussion trigger 90 is by pulling the trigger trigger spring 94 vertical bias to unactuated position.See Fig. 3.Percussion trigger 90 is installed the percussion switch 96 be used for being operationally supported on control circuit board component 100 and carries out exercisable actuating.In the structure illustrated, the actuating of percussion trigger 90 causes the actuating of shift unit solenoid 71.As hereafter described in more detail in conjunction with Figure 61, Figure 63, Figure 64, shank processor 7024 is providing drive singal to shift unit solenoid 7032 (71).Return now see Fig. 2-5, therefore, the actuating of percussion trigger 90 will cause shift unit solenoid 71 will transmit balladeur train 62 proximally direction " PD " tractive, makes balladeur train gear 64 move into thus to engage with the second driven wheel 44 to engage.See Fig. 7.When balladeur train gear 64 to engage with driven wheel 82 and the second driven wheel 44 engage time, the actuating of motor 80 will cause the second driving shaft 42 to rotate around the second drive axis " SDA ".As also found out from Fig. 2-5, displaceable transmission assembly 60 also can comprise indication mechanism 74, and this indication mechanism comprises the pair of switches 75 and 76 being operationally attached to panel 100 and transmission display lamp 77.Switch 75,76 for detecting the position of transmission balladeur train 62, and this causes control system to activate display lamp 77 according to the position of transmission balladeur train 62.Such as, display lamp 77 can be energized when transmitting balladeur train 62 and being in the first activation point.This provides following instruction to clinician: the actuating of motor 80 will cause the actuating of the first drive system 20.

Various surgical instruments disclosed herein also can comprise transmission assembly 60 ', this transmission assembly is substantially identical with transmission assembly 60, but also comprises the locked component or device (being typically expressed as 65) that activate to prevent them from meeting accident when being not intended to activated for locking the first drive system 20 and the second drive system 40.Such as, Fig. 6 A illustrates that comprising the first driving locking piece 66 and second drives the alternative of locking piece 68 to transmit balladeur train 62 '.First drive locking piece 66 comprise be positioned at transmission balladeur train 62 ' on the first gear engaging structures or tooth, when balladeur train gear 64 and idler gear 46 drive engage time (, when transmission assembly 60 ' is in the first activation point), the first gear engaging structures or tooth are positioned to engage each other joint with the second driven wheel 44.See Fig. 6 B.Therefore, when transmission assembly 60 ' is in the first activation point, first drives locking piece 66 and the second driven wheel 44 joggle(d) joint to merge prevents it from relatively when the first driving shaft 22 rotates in the above described manner to rotate.Equally, when transmission assembly 60 ' is in the second activation point (i.e. balladeur train gear 64 engage engage) with the second driven wheel 44, second drives locking piece 68 just to engage with idler drive gear 46 engages.See Fig. 6 C.Therefore, when transmission assembly 60 ' is in the second activation point, second drives locking piece 68 to prevent idler gear 46 from rotating, and this also prevents the first driven wheel 24 from rotating.Thus, when clinician operates motor 80 to activate the first drive system 20, the second drive system 40 is locked in appropriate location.Equally, when clinician activates the second drive system 40, the first drive system 20 is locked in appropriate location.

As hereafter described in conjunction with Figure 61, Figure 63, Figure 64, control system for motor 80 can be programmed as follows: when gear 42, when in 44, a tooth root remains on vertical or other restriction positions according to the orientation of other coupling gears, control system is parked in certain orientation all the time.This feature avoids any interference when being shifted between gear teeth by being used for.When being shifted, locking component is also shifted and locks non-rotating gears system position.When combining the end effector comprising storehouse/anvil block structure or other clamping configuration and using, another advantage obtained by locking non-rotating (that is, not being energized) gear train is, when pulling the trigger, fixture and/anvil block are remained on settling position.

Such as, motor 80 can be maximum (top) speed be about 25,000RPM DC have brush CD-ROM drive motor.In other structures, motor can comprise brushless motor, wireless motor, syncmotor, stepper motor or any other suitable electro-motor, comprises the motor of hot pressing.Motor 80 can be powered by power supply 84, and in a form, this power supply can comprise power pack 86, and this power pack is stored in shank 14 removedly.As from Fig. 2-5, such as, power pack 86 can be contained in the pistol grip portion 19 of shank 14 removedly.In order to enter power pack 86, clinician removes the removable cap 17 being attached to pistol grip portion 19, as shown in the figure.Power pack 86 can operationally support multiple battery (not shown) wherein.Battery can comprise such as lithium ion (" LI ") or other suitable batteries separately.Power pack 86 is configured to equally operationally be attached to motor 80 and the control circuit board component 100 be arranged in shank 14 for being operationally attached in removable mode.Multiple batteries that can be connected in series can be used as the power supply of surgical instruments.In addition, such as, power supply 84 can be interchangeable and/or chargeable, and at least one situation, can comprise CR123 battery.Motor 80 can be activated by " rocking arm-trigger " 110 in the pistol grip portion 19 being pivotally mounted to shank 14.Rocking arm trigger 110 is configured to activate the first motor switch 112 being operationally attached to panel 100.First motor switch 112 can comprise pressure switch, and this pressure switch activates by being pivoted into be in contact with it by rocking arm trigger 110.The actuating of the first motor switch 112 will cause the actuating of motor 80, and driven wheel 82 is rotated in a first rotational direction.Second motor switch 114 is also attached to circuit board 100 and is mounted to optionally to be contacted by rocking arm trigger 110.The actuating of the second motor switch 114 will cause the actuating of motor 80, and driven wheel 82 is rotated in a second direction.Such as, in use, the polarity of voltage that power supply 84 provides can operate electro-motor 80 in the clockwise direction, and the polarity of voltage be wherein applied on electro-motor by battery can be contrary, to operate electro-motor 80 in the counterclockwise direction.The same with other forms described herein, shank 14 also can comprise the sensor being configured to the direction detecting drive system motion.A particular implementation of motor 80 combines Figure 61, Figure 63, Figure 64 of describing brushless DC motor 7038 hereinafter and is described.DC motor 7038 can be hot pressing.

Fig. 8-12 illustrates another form of surgical instruments 10 ', and except the difference of the following stated, surgical instruments 10 ' can be identical with surgical instruments 10.Those parts that surgical instruments 10 ' is identical with the parts in above-mentioned surgical instruments 10 will be numbered with similar elements and be represented.Surgical instruments 10 ' can operate similarly but be different from the corresponding component in surgical instruments 10 those parts will with same parts numbering add " ' " or certain situation under add " " " represent.As seen from Figure 8, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".Main see Fig. 9, such as, transmission assembly 60 and more specifically transmission balladeur train 62 " can by being operationally attached to link assembly 120 manual transfer of percussion trigger 90 '.As seen from Figure, such as, link assembly 120 comprises the first transmission connecting rod 122, and this first transmission connecting rod is attached to percussion trigger 90 ' pivotally and axially extends to be attached to transmission yoke 124 pivotally.Transmission yoke 124 is pin joint extremely transmission balladeur train 62 movably ".Therefore, pull the trigger the actuating of trigger 90 ' to cause transmitting balladeur train 62 " axially-movable.Therefore, should be appreciated that link assembly 120 performs and those the similar actuating movements performed by above-mentioned shift unit solenoid 71 substantially.As in the context of this embodiment relative to transmission balladeur train 62 " motion use; when term " can manual transfer " refers to and not use electric power or other power devices except the pressing percussion trigger 90 ', transmission balladeur train moved between the first activation point and the second activation point.

As spaced apart by distance piece 45 and idler gear 46 ' on the second driving shaft 42 ' from Fig. 8-12, the second driven wheel 44 ' equally.Second driven wheel 44 ' key is locked into or is otherwise non-rotatably attached to the second driving shaft 42 ', simultaneously idler drive gear 46 ' rotatably axle journal be connected on the second driving shaft 42 ', to rotate freely relative to this second driving shaft.In a form, such as, distally driven wheel 130 supports to engage with idler drive gear 46 ' mode engaged.Similarly, distally driven wheel 136 supports to engage with the second driven wheel 44 ' mode engaged.But, in this structure, transmission balladeur train 62 " also comprise the transmission gear assembly 140 arranged placed in the middle, this transmission gear assembly is operationally attached to transmission balladeur train 62 ' therewith axially to advance.Still see Fig. 8-12, transmission gear assembly 140 comprises the placed in the middle shift unit driven wheel 142 arranged, and this shift unit driven wheel slidably mates engaging motor driven wheel 82.Therefore, the rotation of motor driven gear wheel 82 causes the rotation of shift unit driven wheel 142.In addition, the taper driven wheel 144 proximally extended is attached to shift unit driven wheel 142 and is configured to for optionally engaging joint with the nearside gear pod 146 being attached to nearside driven wheel 136.Equally, the taper driven wheel 148 distally extended is configured to for optionally engaging joint with the distally gear pod 150 being attached to distally driven wheel 130.

When clinician expects actuating the first drive system 20, clinician makes percussion trigger 90 ' move, and the taper driven wheel 148 making distally to extend to make transmission gear assembly 140 axially-movable is settled to engage with the distally gear pod 150 being attached to distally driven wheel 130 and engaged.See Fig. 8-10.When at that position, the rotation of motor driven gear wheel 82, shift unit driven wheel 142, distally driven wheel 130, idler drive gear 46 ', the first driven wheel 24 and the first driving shaft 22 will be caused to the operation of motor 80.When clinician expects actuating the second drive system 40, clinician will pull the trigger trigger 90 ' and move to position shown in Figure 11 and Figure 12, thus make the taper driven wheel 144 proximally extended settle to engage with the nearside gear pod 146 being attached to nearside driven wheel 136 and engage.When at that position, the rotation of driven wheel 82, shift unit driven wheel 142, nearside driven wheel 136, second driven wheel 44 ' and the second driving shaft 42 ' will be caused to the operation of motor 80.As same from Fig. 8-12, sensor 152 and 154 can be used to detect and transmits balladeur train 62 " position, will discuss in more detail as following.Such as, sensor 152 and 154 can be used in and hereafter implement in conjunction with the hall effect sensor 7028 of Figure 61, Figure 63, Figure 64 description.

Figure 13-16 illustrates that motor drives another form of surgical instruments 310, and except the difference of the following stated, surgical instruments 310 can be identical with surgical instruments 10.Those parts that surgical instruments 310 ' is identical with the parts in above-mentioned surgical instruments 10 will be numbered with similar elements and be represented.In this structure, the first drive system 20 and the second drive system 40 are powered by unique and novel " displaceable " transmission assembly 360 by motor 80.First drive system 20 comprises the first driving shaft 22 having key and be locked on it or be otherwise non-rotatably attached to the first drive pulley 324 on it.Similarly, the second drive system 40 comprises the second driving shaft 42 having key and be locked on it or be otherwise non-rotatably attached to the second drive pulley 344 on it.As from Figure 14, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".

Still see Figure 13-16, in one form, motor 80 comprises the first motor pulley 382, and this first motor pulley is non-rotatably attached to the axle of motor 80.First motor pulley 382 drives the first driving-belt 385 be received in the first drive pulley 324.In addition, the second motor pulley 384 is non-rotatably mounted to this motor drive shaft, and operationally supports the second driving-belt 387 thereon.Second driving-belt 387 is also received in the second drive pulley 344 on the second driving shaft 42.Such as, the first driving-belt 385 and the second driving-belt 387 can comprise V-belt.

Apparatus 310 also comprises transmission assembly 360, and this transmission assembly comprises the transmission balladeur train 362 being supported for and axially advancing in apparatus housings.When transmitting balladeur train 362 by 71 axially-movable of shift unit solenoid, transmission balladeur train 362 operationally be supported in response to contacting with transmission balladeur train 362 that the idle pulley balladeur train 374 of lateral movement interacts.Idle pulley balladeur train 374 comprises the first idle pulley 375 and the second idle pulley 376 mounted thereto.In the structure illustrated, spring 72 above will transmit balladeur train 362 towards the first activation point bias voltage in distal direction " DD ", at this first activation point, transmission balladeur train 362 causes idle pulley balladeur train 374 in the upper motion of the first lateral " FLD ", and this causes the first idle pulley 375 to strain the first driving-belt 385.When the second idle pulley 376 is in this position, the second idle pulley 376 is oriented to be disengaged with the second driving-belt 387.Therefore, the operation of motor 80 will cause the rotation of the first driving shaft 22.Although the second motor pulley 384 also will rotate when motor 80 starts, the lax of the second driving-belt 387 will prevent rotary motion to be passed to the second drive pulley 344.Therefore, motion is passed to the second drive system 40 without spin.As above discuss, shift unit solenoid 71 can be activated by percussion trigger 90.But in alternative configuration, shift unit solenoid 71 also can be replaced by the link assembly of the manually actuable of such as the above-mentioned type.In the structure illustrated, the actuating of percussion trigger 90 will cause shift unit solenoid 71 along proximal direction " PD " tractive transmission balladeur train 362, thus make idle pulley balladeur train 374 along the second lateral " SLD " lateral displacement, to contact with the second driving-belt 387 to make the second idle pulley 376 and strain this driving-belt.This type of lateral movement of idle pulley balladeur train 374 also makes the first idle pulley 375 be disengaged with the first driving-belt 385, thus allows the first driving-belt 385 to relax.Therefore, when motor 80 is in this type of second activation point, the actuating of motor 80 causes the actuating of the second drive system 40.The lax of first driving-belt 385 prevents rotary motion to be passed to the first drive system 20.

Transmission assembly 360 can provide some different advantages.Such as, make will one or more gear and clutch meshed alignment in V-strapped use.In addition, this type of transmission structure can start under a load or stop using.In addition, transmission assembly 360 almost can depart from and engage without the need to displacement.

Figure 17-21 illustrates that motor drives another form of surgical instruments 410, and except the difference of the following stated, surgical instruments 410 can be identical with surgical instruments 10.Those parts that surgical instruments 410 ' is identical with the parts in above-mentioned surgical instruments 10 will be numbered with similar elements and be represented.In this structure, the first drive system 20 and the second drive system 40 are powered by unique and novel " displaceable " transmission assembly 460 by motor 480.First drive system 20 comprises the first driving shaft 22 having key and be locked on it or be otherwise non-rotatably attached to the first drive pulley 424 on it.Similarly, the second drive system 40 comprises the second driving shaft 42 having key and be locked on it or be otherwise non-rotatably fixed to the second drive pulley 444 on it.As from Figure 18, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".

Referring now to Figure 19, in one form, motor 480 comprises splined actuating shaft 481, this driving shaft is suitable for engaging transmission axle assembly 490 slidably, this transmission axle assembly is configured to and transmits balladeur train 462 and interact, and makes the axially-movable transmitting balladeur train 462 cause transmission axle assembly 490 axially-movable on splined actuating shaft 481.As from Figure 19, transmission axle assembly 490 has spline bore hole 491 wherein, for wherein slidably and operationally receive splined actuating shaft 481.In addition, joint lining ring 492 in distally is formed in the distal end of transmission axle assembly 490.Distally engages lining ring 492 and is configured to have ring-shaped groove 493, and this ring-shaped groove is configured to receive two relative yoke bars 465 of the yoke part 464 being attached to transmission balladeur train 462 wherein.This type of is configured to transmission balladeur train 462 to be attached to transmission axle assembly 490, allows transmission axle assembly 490 to rotate relative to transmission balladeur train 462 simultaneously.

Still see Figure 19, the first motor pulley 482 is configured to engage transmission axle assembly 490 for optionally driving.As from Figure 19, such as, transmission axle assembly 490 has the bearing lining ring 494 be formed in its proximal end, and the size of this bearing lining ring is set to slidably and is rotatably received in the bore hole 483 in the first motor pulley 482.In addition, the first motor pulley 482 also comprises star nearside actuator chamber 488, and this star nearside actuator chamber is suitable for engaging the drive part 495 engaging the complementary shape be formed on transmission axle assembly 490.First motor pulley 482 drives the first driving-belt 485 be also received in the first drive pulley 424.Surgical instruments 410 also comprises second motor pulley 484 with star bore hole 489, and this star bore hole is configured to engage the drive part 495 engaging transmission axle assembly 490 wherein.Second motor pulley 484 operationally supports the second driving-belt 487 be also received in the second drive pulley 444 thereon.

As mentioned above, apparatus 410 also comprises transmission assembly 460, and this transmission assembly comprises the transmission balladeur train 462 being supported for and axially advancing in apparatus housings.Transmission balladeur train 462 is operationally done mutually with transmission axle assembly 490, and to make transmission axle assembly 490 axially-movable equally, transmission axle assembly 490 still keeps engaging with motor drive shaft 481 simultaneously.Figure 20 illustrates the shift unit solenoid 71 being in unactuated position.As seen from Figure, transmission balladeur train 462 has made transmission axle assembly 490 move to its recent side position, and this position also may be referred to " the first activation point ", and in this position, drive part 495 drives with the star bore hole 488 in the first motor pulley 482 and engages.Therefore, the rotation of motor drive shaft 481 will cause the rotation of transmission axle assembly 490 and the first motor pulley 482.The rotation of the first motor pulley 482 will cause the rotation of the first driving-belt 485, and this finally causes the rotation of the first driving shaft 22.When transmission axle assembly 490 is in the first activation point, transmission axle assembly 490 rotates freely relative to the second motor pulley 484.Therefore, when actuating the first drive system 20, the second drive system 40 keeps not activating.When shift unit solenoid 71 is actuated to position shown in Figure 21 (by activating percussion trigger 90), transmission balladeur train 462 makes transmission axle assembly 490 move to its farthest side position on motor drive shaft 481, and this position also may be referred to " the second activation point ".As from Figure 21, when transmission axle assembly 490 is in the second activation point, its drive part 495 moves into engage with the star bore hole 489 in the second motor pulley 484 and engages.Therefore, the rotation of motor drive shaft 481 will cause the rotation of the second motor pulley 484.The rotation of the second motor pulley 484 will cause the rotation of the second driving-belt 487, and this causes the rotation of the second driving shaft 42.When transmission axle assembly 490 is in this second activation point, transmission axle assembly 490 rotates freely in the first motor pulley 482.Therefore, when actuating the second drive system 40, the first drive system 20 is in non-actuating state.

Figure 22-27 illustrates another motor, transmission assembly and first and second drive system that can use together with various surgical instruments described herein.The structure illustrated comprises the motor 580 with motor drive shaft 581.See Figure 23 and Figure 24.Motor driven gear wheel 582 or " central gear " 582 are non-rotatably attached to motor drive shaft 581 therewith to rotate.This structure also comprises planetary gear set 570, and this planetary gear set comprises three planetary gears 572 be rotatably supported between distally carrier 573 and nearside carrier 574.Nearside carrier 574 is supported on the hub portion of central gear 582, and central gear 582 can be rotated relative to nearside carrier 574.Distally carrier 573 is attached to the second driving shaft 542 of the second drive system 40, makes the rotation of distally carrier 573 to cause the rotation of the second driving shaft 542 of the second drive system 40.Three planetary gears 572 support to engage with ring gear assembly 575 mode engaged.More specifically, planetary gear 572 engages with the internal ring gear 576 on ring gear assembly 575 and engages.Ring gear assembly 575 also comprises outer annular gear 577, and this outer annular gear engages with the first driven wheel 524 of the first driving shaft 522 being attached to the first drive system 20 and engages.As from Figure 24, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".

As visible in fig 23, this structure also comprises solenoid 71, and this solenoid can be operated in various mode described herein by percussion trigger.In this structure, transmission assembly 560 is attached to the axle 73 of solenoid 71.Figure 24 illustrates the transmission assembly 560 being in the first activation point.In one form, transmission assembly 560 comprises locked component (being typically expressed as 590), and this locked component is included in first on transmission assembly 560 or nearside locking tab part 592 and second or distally locking tab part 594.As seen from Figure, transmission assembly 560 is positioned such that nearside locking tab part 592 engages with nearside carrier 574.When nearside locking tab part 592 is in this first activation point, it prevents planetary gear set 570 and central gear 582 from integrally rotating.But the rotation of central gear 582 causes the rotation of planetary gear 572.The rotation of planetary gear 572 causes the rotation of ring gear assembly 575.The rotation of ring gear assembly 575 causes the rotation of the first driven wheel 524 and the first driving shaft 522.Owing to preventing nearside carrier 574 from rotating, also prevent distally carrier 573 and rotate.Therefore, prevent the second driving shaft 544 to rotate, the first driving shaft 522 rotates simultaneously.Spring (not shown) can be used for solenoid 71 (with being attached to its transmission assembly 560) to be biased in this " first activation point ".When clinician needs actuating the second drive system 40, solenoid 71 can use percussion trigger as above to activate, solenoid shaft 73 to be moved on position shown in Figure 25.When transmission assembly 560 is in this " second activation point ", distally locking tab part 594 regularly engagement annular gear assembly 575 rotates to prevent it.Therefore, when central gear 582 rotates, pinion frame (that is, distally carrier 573 and nearside carrier 574) also will rotate.Planetary gear 572 will rotate in fixing internal ring gear 576.This type of rotary motion will be passed to the second driving shaft 542, and the first driving shaft 522 keeps not activating simultaneously.

Figure 28 illustrates that motor drives another form of surgical instruments 610, and except the difference of the following stated, surgical instruments 610 can be identical with surgical instruments 10.Those parts that surgical instruments 610 ' is identical with the parts in above-mentioned surgical instruments 10 will be numbered with similar elements and be represented.As from Figure 28, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".This structure comprises motor 680, this motor have dual, can the motor drive shaft 681,683 of independent actuation.Motor 680 can be controlled by various types of percussion flip-flop circuit configurations described herein, make percussion trigger actuating in one way cause motor 680 to rotate the first motor drive shaft 681, and pull the trigger trigger actuating in another way and cause motor 680 to rotate the second motor drive shaft 683.In this structure, the first motor gear 682 is arranged on the first motor drive shaft 681, and supports to engagement joint idle gear 646.Idle gear 646 operationally supports to engage with the first driven wheel 624 of the first driving shaft 622 being mounted to the first drive system 620 and engages.Therefore, the actuating of the first motor drive shaft 681 will cause the actuating of the first drive system 620.Equally, the second motor gear 684 is arranged on the second motor drive shaft 683, and supports to the second driven wheel 644 engaging and engage and be installed on the second driving shaft 642 of the second drive system 640.Therefore, the actuating of the second motor drive shaft 683 will cause the actuating of the second drive system 640.

Figure 29 illustrates that motor drives another form of surgical instruments 710, and except the difference of the following stated, surgical instruments 710 can be identical with surgical instruments 10.Those parts that surgical instruments 710 ' is identical with the parts in above-mentioned surgical instruments 10 will be numbered with similar elements and be represented.As from Figure 29, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".In this structure, the first drive system 720 and the second drive system 740 are powered by unique and novel " displaceable " transmission assembly 760 by motor 780.First drive system 720 comprises the first driving shaft 722 having key and be locked on it or be otherwise non-rotatably attached to the first driven wheel 724 on it.Similarly, the second drive system 740 comprises the second driving shaft 742 having key and be locked on it or be otherwise non-rotatably attached to the second driven wheel 744 on it.Motor 780 comprises the motor gear 782 of the axle 781 being non-rotatably attached to motor 780.

In the structure illustrated, the second motor 750 is used for transmission assembly 760 is shifted, as will be hereafter discussed more in detail.Second motor 750 can such as be controlled by various percussion trigger disclosed herein and switch structure.Second motor 750 can the controlled mode of similar motor 7038 (as hereafter in conjunction with as described in Figure 61, Figure 63, Figure 64) be controlled.As from Figure 29, first transmits pulley 753 is locked into by key or is otherwise non-rotatably attached to motor drive shaft 752.First pivotal axis 754 is rotatably supported in the shell 12 of shank 14.This first pivotal axis limits pivot axis " PA ".Second transmits pulley 755 is non-rotatably arranged on the first pivotal axis 754, and conveyer belt 756 is installed on the first transmission pulley 753 and the second transmission pulley 755.In one form, displaceable transmission assembly 760 comprises the transmission connecting rod 762 being attached to the first pivotal axis 754.In addition, idler shaft 763 is attached to and transmits connecting rod 762, and this transmission connecting rod operationally supports idle gear 764 thereon.Displaceable transmission assembly 760 can move between the first activation point and the second activation point.In order to displaceable transmission assembly 760 is moved to the first activation point, clinician activates the second motor 750 and rotates around pivot axis P A to make pivotal axis 763 and idle gear 764, this idle gear is engaged with motor gear 782 and the first driven wheel 724 and engages.When in this position, the actuating of motor 780 will cause the actuating of the first drive system 720 subsequently.When clinician needs actuating the second drive system 740, the second motor 750 activated to make idle gear 764 to be rotated into engage with motor gear 782 and the second driven wheel 744 around pivot axis P A and to engage.When in this position, the actuating of motor 780 causes the actuating of the second drive system 740.This constitution realization benefit can be utilized to be without the need to precise tooth orientation.When idle gear 764 swings in appropriate location, it is rotatable and will be automatically found the tooth of cooperation.

Figure 30-32 illustrates the unique and novel motor unit 800 that can be arranged in type enclosure described herein.Motor unit 800 can comprise separate housing structure 801, and this separate housing structure being operative ground supports first motor 802 with the first motor drive shaft 803, and this first motor drive shaft limits the first drive system 804.Motor unit 800 can comprise second motor 805 with the second motor drive shaft 806, and this second motor drive shaft limits the second drive system 807.As seen from Figure 8, such as, the first drive axis " FDA " offsets with the second drive axis " SDA " and parallel or be arranged essentially parallel to the second drive axis " SDA ".Unit 800 also can comprise control circuit board 808, the contact 808A of this control circuit board be arranged in apparatus housings or be otherwise supported on wherein and operationally join with the corresponding contact on the circuit board that the control system of apparatus is communicated with.Shell also can comprise electric contact 808B, and this electric contact is configured to the electric contact corresponding with on the end effector instrument being attached to shell and operationally joins.

As shown in Figure 1, modularity Surgery Systems 2 can comprise the multiple different surgical end-effector structures 1000,2000 and 3000 that can use in conjunction with various surgical instruments described herein.As discussed in more detail below, end effector 1000,2000,3000 comprise dual, independent " first end actuator driven system and the second end actuator driven system " separately, and these drive system are suitable for operationally joining to receive controlled motion from it with the first drive system in surgical instruments and the second drive system.This end effector drive system is configured to the corresponding rotation motion being applied to this end effector drive system in response to the surgical instruments be operationally attached to by end effector separately, and corresponding end executor actuator component is moved to second or end linear position from first or initial linear position.Linear actuation motion is applied to the various end effector parts being arranged in this end effector tool head part by this end effector actuator component, to perform various surgical operation.As discussed in more detail below, this end effector adopts unique parts and system the first driving shaft of surgical instruments and the second driving shaft to be connected with the respective drive in this end effector to assist clinician.Because four driving shafts are linked together substantially simultaneously, therefore, various coupling configuration and control technology can be adopted will to be conducive to this type of tram simultaneously connected or " almost the tram " of drive system to guarantee that axle is in.

Referring now to Figure 33, a kind of mechanical coupling system 50 of form can be used to promote by simultaneously removable for the drive system of two in surgical instruments and correspondence " driven " axle be operationally attached in end effector.System of connections 50 can comprise the convex coupling of the driving shaft that can be attached in surgical instruments and be attached to the matrix pod coupling of the driven shaft in surgical end-effector.Such as, Fig. 9 illustrates the convex coupling 51 being attached to the first driving shaft 22 and the second driving shaft 42 by positioning screw 52.Refer again to Figure 33, each convex coupling 51 is configured to be received in the corresponding matrix pod coupling 57 of the driven shaft that also can be attached in end effector with driving.In one form, each convex coupling 51 comprises at least three and drives rib 53, and these drive rib to be equally spaced around the core 54 of convex coupling 51.In illustrative embodiment, such as, five drive rib 53 to be equally spaced around core 54.The slightly pointed distal end 55 of each driving rib 53 tool.Each driving rib 53 can be formed with the edge 56 of rounding to a certain extent, to be conducive to easily inserting in the corresponding pod groove 58 in matrix pod coupling 57.Each pod groove 58 has convergent proximal inlet port part 59, to be conducive to correspondence being driven rib 53 to be inserted into wherein.Distal end 55 and the tapered inlets 59 of each pod groove 58 of the point of each driving rib 53 combine and will adjust the dislocation to a certain degree of convex coupling 51 with it between corresponding matrix pod coupling 57 in connection process.In addition, the rounded edges 57 in sharp distal end 55 also contributes to convex coupling 51 and slides in the corresponding matrix pod coupling 58 of insertion.

In one form, at least one in convex coupling 51 is movably attached to correspondence first driving shaft of surgical instruments or its corresponding first driven shaft and second driven shaft of the second driving shaft or surgical end-effector.More specifically, convex coupling 51 can be attached to radial on this axle or angularly advance, " to travel radially the first predetermined amount " on axle.This can such as by key and keyway constitution realization, and the size of this key and keyway structure is relative to each other set to and is conducive to convex coupling 51 radial or certain amount of angularly advancing on this axle.In other words, such as, this axle can have formed thereon or otherwise be mounted to its key, and this key is less than the corresponding keyway be formed in convex coupling 51, key can be moved in keyway and set up the first predetermined radial row input.This first predetermined radial row input is preferably enough used for rear drive or drives forwards coupling.Such as, for the convex coupling 51 with five ribs 53, this first predetermined scope that travels radially can be such as 5-37 degree.Can there are some such embodiments: such as, the first predetermined scope that travels radially can be less than 5 ° and preferably no more than 4 °.If such as corresponding matrix pod coupling 57 be attached to rigidly its respective drive and in other words this matrix pod coupling cannot carry out any travelling radially, so radial or angled this type of scope of advancing can be enough.But, if the ability that convex coupling and matrix coupling have radial direction or angularly regulate, radial or angled this type of scope of advancing can reduce 50%, thinks that each coupling (convex coupling and corresponding matrix pod coupling) provides the about 3-16 travel range of degree.The radial direction that matrix pod coupling 57 can move in its respective shaft or angled amount of advancing can be called as " the second predetermined radial row input " in this article.Matrix pod coupling 57 also can utilize key described above and keyway structure to be attached to their corresponding driving shafts, and described key and keyway structure provide required second predetermined radial row input.Can there are some such embodiments: such as, the second predetermined scope that travels radially can be less than 5 ° and preferably no more than 4 °.

Various combination and the installation constitution of convex coupling and matrix pod coupling are dreamed up.Such as, one or two convex coupling movably can be mounted to its corresponding driving shaft (or driven shaft of surgical end-effector) of surgical instruments in various mode described herein.Equally, one or two matrix pod coupling movably can be mounted to its corresponding driven shaft (or driving shaft of surgical instruments) on end effector in various mode described herein.Such as, the convex coupling in the first driving shaft and the second driving shaft can movably be arranged on this axle.Other convex couplings being attached to other driving shafts can immovably be mounted to this axle.The matrix pod coupling corresponding to the convex coupling movably installed on driven shaft can immovably be attached to its driven shaft, and other matrix pod couplings corresponding to the coupling immovably installed be arranged on driven shaft can movably be mounted to its driven shaft.Therefore, one in the convex coupling of " coupling to " and matrix pod coupling is movable.Term " coupling to " refers to convex coupling and corresponding matrix pod coupling, and they are configured to its corresponding driven shaft be linked together the driving shaft of surgical instruments to be operationally attached to end effector.In other structures, the convex coupling that coupling is right and matrix pod coupling both movably can be attached to their corresponding axles.

This type of coupler configuration is used for such as providing between coupler component in a small amount angled lax, makes parts can slightly rotate to realize abundant aligning, this fully allow to be attached to the coupler component of two independent rotary actuation systems to brigadier while aim at.In addition, the recoil of q.s or lax to adapt to connection process can be provided in drivetrain.This type of recoil or lax can by forming key/keyway to provide in gear, coupling and/or fitted shaft, slightly rotate with this type of of promoting member.In addition, switch structure can use in conjunction with various displaceable transmission assembly, and it slightly can rotate to cause driving shaft for connection object starter.

This and other control technologys can be used for guaranteeing that the driving shaft in surgical instruments is positioned at desired location, connect with the respective drive in end effector to be conducive to them.Unique and novel mechanical coupling system 50, for providing certain additional flexibility in connection process, is coupled together when can there is certain dislocation to make driving shaft between corresponding axle.Be to be understood that, although various embodiment as herein described illustrates the convex coupling 51 of the driving shaft be attached in surgical instruments and is attached to the matrix pod coupling 58 of end effector driving shaft, convex coupling 51 can be attached to end effector driving shaft and matrix pod coupling 58 can be attached to the driving shaft of surgical instruments.

Figure 34-37 describes surgical end-effector 1000, and this surgical end-effector comprises surgical cutting and the fastening instrument of the type being commonly referred to " open linear type " stiching instrument.These type of open linear suture devices various forms of are called the United States Patent (USP) 5 of " SURGICALSTAPLERANDSTAPLECARTRIDGE " in such as name, 415,334 and name be called the United States Patent (USP) 8 of " SURGICALSTAPLINGINSTRUMENT ", 561, open in 870, whole disclosures of each patent are incorporated herein by reference accordingly.End effector 1000 comprises end effector shell 1010, and this end effector shell can be made up of the shell segments 1012,1014 being linked together removedly by screw rod, lug, snap in features etc.From end effector shell 1010 projection is lower jaw 1020 and the upper jaw 1040 that jointly can form end effector tool head 1004.Lower jaw 1020 comprises lower jaw framework 1022, and this lower jaw framework is configured to operationally support surgery nail bin 1060 wherein.This type of surgery nail bin is well-known in the art, and therefore will not describe in more detail in this article.In simple terms, surgery nail bin 1060 can comprise warehouse 1062, and this warehouse has nail pit 1066 line be formed on each cross side of elongated slot 1068 wherein, and this elongated slot is arranged in warehouse 1062 between two parties.Slit 1068 is configured to be suitable for cutting element 1090 and is longitudinally travelled through wherein, will discuss in more detail as following.One or more surgical staples (not shown) is supported on the nail drive member (not shown) in nail pit 1066, and this nail drive member is configured to move upward in their respective dimple 1066 in percussion process.Nail bin 1060 can be configured to remove from lower jaw framework 1022, and with storehouse replacement, end effector 1000 can be reused with another.But end effector 1000 also can abandon after a single use.

See Figure 36, lower jaw framework 1022 can be formed by metal material and have U-shaped distal part 1024, and surgery nail bin 1060 is received in wherein by the mode that this U-shaped distal part is configured to settle.The sidewall 1026 of U-shaped distal part 1024 can have distal end 1028, and this distal end is configured to discharge and can be retentively engaged a part for surgery nail bin 1060.Nail bin main body 1062 also can have engagement features 1064, and this engagement features is suitable for the upright wall portion 1030 engaging lower jaw framework 1022 releasedly.End effector 1000 also comprises upper jaw 1040, and this upper jaw comprises anvil block part 1042.Anvil block part 1042 can comprise the downside (not shown) wherein with multiple nail shaping pits.Upper jaw 1040 also comprises proximal body portion 1044, and this proximal body portion has the distally gudgeon pin 1046 extended through wherein.The end of the proximal end lateral protrusion of the proximally main part 1044 of distally gudgeon pin 1046 is rotatably received in the gudgeon hole 1032 in lower jaw 1020.Gudgeon pin 1046 limits attachment axis AA-AA, the proximal end of upper jaw 1040 around attachment axis AA-AA relative to lower jaw 1020 pivotable, make anvil block part 1042 can the isolated open position of nail bin 1060 be arranged in lower jaw 1020 and and nail bin 1060 and/or organizing between adjacent make position between the two move.End effector 1000 also can comprise horizontal backing pin 1050, and this horizontal backing pin is received in and is formed in support in the upstanding wall 1030 of lower jaw 1,020 1034 and is arranged on shell segments 1012, in the hole 1016 in 1014.Backing pin 1050 can be used as anvil block part 1042 around its fulcrum axis rotated or surface.

Anvil block part 1042 motion is between the open position and the closed position controlled by first end actuator driven system (being also referred to as end effector closure system 1070 in this article).In one form, such as, end effector closure system 1070 comprises closed shuttle 1072, and this closed shuttle extends around the proximal body portion 1024 of lower jaw 1020.Closed shuttle 1072 also can be called as " first end executor actuator ".Closed shuttle 1072 can comprise U-shaped portion and divide, and this U-shaped portion is divided and comprised distally upstanding wall 1074 and nearside upstanding wall 1076.Each distally upstanding wall 1074 comprises arc cam slot 1078, and this arc cam slot is suitable for receiving the corresponding part of the cam pin 1048 being attached to upper jaw 1040.Therefore, closed shuttle 1072 will cause upper jaw 1040 by the interaction of the cam pin 1048 in cam slot 1078 on backing pin 1050 and around attachment axis AA-AA pivotable relative to the axis of lower jaw 1020 or linear movement.

In various forms, closed-system 1070 comprises rotary end executor and closes axle 1080, and this closed axle has screw thread and comprises the distal end portion 1082 be rotatably supported in end effector shell 1010.End effector closes axle 1080 and limits closed axle axis CSA-CSA.See Figure 37.Matrix pod coupling 57 is attached to the proximal end of closed axle 1080, connects with the convex coupling 51 of the first driving shaft be attached in surgical instruments to be conducive to closed axle 1080.Closed-system 1070 also comprises closed nut 1084, this closed nut by tapped receptor on closed axle 1080.Closed nut 1084 is configured to be placed in the installation slit 1077 in the upstanding wall 1076 of closed shuttle 1072.Therefore, closed axle 1080 will cause closed nut 1084 will close shuttle 1072 along the rotation of first direction to drive along distal direction " DD ".Closed shuttle 1072 causes upper jaw 1040 to march to make position from open position pivotable along the motion of distal direction " DD ".Equally, closed shuttle 1084 will cause upper jaw 1040 to return open position from make position motion along the motion of proximal direction " PD ".

End effector 1000 also comprises the second end actuator driven system (being also referred to as trigger system 1100 in this article), and this second end actuator driven system is used for driving between original position and end position organizing cutting element 1090 and wedge-shaped slides assembly 1092.When wedge-shaped slides assembly 1092 is distally driven through surgery nail bin 1060, wedge-shaped slides assembly 1092 operationally interacts with the driver with support surgical staples thereon in storehouse 1060.When wedge-shaped slides assembly 1092 is distally by driving, driver is driven upwardly in their respective dimple, to be formed engage to drive support nail thereon with the downside of the anvil block part 1042 of upper jaw 1040.In one form, trigger system 1100 also comprises rotation screw thread beating shaft 1102, and this rotation screw thread beating shaft is rotatably supported in end effector shell 1010.Beating shaft 1102 limits the beating shaft axis FSA-FSA being parallel to or being arranged essentially parallel to closed axle axis CSA-CSA.See such as Figure 37.Beating shaft 1102 comprises distal end portion 1104, and this distal end portion is rotatably supported in the installation unit 1106 that is installed in end effector shell 1010.Matrix pod coupling 57 is attached to the proximal end of beating shaft 1102, closes coupling 51 connect to be conducive to beating shaft 1102 with the matrix of the second driving shaft be attached in surgical instruments.Trigger system 1100 also comprise percussion nut 1110, this percussion nut by tapped receptor on beating shaft 1102.Therefore, the rotation of beating shaft 1102 causes percussion nut 1110 axially to be advanced in end effector shell 1010.In one form, cutting element 1090 and wedge-shaped slides assembly 1092 is organized to be attached to percussion nut 1110 by one or more trigger shaft 1112.One or more trigger shaft also can be described as in this article " the second end executor actuator ", the linear or axially-movable in the actuating of trigger system of this second end executor actuator response.Therefore, beating shaft 1102 will, by pulling the trigger nut 1110, one or more trigger shaft 1112, organizing cutting element 1090 and wedge-shaped slides assembly 1092 to be urged to end position along distal direction " DD " from such as original position (Figure 35), wherein organize cutting element 1090 and wedge-shaped slides assembly 1092 to be driven to the distal end of surgery nail bin 1060 along the rotation of first direction.Beating shaft 1102 rotation in opposite direction will will be pulled the trigger nut 1110, one or more trigger shaft 1112, organize cutting element 1090 and wedge-shaped slides assembly 1092 to drive back their corresponding original positions along proximal direction " PD " from their corresponding end positions.In certain embodiments, this wedge-shaped slides assembly can remain on the distal end place of surgery nail bin, and not along with organizing cutting element 1090 correcting action.In further embodiments, cutting element and wedge-shaped slides component members is organized can to remain on the distal end place of nail bin component.

End effector 1000 also can be equipped with the various sensors being attached to the end effector contact plate 1120 be arranged in end effector shell 1010.Contact plate 1120 can be located with end effector shell 1020, and make when end effector 1000 is operationally attached to surgical instruments, end effector contact plate 1120 is electrically coupled to the surgical instruments contact plate 30 be arranged in surgical instruments shell 12.See such as Fig. 1.Refer again to Figure 34, closed sensor 1122 can be arranged in end effector shell 1010 and to be electrically coupled to end effector contact plate 1120, make when end effector 1000 is operationally attached to surgical instruments, closed sensor 1122 is communicated with the control system of surgical instruments.Closed sensor 1122 can comprise hall effect sensor 7028, and as hereafter such as in conjunction with shown in Figure 61, Figure 63, this hall effect sensor can the position of sense switch lug 1086 on closed nut 1084.In addition, trigger sensor 1124 also can be arranged in end effector shell 1010, to detect the existence of trigger shaft 1112.Trigger sensor 1112 can comprise hall effect sensor 7028, as hereafter such as in conjunction with shown in Figure 61, Figure 63, and be electrically coupled to end effector contact plate 1120 to be finally communicated with surgical instruments control system (such as shank processor 7024), as hereafter discussed in more detail in conjunction with Figure 61, Figure 63, Figure 64.

To explain the use of end effector 1000 in conjunction with surgical instruments 10 now.But, should be appreciated that end effector 1000 operationally can be attached to various other surgical instrumenties structure disclosed herein.Before use, closed axle 1080 and beating shaft 1102 are " clock controls ", or are positioned at their corresponding original positions, to be conducive to being attached to the first driving shaft 22 and the second driving shaft 42 respectively.In order to end effector 1000 is attached to surgical instruments 10, such as, end effector 1000 moves to as upper/lower positions by clinician, in this position, closed axle axis CA-CA and the first drive axis FDA-FDA axially aligns, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA axially aligns.Matrix pod coupling 57 on closed axle 1080 is inserted into the convex coupling 51 operationally engaged on the first driving shaft 22.Equally, the matrix pod coupling 57 on beating shaft 1102 is inserted into the convex coupling 51 operationally engaged on the second driving shaft 42.Therefore, when in this position, closed axle 1080 is operationally attached to the first driving shaft 22 and beating shaft 1102 is operationally attached to the second driving shaft 42.End effector contact plate 1120 is operationally attached to surgical instruments contact plate 30, makes sensor 1122, and 1124 (and any other sensors in end effector 1000) are operationally communicated with the control system of surgical instruments.Engage with the exercisable of surgical instruments 10 to keep end effector 1000, end effector 1000 comprises keeper breech lock 1130, and this keeper breech lock is attached to end effector shell 1010 and is configured to engage releasedly a part for apparatus housings 12.Keeper breech lock 1130 can comprise and keep lug 1132, and this maintenance lug can engage the keeper chamber 15 be formed in shell 12 releasedly.See Fig. 1.

When being coupled together, closed sensor 1122 detects the position of closed nut 1084, and trigger sensor 1124 detects the position of trigger shaft 1112.This information is transferred into surgical instruments control system.In addition, clinician can confirm that displaceable transmission assembly (or its transmission balladeur train 62) is in its first activation point.This actuating by the display lamp 77 on shell 12 confirms, as above discusses.If displaceable transmission assembly 60 is not in its first activation point, so clinician can activate percussion trigger 92 to be moved in the first activation point by transmission balladeur train 62, makes the actuating in order to driven motor 80 of rocking arm trigger 110 to cause the actuating of the first drive system 20.Suppose closed-system 1070 and trigger system 1100 be in their corresponding original positions separately and end effector 1000 have correctly be arranged on wherein do not use nail bin 1060, so clinician subsequently can by jaw 1020, and 1040 relative to destination organization location that is to be cut and that sew up.Clinician can carry out driven motor 80 by actuator rocker arm trigger 110 and rotate the first driving shaft 22 to be closed by upper jaw 1040.Once by between the surgery nail bin 1060 of target tissue held in upper jaw 1040 and lower jaw 1020, so transmission balladeur train 62 is moved to its second activation point with regard to actuatable percussion trigger 92 by clinician, makes the actuating of motor 80 to cause the rotation of the second driving shaft 42.Once transmission balladeur train 62 passive movement to the second activation point, so clinician just can activate the trigger system 1100 in the second drive system 40 and end effector 1000 by actuator rocker arm trigger 110 again, organizes cutting element 1090 and wedge-shaped slides assembly 1092 through surgery nail bin 1060 distally to drive.When distally cutting element 1090 and wedge-shaped slides assembly 1092 are organized in driving, be clamped in jaw 1020, the destination organization between 1040 is cut and sew up.Once will cutting element 1090 and wedge-shaped slides assembly 1092 be organized to be urged to their farthest side positions in surgery nail bin 1060, clinician makes motor rotate oppositely and make trigger system 1100 be back to its original position with regard to actuatable rocking arm trigger 110.

When adopt end effector 1000 and disclosed herein comprise similar jaw structure other end effectors and surgical instruments time, wanting the anvil block pit fully cleaned on the downside of anvil block may exist challenge.In addition, anvil block pit can be passed in time and fray, denudes or only wear and tear, thus makes them be not suitable for reusing again.In addition, according to application, the loading of surgery nail bin and remove may comparatively difficulty.Figure 119-121 illustrates disposable " the nail bag " 1300 of some (even if not being whole) that can solve in these challenges.

Figure 119 is depicted in structure and operating aspect can be similar to the part of the end effector 1000 ' of such as end effector 1000 and other end effectors disclosed herein, and difference is following discussed particular differences.As from Figure 119, upper jaw 1240 comprises the distal end 1243 opened.Upper jaw 1240 can be formed by metal material and have U-shaped configuration when distally end is checked, and comprises two relative maintenance antelabium 1245 extended internally.End effector 1000 ' also comprises lower jaw framework 1222, and it is similar to such as lower jaw framework 1222 described herein.As seen from Figure, lower jaw framework 1222 has the distal end 1223 opened equally.

Still see Figure 119, a kind of " disposable " nail bag 1300 of form comprises anvil block 1302, and this anvil block has nail profiled surface 1304, and this nail profiled surface comprises the multiple nail shaping pit (not shown) be formed at wherein.Nail bag 1300 also comprises nail bin 1310, and this nail bin has storehouse platform 1312, and this storehouse platform is configured to for forming spaced confronting relationship with the nail shaped lower face 1304 of anvil block 1302.Nail bin 1310 can be similar to other nail bins disclosed more in detail and operationally support multiple surgical staples wherein herein.Nail bag 1300 also comprises disposable align member 1320, the size and dimension of this align member is set to and anvil block 1302 and nail bin 1310 frictional engagement, and the nail pit maintained before use in nail shaped lower face 1304 is aimed at the nail (not shown) in nail bin 1310.Keeper 1320 also can be included in the isolating bar 1322 extended between anvil block 1302 and nail bin 1310.This keeper such as can be formed by plastics or other suitable molded of polymeric material, and isolating bar 1322 can be made up of metal material.Isolating bar 1322 can frictionally remain on slit or be formed in other maintenance features in keeper 1320.

Referring now to Figure 120, by anvil block 1302 is aimed at pilot nail bag 1300 with the distal end 1243 of opening in upper jaw 1240, and nail bin 1310 is aimed at the distal end 1245 of opening in lower jaw framework 1222.After this, follow closely bag 1300 and move to position shown in Figure 120 along proximal direction " PD ".Keep antelabium 1245 at upper jaw 1240 inner support anvil block 1302.End effector 1000 ' also can comprise the latch feature 1340 of manually actuable, and this latch feature never can move to position latching (Figure 121) by position latching (Figure 119).When being in position latching, such as, anvil block 1302 remains in upper jaw 1240 by latch feature 1340, and is remained in lower jaw framework 1222 by nail bin 1310.Such as, latch feature 1340 can comprise movable upper latch arms 1342, on this, latch arms is configured to the part (such as, antelabium, ratchet, flange or one or more other keep feature) engaged releasedly in the proximal end being formed at anvil block 1302.Similarly, latch feature 1340 can comprise movable lower latch arms 1344, and this lower latch arms is configured to engage releasedly the part (such as, antelabium, ratchet, flange or one or more other keep feature) be formed on nail bin 1310.Upper latch arms 1342 and lower latch arms 1344 are movably supported on end effector 1000 ' pivotly or otherwise, optionally to move between position latching and non-position latching.In various forms, upper latch arms 1342 and lower latch arms 1344 can by one or more spring (not shown) vertical bias in position latchings.In such configuration, nail bag 1300 can insert in upper jaw 1240 and lower jaw framework 1222 by clinician.When the proximal end of anvil block 1302 contacts upper latch arms 1342, upper latch arms 1342 pivotable or motion are to allow anvil block 1302 to be placed into position.Once anvil block is placed into position, so goes up latch arms 1342 and be biased into and engage with anvil block 1302 breech lock (if adopting spring or biasing member).In alternative configuration, can by upper latch arms 1342 manual movement in position latching.Equally, under the proximal end contact of nail bin 1310 during latch arms 1344, lower latch arms 1344 pivotable or motion are to allow nail bin 1310 to be placed into position.Once nail bin 1310 is placed into position, so descends latch arms 1344 to be biased into and engage to hold it in appropriate location (if adopting spring or biasing arrangement) with nail bin 1310 breech lock.In alternative embodiment, can by lower latch arms 1344 manual movement to position latching.Once the mounted and anvil block 1302 of nail bag 1300 and nail bin 1310 latched or be otherwise attached to end effector 1000 ', the removable positioning component 1320 of clinician.See such as Figure 121.After at nail, bag 1300 used, on the distal end that keeper 1320 can be substituted into anvil block 1302 by clinician subsequently and nail bin 1310.This is by opening align member 1320 end alignment and being realized with anvil block 1302 and nail bin 1310 frictional engagement by returning into by align member 1320 subsequently.Once be arranged in align member 1320 by the distal end of anvil block 1302 and nail bin 1310, upper latch arms 1342 and lower latch arms 1344 can be moved to their non-position latchings by clinician can be drawn out upper jaw 1240 and lower jaw framework 1222 to make nail bag 1300.After this, follow closely bag 1300 can integrally be abandoned.In other cases, anvil block 1302 and nail bin 1310 can remove from end effector 1000 ' by clinician individually, and first do not install align member 1320.

Figure 38-41 describes surgical end-effector 2000, and this surgical end-effector comprises surgical cutting and the fastening instrument of the type that usually can be called as " bending cutting cutter stiching instrument ".This type of stitching devices various forms of is called the United States Patent (USP) 6 of " RETAININGPINLEVERADVANCEMENTMECHANISMFORACURVEDCUTTERSTA PLER " in such as name, 988,650 and name be called the United States Patent (USP) 7 of " KNIFERETRACTIONARMFORACURVEDCUTTERSTAPLER ", 134, open in 587, whole disclosures of each patent are incorporated herein by reference accordingly.End effector 2000 comprises end effector shell 2010, and this end effector shell can be made up of the shell segments 2012,2014 being linked together removedly by screw rod, lug, snap in features etc.From end effector shell 2010, projection is the elongate frame assembly 2020 terminated in end effector tool head 2002.In one form, frame assembly 2020 comprises frame pillar or the plate 2022 at a pair interval, and this frame pillar or plate are attached to shell 2010 and securely from its distally projection.C shape supporting construction 2024 is attached to the distal end of frame plate 2022.Term " C shape " in this description in the whole text for describing the depression character of supporting construction 2024 and surgery nail bin module 2060.C shape is configured with to be beneficial to and strengthens functional, and uses term C shape to be understood to include the functional various concave shape that can strengthen surgical stapling and cutting device similarly in this manual.Supporting construction 2024 is by extending to Shoulder rivets 2023 in the receiver hole of frame plate 2022 and post 2026 is attached to frame plate 2022 from supporting construction 2024.In various forms, supporting construction 2024 can be formed via one-piece construction.More specifically, supporting construction 2024 can be formed by extruding aluminium.By forming supporting construction 2024 in this way, just do not need multiple part, and significantly reduce to manufacture and assemble relevant cost.In addition, it is believed that the integrative-structure of supporting construction 2024 strengthens the general stability of end effector 2000.In addition, the structure of integrally extruding of supporting construction 2024 provides weight saving, extrudes aluminum and provides easier sterilization, and cause less wound based on via the smooth outer surface extruding realization to tissue due to cobalt radiation by effectively penetrating.

End effector 2000 also comprises first end actuator driven system (being also referred to as end effector closure system 2070) and the second end actuator driven system (being also referred to as trigger system 2100 in this article).In one form, such as, end effector closure system 2070 comprises closed beam assembly 2072, and the size of this closed beam assembly is set to and is slidably received between frame pillar 2022, axially to advance between frame pillar 2022.Closed beam assembly 2072 also can be described as first end executor actuator and has opens bottom, and this opens the trigger shaft assembly 2112 that bottom is configured to receive slidably trigger system 2100, as hereafter discussed in more detail.In one form, such as, closed beam assembly 2072 is shaped for motion and functional molded plastic component, as hereafter discussed in more detail.By carrying out making beam assembly 2072 by plastics, manufacturing cost can reduce and the weight of end effector 2000 also can reduce.In addition, end effector 2000 can be easier to use cobalt radiosterilization, because plastics more easily penetrate than rustless steel.According to alternative configuration, closed beam assembly 2072 can be made by extruding aluminum, and wherein final feature is machined into appropriate position.Although extrude aluminum close beam assembly may be easy to unlike plastic components manufacture, its will have same advantage (that is, reduce parts, more easily assemble, more light weight, more easily sterilize).

Closed beam assembly 2072 comprises bending distal end 2074, the size of this bending distal end be set to be received in supporting construction 2024 sidewall 2027 between.The size and dimension of bending distal end 2074 is set to reception and keeps the storehouse shell 2062 of storehouse module 2060.In various forms, the proximal end of closed beam assembly 2072 is attached to closed nut 2084, and this closed nut is closed on axle 2080 at screw thread by tapped receptor.Closed axle 2080 limits closed axle axis CSA-CSA and has matrix pod coupling 57, and the proximal end that this matrix pod coupling is attached to closed axle 2080 connects with the convex coupling 51 of the first driving shaft be attached in surgical instruments to be conducive to closed axle 2080.Closed axle 2080 will cause closed nut 2084 will close beam assembly 2072 along the rotation of first direction and drive along distal direction " DD ".Closed axle 2080 rotation is in opposite direction advanced similarly causing the nearside of closed nut 2084 and closed beam assembly 2072.

As mentioned above, the distal end 2074 of closed beam assembly 2072 is configured to the storehouse shell 2062 operationally supporting storehouse module 2060 wherein.Storehouse module 2060 is included in the multiple surgical staples (not shown) on staple drivers (not shown), when axial advance, surgical staples is displaced its respective dimple 2066 be positioned on the every side of slit 1068 by staple drivers, and this slit is configured to be suitable for cutter component 2115 and passes wherein.Storehouse module 2060 such as can similar such as United States Patent (USP) 6,988,650 and 7,134 to a certain extent, and the module of storehouse disclosed in 587, except any pointed difference, the corresponding full content of these two patents is all incorporated herein by reference.End effector 2000 can abandon after use single, or end effector 2000 is reused by replacing hole capital after selling all securities module at the intra-operative just carried out or be reused for new operation after again sterilizing.

End effector 2000 also comprises trigger system 2100, and this trigger system comprises trigger shaft assembly 2112, and this trigger shaft assembly is configured to be received in slidably opening in bottom of closed beam assembly 2072.See Figure 39.In one form, trigger system 2100 also comprises beating shaft 2102, and this beating shaft has screw thread distal end 2104 and has the portions of proximal 2106 of square cross-sectional shape.Screw thread distal end 2104 is pulled the trigger in nut 2110 by the screw thread of tapped receptor in the proximal end being attached to trigger shaft assembly 2112.The size of screw thread percussion nut 2110 is set in the axial cavity 2085 that is received in slidably in closed nut assembly 2084.See Figure 41.This class formation allow percussion nut 2110 end effector 2000 passive movement to during make position together with closed nut assembly 2084 axial advance, and subsequently when trigger system 2100 activated, relative to closed nut 2084 and closed beam assembly 2072 axially-movable.Beating shaft 2102 limits the beating shaft axis FSA-FSA being parallel to or being arranged essentially parallel to closed axle axis CSA-CSA.See such as Figure 41.As also from Figure 39 and Figure 41, the portions of proximal 2106 of beating shaft 2102 is received in the elongated passageway 2105 in matrix pod coupling 57 ' slidably, and this matrix pod coupling is identical with matrix pod coupling described herein.Elongated passageway 2105 has square cross-sectional shape, and the size of this shape is set to the portions of proximal 2106 receiving beating shaft 2102 wherein slidably.This class formation allows beating shaft 2102 relative to the axially-movable of matrix pod coupling 57 ', can rotate together with matrix pod coupling 57 ' simultaneously.Therefore, when advancing in distal direction " DD " after first drive system of closed beam assembly 2072 in surgical instruments activates, percussion nut 2110 will be carried in closed nut assembly 2084 along distal direction " DD ".The portions of proximal 2106 of beating shaft 2102 will axially-movable in the passage 2105 in matrix pod coupling 57 ', keeps engaging simultaneously.After this, in the surgical instruments being operationally attached to matrix pod coupling 57 ', the second drive system will make beating shaft 2102 rotate along the startup of a direction of rotation, and this will cause trigger shaft assembly 2112 in the upper motion of distal direction " DD ".When trigger shaft assembly 2112 moves in a distal direction, knife bar 2115 is distally advanced through storehouse module 2060.Second drive system will cause trigger shaft assembly 2112 in the upper motion of proximal direction " PD " along the actuating of the second direction of rotation.

The distal end of trigger shaft assembly 2112 comprises drive member 2114 and cutter component 2115, and this cutter component is from drive member distally projection.As from Figure 39, cutter component 2115 is received in the anvil block arm section 2142 of anvil assembly 2140 slidably, and this anvil assembly is configured to be placed in the bending anvil block support section 2025 of supporting construction 2024.Other details about anvil assembly 2140 can from United States Patent (USP) 6,988,650 and 7, and 134, find in 587.End effector 2000 also can comprise safety interlocking mechanism 2150 (Figure 39), pulls the trigger to prevent the storehouse module 2060 of previously percussion.Can at United States Patent (USP) 6,988,650 and 7 about the interactional details between storehouse module 2060 and safety interlocking mechanism, 134, find in 587.

End effector 2000 also comprises organizes retaining pin actuating mechanism 2160.Organize retaining pin actuating mechanism 2160 to comprise saddle type sliding part 2162, this saddle type sliding part is positioned on the top section of shell 2010.Sliding part 2162 is pivotally connected to push rod driver 2163, and this push rod driver is supported in shell 2010 slidably.Push rod driver 2163 is restrained for the major axis lengthwise movement along end effector 2000.Push rod driver 2163 is connected to push rod 2164 by the circumferential grooves 2165 on push rod 2164, and this circumferential grooves buckles in the slit 2166 of push rod driver 2163.See Figure 41.The distal end of push rod 2164 comprises circumferential grooves 2167, this circumferential grooves be attached to storehouse module 2160 (the clearest in Figure 41 illustrate) coupling 2170 proximal end in groove 2172 interconnect.The distal end of coupling 2170 comprises the groove 2174 for interconnecting with the circumferential slots 2182 in retaining pin 2180.The manual movement of sliding part 2162 causes the motion of push rod 2164.The distal movement of push rod 2164 or nearside retraction cause the corresponding sports of retaining pin 2180.Retaining pin 2180 actuating mechanism 2160 also operationally interacts with closed beam assembly 2072, if make this retaining pin not by manual movement to its farthest side position, so the actuating of closed-system 2070 will cause the automatic distal movement of retaining pin 2180.When retaining pin 2180 is pushed into, it extends through storehouse shell 2062 and enters in anvil assembly 2140, is captured between storehouse module 2060 and anvil assembly 2140 by tissue thus.

In one form, retaining pin actuating mechanism 2160 comprises yoke 2190, and this yoke rotatably or is pivotally supported in shell 2010 via pivotal pin 2192.Closed beam assembly 2072 also comprises post or lug 2073, and this post or lug extend laterally in shell 2010 on closed beam assembly 2072 both sides.These posts 2073 are received in the corresponding arcuate slot 2194 in yoke 2190 slidably.Yoke 2190 comprises cam pin 2196, and this cam pin is oriented to promote the cam face 2168 in push rod driver 2163.Yoke 2190 is not directly attached to retaining pin 2180, and therefore surgeon's (if they select this retaining pin) can manually advance retaining pin 2180.When closed beam assembly 2072 is distally advanced into make position, if surgeon selects regardless of retaining pin 2180, so retaining pin 2180 will advance automatically.Surgeon must manual retrieving retaining pin 2180.By constructing retaining pin actuating mechanism 2160 in this way, manual closing and retraction retaining pin 2180 can be allowed.If the non-manual closing retaining pin 21280 of surgeon, so this retaining pin actuating mechanism 2160 automatically will close this retaining pin in apparatus clamping process.Other details about the actuating of retaining pin and use can from United States Patent (USP) 6,988,650 and 7, and 134, find in 587.

End effector 2000 also can be equipped with the various sensors being attached to the end effector contact plate 2120 be arranged in end effector shell 2010.Such as, end effector 2000 can comprise closed sensor 2122, this closed sensor to be arranged in end effector shell 2010 and to be electrically coupled to end effector contact plate 2120, make when end effector 2000 is operationally attached to surgical instruments, closed sensor 2122 is communicated with the control system of surgical instruments.Closed sensor 2122 can comprise hall effect sensor 7028, and as hereafter in conjunction with shown in Figure 61, Figure 63, this hall effect sensor is configured to the position of sense switch lug 2086 on closed nut 21084.See Figure 40.In addition, trigger sensor 2124 also can be arranged in end effector shell 2010, and is arranged to detect the percussion position of nut 2110 in closed nut 2084.Trigger sensor 2124 can comprise hall effect sensor 7028, as hereafter in conjunction with as described in Figure 61, Figure 63, and is electrically coupled to end effector contact plate 2120 to be finally communicated with surgical instruments control system, as discussed herein.Contact plate 2120 can be located together with end effector shell 2020, make when end effector 2000 is operationally attached to surgical instruments, end effector contact plate 2120 is electrically coupled to the surgical instruments contact plate 30 be arranged in surgical instruments shell 12, as above discusses.

To explain the use of end effector 2000 in conjunction with surgical instruments 10 now.But, should be appreciated that end effector 2000 operationally can be attached to various other surgical instrumenties structure disclosed herein.Before use, closed axle 2080 and beating shaft 2102 are " clock controls ", or are positioned at their original position, to be conducive to being attached to the first driving shaft 22 and the second driving shaft 42 respectively.In order to end effector 2000 is attached to surgical instruments 10, such as, end effector 2000 moves to as upper/lower positions by clinician, in this position, closed axle axis CSA-CSA and the first drive axis FDA-FDA axially aligns, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA axially aligns.Matrix pod coupling 57 on closed axle 2080 is inserted into the convex coupling 51 operationally engaged on the first driving shaft 22.Equally, the matrix pod coupling 57 ' on beating shaft 2102 is inserted into the convex coupling 51 operationally engaged on the second driving shaft 42.Therefore, when in this position, closed axle 2080 is operationally attached to the first driving shaft 22 and beating shaft 2102 is operationally attached to the second driving shaft 42.End effector contact plate 1120 is operationally attached to surgical instruments contact plate 30, and the sensor in end effector 2000 is operationally communicated with the control system of surgical instruments.Operationally joint is connected with surgical instruments 10 in order to keep end effector 2000, end effector 2000 comprises keeper breech lock 2130, and this keeper breech lock is attached to end effector shell 2010 and is configured to engage releasedly a part for apparatus housings 12.Keeper breech lock 2130 can comprise and keep lug 2132, and this maintenance lug can engage the keeper chamber 15 be formed in shell 12 releasedly.See Fig. 1.When being coupled together, closed sensor 2122 detects the position of closed nut 2084, and trigger sensor 2124 detects the position of percussion nut 2110.This information is transferred into surgical instruments control system.In addition, clinician can confirm that displaceable transmission assembly (or its transmission balladeur train 62) is in its first activation point.This actuating by the display lamp 77 on shell 12 confirms, as above discusses.If displaceable transmission assembly 60 is not in its first activation point, so clinician can activate percussion trigger 92 to be moved in the first activation point by transmission balladeur train 62, makes the actuating in order to driven motor 80 of rocking arm trigger 110 to cause the actuating of the first drive system 20.Suppose closed-system 2070 and trigger system 2100 be in its corresponding original position separately and end effector 2000 have correctly be arranged on wherein do not use nail bin module 2060, so clinician subsequently actuatable closed-system 2070 so that destination organization is captured between storehouse module 2060 and anvil assembly 2140.

Clinician can carry out driven motor 80 by actuator rocker arm trigger 110 and rotate the first driving shaft 22, with the closed beam assembly 2072 that distally moves.Storehouse module 2060 is moved towards anvil assembly 2140 by this actuating, to be clipped in by destination organization between both.When closed beam 2072 distally moves, post 2073 keeps the actuating of actuating mechanism 2160 distally to drive retaining pin 2180 through terrace part 2161 and to enter in pin pit 2141 (see Figure 41) wherein through anvil assembly 2140 with the interaction of yoke 2190 by causing tissue.Retaining pin 2180 is for being captured in destination organization between anvil assembly 2140 and storehouse module 2060.Once by target tissue held between anvil assembly 2140 and storehouse module 2060, so clinician can activate percussion trigger 92 subsequently and transmission balladeur train 62 is moved to its second activation point, makes the actuating of motor 80 to cause the rotation of the second driving shaft 42.Once transmission balladeur train 62 passive movement to the second activation point, so clinician can activate the trigger system 2100 in the second drive system 40 and end effector 2000 by actuator rocker arm trigger 110 again, distally to drive trigger shaft assembly 2112, this trigger shaft assembly also distally drives cutter component 2115 through storehouse module 2060, thus cuts the destination organization be clamped between anvil assembly 2140 and storehouse module 2060.When trigger shaft assembly 2112 distally moves, the surgical staples be supported in storehouse module 2060 also drives the module 2060 that delivers from godown through destination organization and is formed with anvil assembly 2140 and contacts by drive member 2114.Once complete this cutting and sew up action, the actuatable rocking arm trigger 110 of clinician rotates oppositely to make motor and makes trigger system 2100 be back to its original position.Transmission balladeur train 62 can be back to its first activation point by percussion trigger 92 by clinician subsequently, makes rocking arm trigger 110 actuating in opposite direction that motor 80 will be caused to rotate in backward direction to make closed beam assembly 2073 be back to its original position.When closed beam assembly 2073 moves in a proximal direction, yoke 2190 can with organize retaining pin actuating mechanism 2160 to interact retaining pin 2180 is withdrawn into its original position.In alternative arrangement, clinician can use saddle type sliding part 2162 by retaining pin 2180 manual retrieving to its original position.Retaining pin 2180 can be bounced back to its original position at actuating closed-system 2070 by clinician before closed beam 2072 is back to its original position.Other details about the use of bending suture cutter can from United States Patent (USP) 6,988,650 and 7, and 134, find in 587.

Figure 42-45 describes surgical end-effector 3000, and this surgical end-effector comprises surgical cutting and the fastening instrument of the type that usually can be called as " circular surgical staplers ".In the surgical operation of some type, the use of surgical staples has become the method for optimizing of joining tissue, and has therefore developed the surgical stapling device with special tectonic for these application.Such as, developed intracavity stiching instrument or circular stapler for the surgical operation relating to low level colon, wherein after lesion portion is cut, each several part of low level colon has been bonded together.Circular stapler for performing this type of operation is disclosed in such as United States Patent (USP) 5,104,025,5,205,459,5,285,945,5,309,927,8,353,439 and 8,360, and in 297, these patents full text is separately all incorporated herein by reference.

As shown in figure 42, end effector 3000 comprises end effector shell 3010, and this end effector shell can be made up of the shell segments 3012,3014 being linked together removedly by screw rod, lug, snap in features etc.From end effector shell 3010 projection is slender axles assembly 3020.Slender axles assembly 3020 is configured to operationally to support circular tool head 3300 and anvil block 3320 and interacts with them.As by exemplary U patent referred to above prove, multiple different circular nail bin and anvil block structure be as known in the art.As shown in figure 43, such as, circular stapler head 3300 can comprise housing member 3302, this housing member supports the storehouse supporting component of the form of rounded staple drivers assembly 3304 wherein, and this storehouse supporting component is suitable for joining with circular nail bin 3306 and drives the nail shaped lower face 3326 of nail and the anvil block 3320 be supported on wherein to be formed and contacts.Circular knife component 3308 is also arranged in staple drivers assembly 3304 between two parties.The proximal end of housing member 3302 can be connected to the tubulose outer shield 3022 of arc shaft assembly 3020 by distally lasso component 3024.Anvil block 3320 comprises annular body portion 3322, and this annular body portion has the anvil shaft 3324 for being attached to by the trocar on it.Anvil block main body 3322 has nail shaped lower face 3326 thereon and can have the guard shield 3328 being attached to its distal end.Anvil shaft 3324 also can be provided with a pair trocar retaining clip or leaf spring 3330, and this trocar retaining clip or leaf spring are used for making the trocar 3042 and anvil shaft 3324 keep releasedly engaging, as hereafter discussed in detail further.

In one form, shaft assembly 3020 comprises compressional axis 3030, distal compaction shaft portion 3032 and tension band assembly 3040, supports outside in portion's tubular housing 3022 these member being operable.Trocar tip 3042 is attached to the distal end of tension band assembly 3040 by securing member 3041.As known, trocar tip 3042 can be inserted in the anvil shaft 3324 of anvil block 3320, and keeps engaging by trocar retaining clip 3330.

Surgical end-effector 3000 also comprises closed-system 3070 and trigger system 3100.In at least one form, closed-system 3070 comprises closed nut assembly 3084, and this closed nut assembly is attached to the proximal end of tension band 3040.As from Figure 42 and Figure 43, closed nut assembly 3084 comprises proximal coupler component 3085, and this proximal coupler component is attached to the proximal end of tension band 3040 by securing member 3087.Closed-system 3070 also comprises screw thread and closes axle 3080, and this screw thread closes axle and closed nut 3084 is threadedly engaged.Closed axle 3080 limits closed axle axis CSA-CSA and has matrix pod coupling 57, and the proximal end that this matrix pod coupling is attached to closed axle 3080 connects with the convex coupling 51 of the first driving shaft be attached in surgical instruments to be conducive to closed axle 3080.Closed axle 3080 will cause closed nut 3084 to be driven along distal direction " DD " by tension band assembly 3040 along the rotation of first direction.Closed axle 3080 rotation is in opposite direction advanced similarly causing the nearside of closed nut 3084 and tension band assembly 3040.

As from Figure 43, distal compaction shaft portion 3032 is attached to staple drivers assembly 3304.Therefore, the axially-movable of compressional axis 3030 in outside tubular housing 3022 causes staple drivers assembly 3304 axially-movable in housing member 3302.The axis of compressional axis 3030 is advanced and to be controlled by trigger system 3100.In one form, trigger system 3100 comprises screw thread beating shaft 3102, and this screw thread beating shaft is pulled the trigger nut 3110 with the screw thread of the proximal end being attached to compressional axis 3030 and is threadedly engaged.Beating shaft 3102 limits the beating shaft axis FSA-FSA being parallel to or being arranged essentially parallel to closed axle axis CSA-CSA.See such as Figure 44 and Figure 45.The proximal end of beating shaft 3102 has matrix pod coupling 57, and this matrix pod coupling is attached to this proximal end and connects with the convex coupling 51 of the second driving shaft be attached in surgical instruments to be conducive to beating shaft 3102.Second drive system of surgical instruments will make beating shaft 3102 rotate in a first direction along the startup of a direction of rotation, drive compressional axis 3030 distal direction " DD " is upper thus.When compressional axis 3030 moves in distal direction " DD ", circular staple actuator assembly 3304 is distally driven and drives the surgical staples in nail bin 3306 to be formed with the downside 3326 of anvil block main body 3322 to contact.In addition, circular knife component 3308 is driven through the tissue be clamped between anvil block main body 3322 and nail bin 3306.Second drive system will cause compressional axis 3030 in the upper motion of proximal direction " PD " along the actuating of the second direction of rotation.

End effector 3000 also can be equipped with the various sensors being attached to the end effector contact plate 3120 be arranged in end effector shell 3010.Such as, end effector 3000 can comprise one or more closed sensor 3122, described closed sensor to be arranged in end effector shell 3010 and to be electrically coupled to end effector contact plate 3120, make when end effector 3000 is operationally attached to surgical instruments, one or more closed sensor 3122 is communicated with the control system of surgical instruments.One or more closed sensor 3122 can comprise hall effect sensor 7028, and as hereafter in conjunction with as described in Figure 61, Figure 63, this hall effect sensor is configured to the position detecting closed nut 3084.See Figure 44.In addition, one or more trigger sensor 3124 also can be arranged in end effector shell 3010, and is arranged to detect the percussion position of nut 3110 in closed nut 3084.One or more trigger sensor 3124 also can comprise hall effect sensor 7028, as hereafter in conjunction with as described in Figure 61, Figure 63, and be electrically coupled to end effector contact plate 3120 to be finally communicated with surgical instruments control system (such as shank processor 7024), such as, as hereafter described further in conjunction with Figure 61, Figure 63, Figure 64.Contact plate 3120 can be located together with end effector shell 3020, make when end effector 3000 is operationally attached to surgical instruments, end effector contact plate 3120 is electrically coupled to the surgical instruments contact plate 30 be arranged in surgical instruments shell 12, as above discusses.

To explain the use of end effector 3000 in conjunction with surgical instruments 10 now.But, should be appreciated that end effector 3000 operationally can be attached to various other surgical instrumenties structure disclosed herein.Before use, closed axle 3080 and beating shaft 3102 are " clock controls ", or are positioned at their original position, to be conducive to being attached to the first driving shaft 22 and the second driving shaft 42 respectively.In order to end effector 3000 is attached to surgical instruments 10, such as, end effector 3000 moves to as upper/lower positions by clinician, in this position, closed axle axis CSA-CSA and the first drive axis FDA-FDA axially aligns, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA axially aligns.Matrix pod coupling 57 on closed axle 3080 is inserted into the convex coupling 51 operationally engaged on the first driving shaft 22.Equally, the matrix pod coupling 57 on beating shaft 3102 is inserted into the convex coupling 51 operationally engaged on the second driving shaft 42.Therefore, when in this position, closed axle 3080 is operationally attached to the first driving shaft 22 and beating shaft 3102 is operationally attached to the second driving shaft 42.End effector contact plate 3120 is operationally attached to surgical instruments contact plate 30, and the sensor 3122,3124 in end effector 3000 is operationally communicated with the control system of surgical instruments.Operationally joint is connected with surgical instruments 10 in order to keep end effector 3000, end effector 3000 comprises keeper breech lock 3130, and this keeper breech lock is attached to end effector shell 3010 and is configured to engage releasedly a part for apparatus housings 12.Keeper breech lock 3130 can comprise and keep lug 3132, and this maintenance lug can engage the keeper chamber 15 be formed in shell 12 releasedly.See Fig. 1.When being coupled together, closed sensor 3122 detects the position of closed nut 3084, and trigger sensor 3124 detects the position of percussion nut 3110.This information is transferred into surgical instruments control system.In addition, clinician can confirm that displaceable transmission assembly (or its transmission balladeur train 62) is in its first activation point.This actuating by the display lamp 77 on shell 12 confirms, as above discusses.If displaceable transmission assembly 60 is not in its first activation point, so clinician can activate percussion trigger 92 to be moved in the first activation point by transmission balladeur train 62, makes the actuating in order to driven motor 80 of rocking arm trigger 110 to cause the actuating of the first drive system 20.Suppose closed-system 3070 and trigger system 3100 be in their corresponding original positions separately and end effector 3000 have correctly be arranged on wherein do not use nail bin module, so end effector 3000 is ready.

As known, when adopting circular stapler to perform anastomosis, can sew up intestinal by general surgical procedures stiching instrument, this stiching instrument is mounted with many nails in target phase (that is, the specimen) both sides of intestinal.Usually cutting target phase while stitching.After removing target specimen, anvil block 3320 inserts in the portions of proximal of intestinal by surgeon, that is, sutural nearside.This has come by anvil block main body 3322 being inserted during nearside intestines is divided the entrance cut, or can place anvil block 3320 by per anum, namely by anvil block 3320 is placed on end effector 3000 distal end and by rectal insert tool.Then, anvil shaft 3324 is attached to the trocar most advanced and sophisticated 3042 of end effector 3000 and is inserted in the distal part of intestinal by anvil block 3320 by clinician.Then, clinician can utilize the fastening devices of stitching thread or other routines by the distal end system of the proximal section of intestinal to anvil shaft 3324, and also utilizes another stitching thread the proximal end that distally intestines is divided to be tied up to around anvil shaft 3324.

Clinician can carry out driven motor 80 by actuator rocker arm trigger 110 and rotate the first driving shaft 22 subsequently, is attached to the tension band assembly 3040 on it, the trocar most advanced and sophisticated 3042 and anvil block 3320 proximally to move.This actuating makes anvil block 3320 move towards the storehouse 3306 in the housing member 3302 being supported on stiching instrument head 3300, thus closed gap between both, and the proximal end of distally intestines being divided in gap thus between both engages with the distal end that nearside intestines is divided.Clinician continues actuating first drive system 20, until realize the tissue compression of aequum.Be clamped between anvil assembly 3320 and stiching instrument head 3300 once this intestines divided, so transmission balladeur train 62 is moved to its second activation point with regard to actuatable percussion trigger 92 by clinician, makes the actuating of motor 80 to cause the rotation of the second driving shaft 42.Once transmission balladeur train 62 passive movement to the second activation point, so clinician just can activate the trigger system 3100 in the second drive system 40 and end effector 3000 by actuator rocker arm trigger 110 again, distally to drive compressional axis 3030, this compressional axis also distally drives circular staple actuator assembly 3304 and circular knife component 3308.This type of action for cutting the intestines of clamping, and drives surgical staples to pass two clamping end of intestinal, engages the part of intestinal thus and forms tubular passageway.Meanwhile, when driving is followed closely and makes nail be shaped, circular knife 3308 can be driven through intestinal tissue end, thus the end that cutting is adjacent with interior nail.Subsequently, clinician can take out end effector 3000 from intestinal, and completes anastomosis.

Figure 46-49 illustrates another surgical end-effector 3000 ', and outside difference unless discussed below, it is identical with above-mentioned surgical end-effector 3000.Those parts that surgical end-effector 3000 ' is identical with the parts in surgical end-effector 3000 will be numbered with similar elements and be represented.Surgical end-effector 3000 ' can operate similarly but be different from the corresponding component in surgical end-effector 3000 those parts will with same parts numbering add " ' " represent.As from Figure 46-49, surgical end-effector 3000 ' comprises driving and departs from assembly (being typically expressed as 3090), and this driving departs from assembly and is advantageously configured to make clinician that the distal part of drivetrain and the portions of proximal of drivetrain can be made to depart from.

In described embodiment, disengaging assembly 3090 is driven to use in conjunction with closed-system 3070 ', if make the distal part of this closed-system surprisingly block or otherwise cannot use, so clinician can separate mechanical rapidly to the distally drivetrain part of closed-system and nearside drivetrain part.More specifically and with reference to Figure 47, tension band assembly 3040 and trocar tip 3042 (see Figure 42, Figure 43 and Figure 45) also can be described as " the distally drivetrain part " 3092 of closed-system 3070 ', and closed axle 3080 and closed nut assembly 3084 such as can be called as " the nearside drivetrain part " 3094 of closed-system 3070 '.As from Figure 47, a kind of driving of form departs from assembly 3090 and comprises distal coupler component 3095, and this distal coupler attaching components is to the proximal end of tension band assembly 3040.Distal coupler component 3095 is attached to tension band assembly 3040 by any combination of press-in cooperation, binding agent, solder, welding etc. or this type of attachment configuration.The size of distal coupler component 3095 is set in the slit 3097 that is received in slidably in the proximal coupler component 3085 ' being attached to closed nut assembly 3084.Distal coupler component 3095 comprises the distal aperture 3096 passed therethrough, and when distal coupler component 3095 is placed in slit 3097, this distal aperture is configured to and the axial registration of proximal aperture 3098 in proximal coupler component 3085 '.See Figure 48.Drive disengaging assembly 3090 also to comprise and drive coupling pin 3099, the size of this driving coupling pin is set to and is received in axially aligned hole 3096, in 3098, to be kept being attached to proximal coupler component 3085 ' by distal coupler component 3095.In other words, drive coupling pin 3099 for by distally drivetrain part 3092 mechanically and be attached to nearside drivetrain part 3094 releasedly.Coupling pin 3099 is driven transversely to extend in the connection axis CA-CA of closed axle axis CSA.Driving coupling pin 3099 to provide gap with relative to the axially-movable of percussion nut 3110 to give, in percussion nut 3110, being provided with axial slots 3111.As from Figure 46, end effector housing parts 3014 ' is provided with and axially extends clearance slot 3016, to be conducive to driving coupling pin 3099 axially to advance between the period of energization of closed-system 3070 '.This class formation makes clinician laterally to remove or pull-out-hole 3096 only by by driving coupling pin 3099 any time between the operating period of end effector 3000 ', 3098 allow distal coupler component 3095 and proximal coupler component 3085 ' to depart from, thus distally drivetrain part 3092 are separated rapidly with nearside drivetrain part 3094.

Although drive disengaging assembly 3090 to be described in conjunction with the closed-system 3070 ' of end effector 3000 ', drive disengaging assembly also can use in conjunction with the trigger system 3100 of end effector 3000 ' in alternative arrangement.In other structures, drive disengaging assembly 3090 can be connected with closed-system, and second drive disengaging assembly can be connected with trigger system.Therefore, one or two distally drivetrain partial selective ground machinery corresponding to them of nearside drivetrain part can be separated.In addition, this type of drives disengaging assembly effectively to use in conjunction with the closed-system at least some of other surgical end-effector disclosed herein (including but not limited to such as end effector 1000 and end effector 2000 and their corresponding equivalent constructions) and/or trigger system.

Figure 50-53 illustrates another surgical end-effector 2000 ', and outside difference unless discussed below, it is identical with above-mentioned surgical end-effector 2000.Those parts that surgical end-effector 2000 ' is identical with the parts in surgical end-effector 2000 will be numbered with similar elements and be represented.Surgical end-effector 2000 ' can operate similarly but be different from the corresponding component in surgical end-effector 2000 those parts will with same parts numbering add " ' " represent.As from Figure 51-53, surgical end-effector 2000 ' can be provided with the vision instruction that indicator structure provides the cock about closed-system and trigger system.

More specifically and see Figure 51 and Figure 52, closed-system 2070 comprises closed-system state component, and it is typically expressed as 2090.In one form, such as, closed-system state component 2090 comprises closing indicator component 2092, and this closing indicator attaching components is to closed nut 2084 ' or otherwise extend from this closed nut.Closed-system state component 2090 is also included in closing indicator window 2094 in end effector shell 2010 or opening, makes the position of closing indicator component 2092 can check that closing indicator component 2092 is assessed by clinician by closing indicator window 2094.Similarly, trigger system 2100 ' can comprise trigger system state component, and it is typically expressed as 2130.In one form, such as, trigger system state component 2130 comprises firing indicator component 2132, and this firing indicator attaching components is to percussion nut 2110 ' or otherwise extend from this percussion nut.Trigger system state component 2130 is also included in firing indicator window in end effector shell 2010 or opening 2134, makes the position of firing indicator component 2132 can check that firing indicator component 2132 is assessed by clinician by firing indicator window 2134.

Closed-system state component 2090 and trigger system state component 2130 show the machine performance of closed-system 2070 and trigger system 2100.The machine performance of the distal end of this end effector can substantially by clinician observes to, but it is sometimes covered by tissue or stops.The machine performance of the portions of proximal of this end effector is when cannot see without when windowed configuration or projection indicator.Color coding on the outside of reel structure and/or in indicator also can be used to as clinician provides the confirmation (such as, indicator is that green then represents completely closed) representing that this end effector is completely closed or pull the trigger.Such as, closing indicator component 2092 can have closed mark 2093 thereon, and this closed mark is checked by closing indicator window 2094.In addition, shell 2010 can have the adjacent with closing indicator window 2,094 first closed labelling 2095 and the second closed labelling 2096 to assess the position of closing indicator 2092.Such as, first closed labelling 2095 can comprise and has the first color (such as, orange, red etc.) Article 1, and the second closed labelling can comprise the bar or section with the second color (such as, green) being different from the first color.When the recent side end (this position is represented by the element number 2097 in Figure 50) that the closed labelling 2093 on closing indicator component 2092 is aligned on the first closed slug 2095 is upper, clinician can be observed closed-system 2070 and is in its unactuated position.When closed mark 2093 is aligned in the first closed slug 2095, clinician can be observed closed-system 2070 by partial actuation, but is not fully actuated or completely closed.When closed mark 2093 aims at the second closed labelling 2096 (it is represented by the element number 2098 in Figure 50), clinician can be observed closed-system 2070 and is in it and activates completely or make position completely.

Similarly, firing indicator component 2132 can have percussion mark 2133 thereon, and this percussion mark is checked by firing indicator window 2134.In addition, shell segments 2014 ' can have adjacent with firing indicator window 2,134 first and pulls the trigger labelling 2135 and second and pull the trigger labelling 2136 to assess the position of firing indicator 2132.Such as, first percussion labelling 2135 can comprise and has the first percussion color (such as, orange, red etc.) first percussion bar, and the second percussion labelling can comprise second percussion bar or the section with the second percussion color (such as, green) being different from the first percussion color.When the recent side end (this position is represented by the element number 2137 in Figure 50) that the percussion mark 2133 on firing indicator component 2132 is aligned in the first percussion slug 2135 is upper, clinician can be observed trigger system 2100 and is in its unactuated position.When pulling the trigger mark 2133 and being aligned in the first percussion slug 2135, clinician can be observed trigger system 2100 by partial actuation, but is not fully actuated or pulls the trigger completely.When pulling the trigger mark 2133 and aiming at the second percussion labelling 2136 (it is represented by the element number 2138 in Figure 50), clinician can be observed trigger system 2170 and is in it and activates completely or complete firing position.Therefore, clinician determines by the position of sight indicator in their respective window the degree that this closed-system and trigger system activated.

In alternative configuration, indicator window 2094,2134 can be located in end effector shell 2010 ', make when closed-system 2070 and trigger system 2100 ' are in the initial of them or unactuated position, their respective indicator 2092,2132 can respectively at indicator window 2094, completely visible in 2134.When closed-system 2070 and trigger system 2100 ' activated, their indicator 2092,2132 will shift out their indicator window 2094,2134.Subsequently, clinician is by observing by window 2094, and 2134 view how many indicators 2092, and 2132 carry out evaluating system 2070, and how far each in 2100 ' has activated.

Closed-system state component 2090 and trigger system state component 2130 show the machine performance of closed-system 2070 and trigger system 2100, and no matter whether end effector 2000 ' is attached to surgical instruments shank or shell.When end effector 2000 is attached to shank or shell, closed-system state component 2090 and trigger system state component 2130 will provide the chance of the machine performance determining these systems for clinician, as to the elementary inspection of the state that surgery instrument handle portion or shell show or secondary inspection.When end effector 2000 ' departs from surgical instruments shank or shell, closed-system state component 2090 and trigger system state component 2130 are also used as elementary inspection.In addition, this type of closed-system state component and trigger system state component can use in conjunction with the closed-system at least some of other surgical end-effector disclosed herein (including but not limited to such as end effector 1000 and end effector 3000 and their corresponding equivalent constructions) and/or trigger system effectively.

Figure 54-60 illustrates another surgical end-effector 2000 ", outside difference unless discussed below, it is identical with above-mentioned surgical end-effector 2000 '.Surgical end-effector 2000 " those parts identical with the parts in surgical end-effector 2000 ' and/or surgical end-effector 2000 will number with similar elements and represent.Surgical end-effector 2000 " can operate similarly but be different from the corresponding component in surgical end-effector 2000 ' and/or surgical end-effector 2000 those parts will with same parts numbering add " " " represent.As from Figure 54-60, surgical end-effector 2000 " comprise driving disengaging assembly (being typically expressed as 2200), this driving departs from assembly and is advantageously configured to make clinician that the distal part of drivetrain and the portions of proximal of drivetrain can be made to depart from.

In described embodiment, drive depart from assembly 2200 in conjunction with end effector 2000 " closed-system 2070 " use, if make the distal part of this closed-system surprisingly block or otherwise cannot use, so clinician can separate mechanical rapidly to the distally drivetrain part of closed-system and nearside drivetrain part.More specifically and with reference to Figure 56, closed beam assembly 2072 also can be described as closed-system 2070 " " distally drivetrain part " 2202, and closed axle 2080 and closed nut assembly 2084 " such as can be called as closed-system 2070 " " nearside drivetrain part " 2204.As from Figure 59, close nut assembly 2084 " although substantially the same with above-mentioned closed nut assembly 2084,2084 ', it provides with two parts.More specifically, closed nut assembly 2084 " comprise the top threaded portion 2210 that is threadedly engaged with closed axle 2080 and support and pull the trigger nut 2110 with the low portion 2214 of mode discussed above axially-movable wherein.Closed nut assembly 2084 " low portion 2214 be directly attached to closed beam assembly 2072 and comprise closing indicator component 2092 ", this closing indicator component works in the mode that the closing indicator 2092 with discussed above is identical.

In at least one form, drive and depart from assembly 2200 and comprise and drive coupling pin 2220, this driving coupling pin is used for closing nut assembly 2084 " low portion 2214 be attached to upper part 2210.As from Figure 59, such as, closed nut assembly 2084 " upper part 2210 comprise the first dovetail slot section 2212, this first dovetail slot section be configured to for closed nut assembly 2084 " low portion 2214 in the second dovetail slot section 2216 aim at.When the first dovetail slot section 2212 and the second dovetail slot section 2216 such on time as shown in Figure 59, they form hole 2215, drive the cylindrical portion 2222 of coupling pin 2220 can insert in this hole, upper part 2010 and low portion 2014 to be linked together, as shown by the circuit diagram of figure 56.In other words, drive coupling pin 2220 for by closed-system 2070 " distally drivetrain part 2202 mechanically and be attached to nearside drivetrain part 2204 releasedly.Coupling pin 2220 is driven transversely to extend in the connection axis CA-CA of closed axle axis CSA.See Figure 56.In order to give drive coupling pin 2220 provide gap with closed nut assembly 2084 " together with axially-movable, end effector shell 2010 " shell segments 2014 " be provided with and axially extend clearance slot 2224.This class formation makes clinician can at end effector 2000 " operating period between any time laterally remove only by by driving coupling pin 2220 or pull out by dovetail slot section 2212; 2216 holes 2215 formed, are separated with nearside drivetrain part 2204 rapidly by distally drivetrain part 2202.Once drive coupling pin 2220 to remove from hole 2215, closing assembly 2084 " low portion 2214 can move relative to upper part 2212, make tissue can discharge between storehouse module 2060 and anvil assembly 2140 thus.

Figure 54-56 describes the end effector 2000 being in " opening " position before use ".As from those accompanying drawings, such as, storehouse module 2060 has been installed and ready.Figure 57 and Figure 58 describes the end effector 2000 being in its closure state.That is, closed beam 2080 has been rotated into and has closed nut assembly 2084 upper driving of distal direction " DD " ".Due to closed nut assembly 2084 " low portion 2214 be attached to upper part 2210 by driving coupling pin 2220; therefore; closed beam assembly 2072 (because it is attached to low portion 2214) also distally moves to its make position, thus by target tissue held between storehouse module 2260 and anvil assembly 2140.As above discuss in addition, shell 2010 " on saddle type slider button 2162 distally move, extend through storehouse shell to cause retaining pin and enter in anvil assembly 2140, thus tissue being captured between storehouse module 2060 and anvil assembly 2140.As above discussed in detail, when closed nut assembly 2084 " when distally moving, percussion nut 2110 also distally moves, and this extracts the portions of proximal 2106 of beating shaft 2102 out elongated passageway in matrix pod coupling 57 '.See Figure 58.Figure 59 illustrates the driving coupling pin 2220 removed from the hole 2215 formed by dovetail slot section 2212,2216.Once be removed from hole 2215 by driving coupling pin 2220, nearside drivetrain part 2202 (closed beam assembly 2072) is by proximally moving saddle type slider button 2162 to move along proximal direction " PD ".This type games of button 2162 will make closed beam assembly 2072, closed nut assembly 2084 " low portion 2014, percussion nut 2110 and trigger shaft assembly 2112 and retaining pin proximally move.This type games will make tissue can discharge between storehouse module 2060 and anvil assembly 2140.

Figure 61 is the block diagram of the modular motor driving surgical instruments 7000 comprising handle portions 7002 and shaft portion 7004.Modular motor drives surgical instruments 7000 to represent modularity surgical instrument system (it is typically expressed as 2), in one form, this modularity surgical instrument system comprises motor and drives surgical instruments 10, and this motor drives surgical instruments can use in conjunction with the end effector 1000,2000 and 3000 of multiple surgical end-effector such as shown in Fig. 1.In above-detailed, modular motor drives various function and the operating aspect of surgical instruments 10, and for simplicity and clearly describe present disclosure, this type of details will not repeat in the following description be associated with Figure 61-64.On the contrary, the following description of Figure 61-64 drives the electrical system of surgical instruments 7000 and the function of subsystem and operating aspect by mainly laying particular emphasis on modular motor, and these all or part ofly can be applied to above-mentioned modular motor and drive in surgical instruments.

Therefore, go to Figure 61 now, modular motor drives surgical instruments 7000 to comprise handle portions 7002 and shaft portion 7004.Handle portions 7002 and shaft portion 7004 comprise by the respective electric subsystem 7006,7008 communicated and electricity interface 7010 electrically connects.The parts of the electrical subsystem 7006 of handle portions 7002 are supported by aforementioned panel 100.Communication and electricity interface 7010 are configured to the signal of telecommunication and electric power easily can be exchanged between handle portions 7002 and shaft portion 7004.

In the example illustrated, the electrical subsystem 7006 of handle portions 7002 is electrically coupled to various electrical equipment 7012 and display 7014.In one case, display 7014 is Organic Light Emitting Diode (OLED) display, but display 7014 should not be limited to this context.The electrical subsystem 7008 of shaft portion 7004 is electrically coupled to various electrical equipment 7016, and these electrical equipments will be described in more detail below.

On the one hand, the electrical subsystem 7006 of handle portions 7002 comprises solenoid driver 7018, accelerometer 7020, motor controller/driver 7022, shank processor 7024, pressure regulator 7026, and is configured to receive input from multiple switch 7028.Although in illustrative embodiment, switch 7028 is designated as Hall switch, and switch 7028 is not limited to this context.In many aspects, hall effect sensor or switch 7028 can be arranged in the end effector part of apparatus, axle and/or shank.

On the one hand, the electrical subsystem 7006 of handle portions 7002 is configured to receive from solenoid 7032, clip position switch 7034, firing position switch 7036, motor 7038, battery 7040, OLED interface board 7042 and the signal opening switch 7044, Closing Switch 7046 and percussion switch 7048.On the one hand, motor 7038 is brushless DC motors, but in many aspects, motor is not limited to this context.But, aforementioned motors 80,480,580,680,750 and 780 is applicable to the description of motor 7038.Solenoid 7032 is representative example of aforementioned shift device solenoid 71.

On the one hand, the electrical subsystem 7008 of shaft portion 7004 comprises axle processor 7030.The electrical subsystem 7008 of axle is configured to receive from the various switch of end effector part and the signal of sensor, the clamping jaw in this end effector of this signal designation and the state of cutting element that are arranged in apparatus.As shown in Figure 61, the electrical subsystem 7008 of axle is configured to receive the signal from fixture open mode switch 7050, fixture closure state switch 7052, percussion initial state switch 7054 and percussion done state switch 7056, this signal designation clamping element and cutting element state.

On the one hand, shank processor 7024 can be applicable to medical treatment and surgical instruments apply and comprise the general purpose microcontroller of motion control.In one case, shank processor 7024 can be the TM4C123BH6ZRB microcontroller that TexasInstruments provides.Shank processor 7024 can comprise 32 with system timer (SysTick) cortex ^tMgrand and the trace port of-M480-MHz processor core, integrated nested vector interrupt controller (NVIC), the wake-up interrupts controller (WIC) with Clock gating, memory protection unit (MPU), the single-precision floating point unit (FPU) meeting IEEE754, Embedded Trace, system control block (SCB) and Thumb-2 instruction set etc.Shank processor 7024 can comprise on-chip memory, such as up to the 256KB single cycle flash memory of 40MHz.Prefetch buffer can be provided improve higher than performance during 40MHz.Other memorizer comprises 32KB single cycle SRAM, be loaded with TivaWare for the C groupware ^tMinside ROM, 2KBEEPROM etc., such as use CAN protocol version 2 .0 part A/B and there are two controller area network (CAN) modules of the bit rate up to 1Mbps.

On the one hand, it is integrated that shank processor 7024 also can comprise senior serial, comprise there is IrDA, eight universal asynchronous receiver/emitters (UART) (UART has modem state and modem current control) that 9 and ISO7816 support.Four synchronous serial interface (SSI) modules are provided for the operation supported FreescaleSPI, MICROWIRE or TexasInstruments synchronous serial interface.In addition, between six integrated circuits (I2C) module standard (100Kbps) is provided and fast (400Kbps) transmission and support as such as main device or transmit and receive data from device.

On the one hand, shank processor 7024 also comprises ARM the configurable μ dma controller of 32-passage, provides a kind of from Cortex ^tMthe mode of-M4 processor unloading data transfer task, thus more effectively utilize processor and available bus bandwidth.Such as, simulation supports function to comprise to have pressure regulator on two 12 analog-digital converters (ADC) of 24 analog input channels and 100 ten thousand samples/second sampling rate, three analog comparaters, 16 digital comparators and sheets.

On the one hand, shank processor 7024 also comprises advanced motion controlling functions, such as eight pulsewidth modulation (PWM) generator blocks, each PWM generator block has 16 digit counters, two PWM comparators, pwm signal generator, dead time generator and interruption/ADC trigger selectores.There is provided eight PWM fault inputs for facilitating the shutdown of low delay.There is provided two orthogonal encoder interface (QEI) modules, this QEI module has the position integrator for following the tracks of encoder position and the speed using built-in timer to catch.

On the one hand, two watchdog timers meeting ARMFiRM provide together with six 32 general purpose timers (at the most 12 16 general purpose timers).Such as, six 64 bit wide general purpose timers (at the most 12 32 general purpose timers) and 12 16/32 and 12 32/64 capture compare PWM (CCP) pin are provided.According to configuration, can provide 120 universal input/outputs (GPIO) at the most, they have the pin of the PLC technology that GPIO interrupts and plate configures and high flexible multiplexed.Shank processor 7024 also comprises the sleep block of the low battery power support with real-time clock.There is provided multiple clock source for micro controller system clock, and multiple clock source comprise accurate oscillator (PIOSC), king oiscillator (MOSC), for the 32.768-kHz external oscillator of sleep block and 30-kHz internal oscillator.

On the one hand, accelerometer 7020 part of the electrical subsystem 7006 of handle portions 7002 can be the motion sensor based on MEMS (MEMS).As is well known, computer is combined with micromachine such as sensor, valve, gear, mirror and the actuator embedded in semiconductor chip by MEMS technology.In an example, such as, the accelerometer 7020 based on MEMS can comprise ultra low power 83 number of axle word accelerometers, the LIS331DLM that such as STMicroelectronics provides.

On the one hand, accelerometer 7020 such as LIS331DLM can be ultra low power high-performance type three axis linear accelerometer, belongs to " nanometer " series, has digital I2C/SPI serial interface standard outfan, and can be suitable for communicating with shank processor 7024.Accelerometer 7020 can have ultra-low power operation pattern, this achieves senior power saving and intelligent sleep arousal function.Such as, accelerometer 7020 dynamically comprises ± the optional gamut of user of 2g/ ± 4g/ ± 8g, and the acceleration of output data rate from 0.5Hz to 400Hz can be measured.

On the one hand, accelerometer 7020 can comprise selftest ability, checks the operation of sensor in final application to allow user.Accelerometer 7020 can be configured to wake/freely falling body event and generate interrupt signal by the position of apparatus own up by inertia.The threshold value of interrupt generator and timing can be dynamically programmable.

On the one hand, such as, motor controller/driver 7022 can comprise three phase place brushless direct-current (BLDC) controller and mosfet drivers, A3930 motor controller/driver that such as Allegro provides.Such as, 3 phase brushless DC motor controller/drivers 7022 can use together with N channel external power MOSFET, to drive BLDC motor 7038.In one case, motor controller/driver 7022 can in conjunction with the circuit needed for effective three-phase motor drive system.In one case, motor controller/driver 7022 comprises charge pump regulator, to provide fully (>10V) raster data model to the cell voltage of being down to 7V, and motor controller/driver 7022 can be operated under the cell voltage of being down to 5.5V with the raster data model reduced.Power attenuation in this charge pump can by minimizing from the pattern of reversing switched under the nominal operating voltage of 14V compared with times die pressing type under low suppling voltage.On the one hand, use boottrap capacitor provides the above battery power voltage needed for N channel MOSFET.The internal charge pump of flash driving device allows DC (100% dutycycle) operation.

Inner fixed-frequency PWM current control circuit regulates maximum load current.Peak load current limit value is by arranging the selection of input reference voltage and external sense resistor.The outside RC timing network that PWM frequency can be selected by user is arranged.In order to increase motility, speed and moment of torsion can be provided to control with PWM input, thus allow internal current control circuit that maximum current limit value is set.

The efficiency of motor controller/driver 7022 strengthens by using synchronous rectification.Protect power MOSFET not breakdown by integrated cross-over control and idle time.Idle time can be arranged by single external resistor.

On the one hand, motor controller/driver 7022 is in response to the complete zero combination instruction logic fault in Hall input.The supplementary features of motor controller/driver 7022 comprise for the high electric current 3 phase raster data model of N channel MOSFET, synchronous rectification, mutual conductance protection, for 100%PWM charge pump and pushed up charge pump, integrated rectification decoder logic, the operation on 5.5V to 50V power supply voltage range, diagnosis export; + 5V Hall element power is provided, and there is low current sleep pattern.

On the one hand, modular motor drives surgical instruments 7000 to be equipped with brushless DC electric motor 7038 (BLDC motor, BL motor), and it is also referred to as electronic rectifier motor (ECM, EC motor).This type of motor a kind of is the BLDC motor B0610H4314 provided by Portescap.BLDC motor B0610H4314 can be hot pressing.BLDC motor 7038 is the syncmotors of being powered via integrated inverse device/Switching Power Supply by DC power supply, and this syncmotor produces the AC signal of telecommunication with the motor controller/driver 7022 just described in CD-ROM drive motor such as previous paragraph.In this context, namely AC exchanges and does not mean that sinusoidal wave form, but without the bidirectional current that waveform limits.Additional sensor and electronic device control inverter export amplitude and waveform (thus percentage ratio of control DC bus utilization rate/efficiency) and frequency (that is, spinner velocity).

The rotor portion of BLDC motor 7038 is permanent magnet synchronous motor, but in other respects, BLDC motor can also be switched reluctance motor or induction motor.Although some brushless DC motors can be described as stepper motor, the motor that term " stepper motor " operates under being often used for being specifically designed to the pattern again and again utilizing the rotor of the Angle Position being in restriction to stop at motor.

On the one hand, BLDC motor controller/driver 7022 must rotate by guided rotor.Therefore, BLDC motor controller/driver 7022 needs some for determining the device of the orientations/locations (relative stator coil) of rotor.In one case, the rotor portion of BLDC motor 7038 is configured with hall effect sensor or rotary encoder directly to measure rotor-position.In other cases, measure the counter electromotive force (EMF) in the coil that do not drive, so that infer rotor position and without the need to independent hall effect sensor, and be therefore often called as non-sensor type controller.

On the one hand, BLDC motor controller/driver 7022 comprises 3 two-way outputs (that is, frequency modulation three-phase exports), and these two-way outputs are controlled by logic circuit.In other cases, simpler controller comparator can be adopted to determine when exporting phase place should shift to an earlier date, and more advanced controller adopts microcontroller manage acceleration, control rate and finely tune efficiency.

The actuator producing linear movement is called linear motor.The advantage of linear motor is, they can produce linear movement when not needing transmission system such as ball and driving screw, rack-and-pinion, cam, rotation motor by when required gear or band.Known transmission system causes lower response and the accuracy of reduction.This Direct driver BLDC motor 7038 can comprise the slotted stator with magnetic tooth and motion actuator, and this motion actuator has permanent magnet and coil windings.In order to obtain linear movement, BLDC motor controller/driver 7022 encourages the coil windings in this actuator, thus causes magnetic field interaction, causes linear movement.

On the one hand, BLDC motor 7038 is the PortescapBO610 brushless DC motors providing the combination of the following in the packaging part being suitable for modular motor driving surgical instruments 7000: durability, efficiency, moment of torsion and speed.This type of BLDC motor 7038 provides suitable torque density, speed, position control and longer life.Slotless BLDC motor 7038 use with the winding technique identical with iron-free DC motor make cylindrical without iron coil.Groove BLDC motor 7038 is had also to be hot pressing.Have groove BLDC motor 7038 can comprise the stator be made up of the stacking steel layer compound with the winding being placed in slit, this slit axially cuts out along inner rim.Brushless DC has groove BLDC motor 7038 to provide high torque density and heat dissipation and high acceleration.The three phase arrangement of BLDC motor 7038 comprises the supply voltage of Y-connection, hall effect sensor, 4.5-24V.The shell of BLDC motor 7038 can be made up of 303SS material, and axle can be made up of 17-4ph material.

On the one hand, Hall switch 7028 can be the hall effect sensor that known commodity are called BU520245G, and can be the hall effect sensor of unipolar IC type.These sensors operate on the power supply voltage range of 2.4V to 3.6V.

On the one hand, pressure regulator 7026 utilizes PMOS transfer element to replace conventional PNP transmission transistor.Because PMOS transfer element shows as low values of resistors, lower dropout voltage (being generally 415mV under the load current of 50A) is directly proportional to load current.Comparatively low quiescent current (usual 3.2 μ A) is stable under output load current gamut (0mA to 50mA).

On the one hand, pressure regulator 7026 is low (LDO) pressure regulators that reverse, the TPS71533LDO pressure regulator that such as TexasInstruments provides.This type of LDO pressure regulator 7026 provides following benefit: high input voltage, low dropout voltage, low operating power, and microencapsulated.Pressure regulator 7026 can operate on the input range of 2.5V to 24V, is stable (>=0.47 μ F) for any capacitor.LDO voltage and low quiescent current allow to operate under the lower power levels of pole, and therefore pressure regulator 7026 is well-suited for battery management integrated circuit.Specifically, can be used for fast powering for the continued operation battery charge integrated circuit of handle portions 7002 once applying voltage reaches minimum input voltage and exports, pressure regulator 7026 is just enabled.

On the one hand, battery 7040 is lithium ion polymer (LIPO) batteries, polymer Li-ion or more common lithium polymer battery (being abbreviated as Li-to gather, Li-Pol, LiPo, LIP, PLI or LiP) are rechargeable (accumulator) batteries.LIPO battery 7040 can comprise some identical accumulator in parallel to increase capacity discharge current, and usually provides to increase overall voltage available with the form of connect " grouping ".

Drive the secondary power of surgical instruments 7000 can be provided by synchronous step-down dc-dc 7058 (Figure 63-A) for modular motor, the TPS6217X series that this transducer provides for the application such as TexasInstruments with high power density is optimized.The higher switching frequency being generally 2.25MHz can be adopted to allow to use small inductor device, and provide by utilizing DCS-Control ^tMtopology and realize fast transient response and high output voltage accuracy.

For the extensive operation input voltage range of 3V to 17V, the modular motor that synchronous step-down dc-dc 7058 (Figure 63-A) is very suitable for powering from Li ion or other batteries and 12V middle power rail drives surgical instruments 7000 system.On the one hand, under the output voltage between 0.9V and 6V (under 100% duty cycle mode), synchronous step-down dc-dc 7058 is supported up to 0.5A continuous output current.

Enable and open the good pin of rain supply by configuration, also likely carry out electric power sequencing (powersequencing).In energy-saving mode, synchronous step-down dc-dc 7058 (Figure 63-A) display is from the quiescent current of the about 17 μ A of VIN.If the less and greater efficiency maintained on whole loading range of load, so automatically and seamlessly enter energy-saving mode.In shutdown mode, synchronous step-down dc-dc 7058 is closed, and shuts down current drain and be less than 2 μ A.

On the one hand, OLED interface 7042 is interfaces of OLED display 7014.OLED display 7014 comprises wherein can launch electroluminescence layer and be in response to electric current and the Organic Light Emitting Diode of the organic compound film of luminescence.This layer of organic semi-conductor is positioned between two electrodes, and in this position, at least one usually in these electrodes is transparent.OLED display 7014 can comprise the OLED from two major families: based on micromolecular those and adopt those of polymer.Mobile ion is added into OLED and forms light-emitting electrochemical cell or LEC, this LEC has slightly different operator schemes.OLED display 7014 can use passive matrix (PMOLED) or active array addressing scheme.Activematric OLED (AMOLED) needs thin film transistor backplane to open or close each independent pixel, but allows higher resolution and larger display sizes.In one case, OLED display 7014 is when working without when backlight.Therefore, it can show darker black level and thinner than liquid crystal display (LCD) brighter, thus makes it be ideally suited for use on the handle portions 7002 that modular motor drives surgical instruments 7000.

On the one hand, the axle processor 7030 of the electrical subsystem 7008 of shaft portion 7004 can be embodied as ultra low power 16 mixed signal MCU, the MSP430FR5738 ultra low power MCU that such as TexasInstruments provides.Axle processor 7030 is the Ultra low power microcontroller be made up of multiple device, and these devices have embedded FRAM nonvolatile storage, ultra low power 16 MSP430CPU and the additional peripheral devices for various application.In the application of portable and wireless sensing, the battery life realizing extending is optimized in conjunction with the framework of 7 low-power modes, FRAM and ancillary equipment.FRAM is the new nonvolatile memory speed of SRAM, motility and durability combined with stability and the reliability of flash memory, and above-mentioned all characteristics all realize under lower total power consumption.Ancillary equipment comprises 10 A/D converters, has 16 passage comparators of reference voltage generation and delayed ability, supports that three of I2C, SPI or UART agreement strengthen serial-port, inner DMA, hardware multiplier, real-time clock, five 16 bit timing devices etc.

Axle processor 7030 comprises 16 RISC frameworks of 24MHz clock at the most, and operates on the extensive power supply voltage range of 2V to 3.6V, and is optimized for ultra low power pattern.Axle processor 7030 also comprises the nonvolatile memory of intelligent digital ancillary equipment, ultra low power ferroelectric RAM and 16KB at the most.This embedded microcontroller provides ultra low power to write, that is, the no write de-lay circulation of 16KB in 125ns/ word, 1ms, and comprises built-in Error Correction of Coding and correction (ECC) and memory protection unit (MPU).

When describing modular motor and drive the electrical system of the handle portions 7002 of surgical instruments 7000 and shaft portion 7004, subsystem and parts, now the function aspects of this control system will be described.Therefore, in operation, the electrical subsystem 7006 of handle portions 7002 is configured to receive from the signal opening switch 7044, Closing Switch 7046 and percussion switch 7048 be supported on the shell of handle portions 7002.When receiving signal from Closing Switch 7046, shank processor 7024 operates motor 7038 to cause the closed of clamping limb.Once closed fixture, the fixture closure state switch 7052 in this end effector just sends signal to axle processor 7030, and the state of clamping limb is sent to shank processor 7024 by communication and electricity interface 7010 by this axle processor.

Once clamp destination organization, actuatable percussion switch 7048 generates signal, and this signal is received by shank processor 7024.Responsively, transmission balladeur train is actuated to its second activation point by shank processor 7024, makes the actuating of motor 7038 to cause the rotation of the second driving shaft, as above described in detail by composition graphs 1-8.Once cutting element is located, the percussion initial state switch 7054 being arranged in this end effector just sends the signal of the position of instruction cutting element to axle processor 7030, position is sent back shank processor 7024 by communication and electricity interface 7010 by axle processor 7030.

Again activate the first switch 7048 and signal is sent to shank processor 7038, responsively, this shank processor activates the second drive system in this end effector and trigger system, organizes cutting element and wedge-shaped slides assembly through surgery nail bin distally to drive.Once organize cutting element and wedge-shaped slides assembly to be driven to their farthest side positions in surgery nail bin, percussion end switches 7056 just sends signal to axle processor 7030, and position is sent back shank processor 7024 by interface 7010 by this axle processor.Now, can start percussion switch 7048 and send signal to shank processor 7024, this shank processor operations motor 7038 rotates in the opposite direction, is back to its original position to make trigger system.

Actuating is opened switch 7044 and is sent signal to shank processor 7024 again, and fixture opened by this shank processor operations motor 7038.Once open fixture, the fixture open mode switch 7050 being arranged in this end effector just sends signal to axle processor 7030, and chucking position is sent to shank processor 7024 by this axle processor.Clamp position switch 7034 and firing position switch 7036 provide the signal of the relevant position of instruction clamping limb and cutting element to shank processor 7024.

Figure 62 is the table 7060 of the load current demand having described the total time of stroke cost and the various operations of various assembly axis.From left side, first row 7062 lists circle, waveform and TLC device/axle.These device/beam warps are compared by following three different operatings: close, open and pull the trigger, as shown in secondary series 7064.Device/axle that 3rd row 7066 are described to list in first row 7063 completes the total time (in second) needed for a stroke.4th row 7068 are listed and are completed operation in secondary series 7064 to realize the load current demand (with ammeter) of complete stroke (indicated by the 3rd row 7066) for the device/axle listed in first row 7062.As pointed out in chart, closed with to open the time that clamping limb spends about identical with each the spent time in the device/axle listed in first row 7062.For percussion operation, circular apparatus/axle requires the maximum load current of 15.69A, and TLC device/axle requires the load current that 0.69A is minimum.

Figure 63-A is the detail view that modular motor drives the electrical system in the handle portions 7002 of surgical instruments 7000.As shown in Figure 63-A, pressure regulator 7026 and dc-dc 7058 provide operating voltage for electrical system.The voltage of pressure regulator 7026 regulating cell 7040.Shank processor 7024 receives the input from accelerometer 7020.Input voltage is supplied to shank processor 7024 and VSS input is supplied to dc-dc 7058 by VSS-ON/OFF logic power 7086.

Three-color LED 7072 is electrically coupled to shank processor 7024.Shank processor 7024 makes redness, blueness or green LED 7072 be energized, to provide visual feedback.

3 hall effect sensors 7028U10, U11, U12 provide 3 independent Hall effect outfan U1_Hall1, U1_Hall2, U1_Hall3, and these outfans are attached to shank processor 7024, as shown in the figure.U1_Hall3 outfan drives airborne LED7088.On the one hand, hall effect sensor outfan U1_Hall1, U1_Hall2, U1_Hall3 and ANALOG_CLAMP signal is attached to shank processor 7024, clamping limb and the cutting element position at the end effector part place of surgical instruments 7000 is driven with determination module motor, or the position of other elements of apparatus 7000.

Subscriber switch 7070 is representative instances of aforementioned " rocking arm trigger " 110, and it is pivotally mounted to the pistol grip portion of shank.Subscriber switch 7070 operationally activates the first motor switch 7044 being operationally attached to shank processor 7024.First motor switch 7044 can comprise pressure switch, and this pressure switch activates by being pivoted into be in contact with it by subscriber switch 7070.The actuating of the first motor switch 7044 will cause the actuating of motor 7038, and driven wheel is rotated in a first rotational direction.Second motor switch 7046 is also attached to shank processor 7024 and is mounted to optionally to be contacted by subscriber switch 7070.The actuating of the second motor switch 7046 will cause the actuating of motor 7038, and driven wheel is rotated in a second direction.First switch 7048 is attached to shank processor 7024.As mentioned above, the actuating of percussion switch 7048 causes the axially-movable transmitting balladeur train, to advance cutting element.

Joint test action group (JTAG) 7074 input is also attached to shank processor 7024.JTAG7074 input be for integrated circuit (IC) debug port design IEEE1149.1 standard test access port and border-scan architecture.Shank processor 7024 implements JTAG7074 to perform debugging operations, as single step execution and breakpoint perform.

UART7076 is attached to shank processor 7024.UART7076 makes data transition between parallel connection and cascade.UART7076 uses in conjunction with communication standard such as EIA, RS-232, RS-422 or RS-485 usually.Common tags instruction configurable data form and transmission speed.Electric signal transmission level and method (such as differential signal sends etc.) are processed by the drive circuit in UART7076 outside.UART7076 can be the independent integrated circuit (or its part) of serial communication on the serial port at shank processor 1024.UART7076 can be included in shank processor 1024.

All the other function aspects of electrical subsystem 7006 now being provided by composition graphs 63-B modular motor to drive the handle portions 7002 of surgical instruments 7000 and the description of operating aspect.As shown in the figure, shank processor 7024 provides signal to drive solenoid 7032.Position signalling SHAFT_IDO, SHAFT_ID1, CLAMP_HOME and FIRE_HOME are supplied to shank processor 7024 by axle module 7078.The position of fixture and cutting element is supplied to shank processor 7024 by gear position module 7080.The positional information provided by axle module 7078 and gear position module 7080 makes shank processor 7024 can when receiving subscriber switch 7070 signal to open fixture, closed fixture and/or percussion cutting element, correctly starter 7038.

Motor controller 7022 receives the order from shank processor 7024 and provides order to mosfet driver 7084, and mosfet driver 7084 drives 3 phase BLDC motors 7038 (Figure 61).As previously mentioned, BLDC motor controller 7022 must rotate by guided rotor.Therefore, BLDC motor controller/driver 7022 determines the orientations/locations of rotor relative to stator coil.Therefore, the rotor portion of BLDC motor 7038 is configured to have hall effect sensor 7028 directly to measure rotor-position.BLDC motor controller 7022 comprises 3 two-way outputs (that is, frequency modulation three-phase exports), and these two-way outputs are controlled by logic circuit.

Therefore, as as described in Figure 61, Figure 63-A, Figure 63-B and Figure 64, the motor control system comprising the motor hall effect sensor 7028 of motor controller 7022, motor driver 7084, combination gear position module 7080 and/or axle module 7078 can operate to make gear synchronous, and the convex coupling in handle portions is smoothly connected with the matrix coupling in the shaft portion of surgical instruments described herein.In one case, such as, be easy to displacement or keying although can provide some tolerances to realize, motor control system is configured to the position of following the tracks of gear, will forbid that displacement or installation two rotate the position of keying between position to guarantee that gear does not stop at.In another case, motor can be configured to during installation or displacement slowly calibration, anyly slightly loses synchronous situation to solve.Example described in composition graphs 6 when apparatus is shifted between two driving devices but not only when installing new end effector, also can run into these problems.This situation can carry out suitably synchronously solving in conjunction with the gear of motor control system described in Figure 61, Figure 63-A, Figure 63-B and Figure 64 by adopting.In other cases, encoder can be provided to follow the tracks of the rotation of gear/gear wheel shaft.

Figure 64 is the block diagram that modular motor drives the shank of surgical instruments and the electrical system of shaft portion.As shown in Figure 64, shank processor 7024 receives the input from opening switch 7044, Closing Switch 7046, percussion switch 7048, clamp position switch 7034 and firing position switch 7036.In addition, shank processor 7024 receives from clamping home switch 7090 and the input of pulling the trigger home switch 7092 from axle module 7078.Use the various combinations that these switches input, appropriate command is supplied to motor 7038 and solenoid 7032 by shank processor 7024.Battery monitoring circuit 7088 is monitored and is inputted relative to the power of ground to shank processor 7024.Shank processor 7024 drives three-color LED 7072.Whether accelerometer 7020 provides three axle orientation inputs to shank processor 7024, put down with the orientation and apparatus 7000 of determining various parameter such as apparatus 7000.Pressure regulator 7026 for this system provide through regulate power source.There is provided current sensing module 7094 to sense the electric current drawn from power source.

Figure 65 illustrates the mechanical switch kinetic control system 7095 in order to eliminate the Microprocessor S3C44B0X of motor function.In the system that composition graphs 61-64 describes, microprocessor such as shank processor 7024 is for controlling the function of motor 7038.Shank processor 7024 performs control algolithm based on the various states of the switch disposed in whole apparatus 7000.This needs to use shank processor 7024 and the recognition function that is associated to provide control to different end effectors.

But as shown in Figure 65, alternate technologies can be adopted to control motor 7038, this by placing motion related switch 7096A in end effector axle, and 7096B, 7096C, 7096D eliminate the needs to shank processor 7024.Subsequently, switch 7096A-D is configured to open and close the specific function of motor 7038 based on the position of the specific end effector parts in location or make the direction of motor 7038 reverse.In one case, the switch disposed completely of instruction cutting element can be adopted to carry out the function of switching motor 7038, to make direction oppositely and to recall cutting element.In another case, switch 7096A-D can be configured to detected pressures or power, makes organizationally ON/OFF signal feedback to be supplied to closed motor 7038, to stop closing motion by closed for anvil block downwards simply.

In all cases, surgical instruments can comprise shank, the electro-motor be positioned in this shank, the axle that can be attached to shank and the end effector extended from axle, and wherein electro-motor is configured to excite this end effector function at end effector place.In some cases, surgical instruments can comprise control system, this control system comprises one or more sensor and microprocessor, this microprocessor can receive input signal, the operation of monitoring surgical instruments of sensor, and operate electro-motor according to sensor input signal, with actuation end actuator function.In this type of situation of at least one, the shank of this surgical instruments can use together with more than one axle.Such as, linear-seam sympodium or circular seams sympodium can be assembled to shank.Shank can comprise at least one sensor, and this sensor is configured to detect the type of the axle being assembled to it and transmits this information to microprocessor.Depend on the type of the axle being assembled to this shank, microprocessor can operate electro-motor by different way in response to sensor input signal.Such as, if electro-motor is configured to the closed-system of operative end executor, so microprocessor rotates making electro-motor in a first direction with the anvil block of closed circle stapler shaft, and electro-motor is rotated with the anvil block of closed linear stapler shaft on second or rightabout.Contemplate other control system, wherein can realize same operation to electro-motor when not using microprocessor and control.In this type of situation of at least one, the axle of surgical instruments and/or shank can comprise switch, and this switch can operate surgical instruments by different way, and this depends on the type of the axle being assembled to this shank.

In all cases, the second motor and on-off control system that surgical instrument system can comprise power supply, be configured to perform the first motor of first end actuator function, is configured to perform the second end actuator function, this on-off control system is configured to power supply to be optionally placed to be communicated with the second motor with the first motor in response to on-off control system.In all cases, this type of surgical instrument system can not comprise microprocessor.First motor can comprise the closed motor of the closed-system of the anvil block being configured to closed ends executor, and the second motor can comprise the percussion motor of the trigger system of the nail bin percussion nail be configured to from end effector.On-off control system can comprise closure trigger switch, and this closure trigger switch can close closed electrical source circuit power supply being attached to closed motor when closed.Control system also can comprise closing stroke end switch, this closing stroke end switch can be in complete make position at anvil block and open closed power circuit to stop being opened by closed-system when closed motor and closed driving device.On-off control system also can comprise percussion trigger switch, and this percussion trigger switch can be a part for electrical turning source circuit power supply being attached to percussion motor.In all cases, the default conditions of this electrical turning source circuit can be to be opened, and this can prevent operation before electrical turning source circuit is closed from pulling the trigger motor.Therefore, only closed percussion switch possibly cannot close electrical turning source circuit and operation percussion motor.Electrical turning source circuit also can comprise the second closing stroke end switch, and this second closing stroke end switch is closed by closed-system when anvil block is in complete make position.Closedown percussion switch and the second closing stroke end switch can close electrical turning source circuit and operation percussion motor.Control system also can comprise percussion end-of-stroke switch, and this percussion end-of-stroke switch is opened by percussion driving device at the end of percussion driving device arrives its percussion stroke.Opening of percussion end-of-stroke switch can be opened electrical turning source circuit and stop percussion motor.Control system also can comprise the second percussion end-of-stroke switch, this the second percussion end-of-stroke switch is closed with closed reverse electrical turning source circuit by percussion driving device, and this reverse electrical turning source circuit will be applied to the pole reversal of the power supply of percussion motor and operation percussion motor this percussion driving device is bounced back in the opposite direction.Closed reverse electrical turning source circuit may also need this percussion trigger switch to be in closure state.When pulling the trigger driving device and arriving its complete advanced position, it can close nearside percussion switch.The closed of nearside percussion switch can close reversed closed power circuit, and this reversed closed power circuit can be applied to the pole reversal of the power supply of closed motor and operation closes motor and opens anvil block in the opposite direction.Closed reversed closed power circuit may also need this closure trigger switch to be in closure state.When anvil block arrives its fully open position, this anvil block can open nearside Closing Switch, and this nearside Closing Switch can be opened reversed closed power circuit and stop closed motor.But this is only an example.

In all cases, as described herein, the shank of surgical instruments can use together with being optionally attached to some disalignment assemblies of shank.In some cases, also as described herein, shank can be configured to the type detecting the axle being assembled to this shank, and operates shank according to the control system be included in shank.Such as, shank can comprise microprocessor and at least one memory element, and this memory element can store and perform multiple operation sequence, and each operation sequence is configured to operation specific axis assembly.Contemplate other embodiments, wherein shank does not comprise control system; On the contrary, shaft assembly can comprise their control system separately.Such as, the first shaft assembly can comprise the first control system, and the second shaft assembly can comprise the second control system, etc.In all cases, shank can comprise electro-motor, power supply such as battery and/or input cable and be configured to operate based on the control inputs from attached shaft assembly the circuit of electro-motor.Shank also can comprise the actuator be combined with axle control system, and this actuator can control electro-motor.In all cases, shank can not comprise such as controlling additional control logic and/or the microprocessor of electro-motor.Except shank actuator, the control logic that the control system being attached to the shaft assembly of shank will comprise required for operation electro-motor.In all cases, the control system of shaft assembly can comprise microprocessor, and in other situations, may be really not so.In some cases, the first control system of the first shaft assembly can comprise first microprocessor, and the second control system of the second shaft assembly can comprise the second microprocessor, etc.In all cases, shank can comprise the first electro-motor such as closed motor and the second electro-motor and such as pull the trigger motor, and the control system of wherein attached shaft assembly can operate closed motor and percussion motor.In some cases, shank can comprise closing actuator and percussion actuator.Except closing actuator and percussion actuator, the control logic that the control system being attached to the shaft assembly of shank will comprise required for the closed motor of operation and percussion motor.In all cases, shank can comprise axle junction surface, and each shaft assembly can comprise the shank junction surface being configured to engages axle junction surface.Axle junction surface can comprise the electric connector being configured to engage with the electric connector at shank junction surface when shaft assembly is assembled to shank.In at least one situation, each adapter can comprise an only electric contact, and this electric contact is combined together, and makes only there is a controllability path between shank and shaft assembly.In other cases, each adapter can comprise only two electric contacts, and these two electric contacts form the right of two cooperations when shaft assembly is attached to shank.In this case, two controllability path can only be there are between shank and shaft assembly.Contemplate other embodiments, between shank and shaft assembly, wherein there are more than two controllability path.

In all cases, surgical end-effector attachment can be compatible with surgical instruments shank.Such as, surgical end-effector can be attached to the shank of surgical instruments and can transmit and/or implement the actuation movement that causes in the shank of surgical instruments.See Figure 73 and Figure 74, surgical end-effector 8010 can be and one of some surgical end-effector of shank 8000 compatibility of surgical instruments.Describe in the whole text in the disclosure and depict various different surgical end-effector in the accompanying drawing be associated in the whole text.Reader should be appreciated that described herein and these various different surgical end-effector described such as can be compatible with identical surgical instruments shank and/or can with compatible more than a type surgical instruments shank.

Shank 8000 can comprise drive system, and such as, this drive system can be configured to actuation movement to be passed to the parts of end effector 8010, assembly and/or system from the shank 8000 of surgical instruments.Such as, shank 8000 can comprise the first drive system 8002a and the second drive system 8004a.In some cases, such as, drive system 8002a, one in 8004a can be configured to the jaw assembly closed actuation movement being passed to end effector 8010 (Figure 73), and such as, one in drive system 8002a, 8004a can be configured to percussion element percussion actuation movement be passed in end effector 8010.Drive system 8002a, 8004a can be configured to linear movement, displacement and/or translation to be passed to end effector 8010 from shank 8000.In all cases, the first drive system 8002a can comprise drive rod 8006, and this drive rod can be configured to translation and/or linear displacement when the first drive system 8002a starts.Similarly, the second drive system 8004a can comprise drive rod 8008, and this drive rod can be configured to translation and/or linear displacement when the second drive system 8004a starts.

In all cases, end effector assembly 8010 can comprise the first drive system 8002b, such as, this first drive system may correspond to the first drive system 8002a in shank 8000, and end effector assembly 8010 also can comprise the second drive system 8004b, such as, this second drive system may correspond to the second drive system 8004a in shank 8000.In all cases, the first drive system 8002b in end effector 8010 can comprise driving element 8012, this driving element such as can operate and be attached to the drive rod 8006 of the first drive system 8002a of shank 8000 releasedly, and such as can be configured to receive linear movement from drive rod 8006.In addition, the second drive system 8004b in end effector 8010 can comprise driving element 8014, this driving element such as can operate and be attached to the drive rod 8008 of the second drive system 8004a of shank 8000 releasedly, and such as can be configured to receive linear movement from drive rod 8008.

In all cases, shank 8000 and/or end effector 8010 can comprise coupling configuration, this coupling configuration such as can be configured to drive rod 8006 to be attached to driving element 8012 releasedly, and/or such as drive rod 8008 can be attached to driving element 8014 releasedly.In other words, first drive system 8002a of shank 8000 can be attached to the first drive system 8002b of end effector 8010 and the second drive system 8004a of shank 8000 be attached to the second drive system 8004b of end effector 8010 by this coupling configuration, make the driving force caused in the shank 8000 of surgical instruments can be passed to suitable drive system 8002b, the 8004b of attached surgical end-effector 8010.Although the Surgery Systems described in Figure 73 and Figure 74 comprises a pair drive system 8002a in shank 8000, a pair drive system 8002b of the correspondence in 8004a and end effector 8010,8004b, but reader is to be understood that, such as, various coupling configuration disclosed herein also can be used for comprising single drive system or more than the surgical end-effector of two drive system and/or shank.

In all cases, coupling configuration for the drive system in the shank of surgical instruments being attached to the drive system in attached end effector can comprise breech lock, and this breech lock can be configured to keep and the connection fixed between corresponding shank and end effector drive system.As described in more detail herein, such as, breech lock can be spring-loaded, and can be attached to such as trigger, and this trigger can be configured to operationally to overcome the bias voltage of spring to unlock, open and/or discharge coupling configuration.In all cases, coupling configuration can comprise for the independence of each drive system 8002b, the 8004b in surgical end-effector 8010 and/or discrete coupling mechanism and/or joint.In this case, one in drive system 8002b, 8004b can start when not starting other drive system 8002b, 8004b.In other cases, such as, drive system 8002b, 8004b can simultaneously and/or parallel starting.

Referring now to Figure 66-72, depict the coupling configuration 8100 used together with surgical end-effector.Such as, via such as coupling configuration 8100, surgical end-effector can be attached to the shank 8170 (Figure 67-69) of surgical instruments.In all cases, such as, coupling configuration 8100 can comprise coupling shell or framework 8102.Such as, coupling shell 8102 can be positioned in the proximal attachment part of end effector.In addition, such as, coupling shell 8102 can comprise balladeur train 8104, and such as, this balladeur train can be configured to move relative to coupling shell 8102.Such as, coupling shell 8102 can comprise passage 8103, and the size of this passage and structure can be set to that reception slidably and/or displaceable balladeur train 8104.Such as, balladeur train 8104 can be retrained by coupling shell 8102, balladeur train 8104 is movably remained in passage 8103 and to be configured in passage 8103 motion and/or to slide.Such as, passage 8103 can guide and/or retrain the motion of balladeur train 8014 relative to shell 8102.In some cases, such as balladeur train 8104 can have inclined surface, such as slope or wedge 8106, and such as this slope or wedge are also bootable and/or be conducive to balladeur train 8104 and move.

In all cases, coupling configuration 8100 can comprise trigger 8120, and the slope 8106 of this trigger and balladeur train 8104 is slidably engaged.Such as, trigger 8120 can comprise inclined surface 8122, this inclined surface be such as configured to trigger 8120 first or unactuated position (Figure 68) and second or actuated position (Figure 67 and Figure 69) between move time slide along the slope 8106 of balladeur train 8104.In some cases, such as, coupling configuration 8100 can comprise guiding piece such as guide rail 8110, and such as, boot trigger device 8120 between the first unactuated position and the second actuated position can be located and be configured to this guide rail.Such as, coupling shell 8102 can comprise pair of guide rails 8110, and this can be defined for the actuation path of trigger 8120 to guide rail.

In all cases, such as, when trigger 8120 along the actuation path limited by least one guide rail 8110 at direction D ₁when (Figure 67 and Figure 69) moves to actuated position (Figure 67 and Figure 69) from unactuated position (Figure 68), balladeur train 8104 can via the slope 8106 of the inclined surface 8122 of trigger 8120 and balladeur train 8104 in passage 8103 downwards or at direction D ₃(Figure 67 and Figure 69) superior displacement.Therefore, such as, the startup of trigger 8120 can make balladeur train 8104 be shifted relative to the various miscellaneous parts of coupling shell 8102, trigger 8120 and/or coupling configuration 8100, assembly and/or system.

In all cases, such as, when trigger 8120 along at least one guide rail 8110 at direction D ₂(Figure 68) when moving to unactuated position (Figure 68) from actuated position (Figure 67 and Figure 69) on, balladeur train 8104 can via the slope 8106 of the inclined surface 8122 of trigger 8120 and balladeur train 8104 in passage 8103 upwards or at direction D ₄(Figure 68) superior displacement.Therefore, such as, the actuating of trigger 8120 can affect the motion of balladeur train 8104 relative to coupling shell 8102.In some cases, such as, spring and/or other bias mechanisms can be configured to balladeur train 8104 and/or trigger 8120 relative to passage 8103 and/or coupling shell 8102 towards precalculated position bias voltage.

Referring now to Figure 66, in all cases, slit 8112 can be defined in coupling shell 8102 and/or end effector.Such as, the size of slit 8112 can be configured to the drive member 8172 of the shank 8170 receiving surgical instruments.In some cases, such as, a pair slit 8112 can be defined in coupling shell 8102, and each slit 8112 can be configured to receive in the drive member 8172 of shank 8170.As described in more detail herein, drive member 8172 can be attached to drive system in shank 8170 and/or otherwise by the drive systems in shank 8170.Such as, each drive member 8172 can be attached to the drive system in shank 8170 linear actuators and/or otherwise by this linear actuator drives, such as, this linear actuators can be configured to linear actuation motion translation and be passed to the corresponding drive system in end effector.

In all cases, balladeur train 8104 also can be configured to move relative to the drive member pod 8130 of coupling configuration 8100 and/or be shifted.Such as, drive member pod 8130 can be configured to receive drive member 8172 from shank 8170.Main see Figure 71, pod 8103 can comprise opening 8136, and this opening size and/or structure are configured to the drive component receiving shank 8170.Such as, mainly see Figure 67, opening 8136 can be configured to the distal part receiving drive rod 8172.In this case, such as, when being fixed on when drive rod 8172 in the opening 8136 in pod 8130, as described in more detail herein, pod 8130 can be configured to engage via drive rod 8172 and pod 8130 driving force is passed to surgical end-effector from shank 8170.

Still see Figure 67, drive rod 8172 can comprise inclined-plane 8176 and groove or pit 8174, and such as, this groove or pit can be conducive to joint and/or the locking of drive rod 8172 and pod 8130.In all cases, such as, drive member pod 8130 can firmly and/or be fixed in end effector and/or coupling shell 8102, and when balladeur train 8104 can be configured to slide in the passage 8103 of balladeur train 8104 in coupling shell 8102 relative to and/or move around pod 8130 and/or be shifted.

Main see Figure 71, pod 8130 can comprise at least one flexible tabs 8132a, 8132b.Flexible tabs 8132a, 8132b inwardly towards opening 8136 bias voltage, and/or such as can comprise the tooth of inside bias voltage.In some cases, flexible tabs 8132a, 8132b can comprise tooth 8133, such as, when this tooth can be configured to insert at drive rod 8172 in the opening 8136 in pod 8130, and the groove 8174 in engages drive bar 8172.Such as, the inclined-plane 8176 of drive rod 8172 can tooth 8133 in open socket 8136, and can by tab 8132 from opening 8136 outwards flexure or deflection.When drive rod 8172 continues the opening 8136 entering pod 8130, the tooth 8136 of tab 8132a, 8132b can engage or catch the groove 8174 in drive rod 8172.In this case, such as, tooth 8136-groove 8174 engages and is remained on releasedly in pod 8130 by drive rod 8172.

In all cases, such as, pod 8130 can comprise groove 8134, and this groove can be configured to receive spring 8150.In other cases, such as, pod 8136 can comprise more than one groove 8134 and coupling configuration 8100 can comprise more than one spring 8150.In addition, in some cases, pod 8130 can comprise more than one flexible tabs 8132a, 8132b.Such as, pod 8130 can comprise a pair lateral register tab 8132a, 8132b.First tab 8132a such as can be positioned on the first cross side of pod 8130, and the second tab 8132b such as can be positioned on the second cross side of pod 8130.In some cases, such as, tab 8132a, 8132b from opening 8136 to extrinsic deflection, can enter to be suitable for drive rod 8172.In other cases, such as, pod 8130 can not comprise inside bias voltage tab and/or can comprise more than two tabs.

In all cases, coupling configuration 8100 also can comprise breech lock or sleeve pipe 8140, and this breech lock or sleeve pipe movably can be located relative to pod 8130.Such as, breech lock 8140 can comprise opening 8142 (Figure 72), and the size of this opening and structure can be configured at least in part around pod 8130 at least partially.Such as, breech lock 8140 can be located around pod 8130, and such as can relative to the tab 8132a of pod 8130, and 8132b movably locates.In all cases, such as, spring 8150 can be positioned between a part for pod 8130 and a part for breech lock 8140, makes spring 8150 can by breech lock 8140 towards pod-position latching (Figure 68) bias voltage.Such as, breech lock 8140 can be biased in pod-position latching (Figure 68) by spring 8150, in this position, breech lock 8140 be oriented to around and/or constraint tab 8132a, 8132b to extrinsic deflection.

In all cases, such as, be oriented to restriction when breech lock 8140 and/or prevent tab 8132a, 8132b to extrinsic deflection, that is, when being in pod position latching, tab 8132a, 8132b can be restricted away from the outside motion of opening 8136, makes tab 8132a, and 8132b can stop and/or otherwise prevent drive rod 8172 from entering relative to the opening 8136 in pod 8130 and/or discharging.In addition, such as, when trigger 8120 moves to actuated position (Figure 67 and Figure 69) from unactuated position (Figure 68), breech lock 8140 can overcome the bias voltage of spring 8150, and can move to non-position latching (Figure 67 and Figure 69) from pod position latching (Figure 68).Breech lock 8140 can be shifted when being in non-position latching and leave flexible tabs 8132a, 8132b, makes such as flexible tabs 8132a, 8132b can to extrinsic deflection, and such as pod 8130 can receive drive rod 8172.

In all cases, breech lock 8140 can comprise projection or projection 8144.In addition, mainly see Figure 70, the balladeur train 8104 in coupling shell 8102 can comprise biasing member 8108.Such as, biasing member 8108 can comprise slope or angled surface, this slope or angled surface such as can be configured to first or pod-position latching (Figure 67 and Figure 69) and second or position latching (Figure 68) between bias voltage projection 8144, thus bias voltage breech lock 8140.Such as, when the motion of trigger 8120 causes balladeur train 8104 to be shifted relative to coupling shell 8102 and pod 8130, as described herein, projection 8144 can slide along the angled surface of biasing member 8108, and breech lock 8140 is moved relative to the flexible tabs 8132 of pod 8130.In this case, the startup of trigger 8120 can overcome the bias voltage of spring 8150 and make breech lock 8140 bounce back to non-position latching from the pod-position latching of the flexible tabs 8132 around pod 8130.In this case, when breech lock 8140 bounces back, flexible tabs 8132 can be allowed to deflect and/or engages drive bar 8172.In addition, such as, when trigger does not activate, spring 8150 can relative to and/or around flexible tabs 8132a, 8132b bias voltage breech lock 8140, make restriction and/or prevent tab 8132a, 8132b deflection thus restriction and/or prevent the joint with drive rod 8172.

In some cases, breech lock 8140 can comprise the relative projection 8144 of a pair side direction, and this engages the relative biasing member 8108 of the side direction of balladeur train 8104 slidably to projection.In addition, at coupling configuration 8100 at shank 8170 with when connecting more than one drive system between surgical end-effector, such as, balladeur train 8104 can comprise multiple biasing member 8108 and/or multipair biasing member 8108.Such as, each pod 8130 can comprise the projection 8144 of a pair lateral register, and such as balladeur train 8104 can comprise the biasing member 8108 for each projection 8144.

Main see Figure 68, before starting trigger 8120 and/or when discharging trigger 8120, trigger 8120 can be positioned on unactuated position, distally, and balladeur train 8104 can be positioned at raised position relative to coupling shell 8102, and breech lock 8140 can be positioned on pod-position latching.In this class formation, such as, breech lock 8140 can prevent drive rod 8172 from entering pod 8130 and/or engage with pod 8130.In all cases, such as, trigger 8120 can be biased in unactuated position by spring 8150 and/or different spring and/or biasing member, balladeur train 8104 can be biased in raised position, and/or breech lock 8140 can be biased in pod-position latching.In order in drive rod 8172 being connected and/or being attached in pod 8130, referring now to Figure 67, such as, trigger 8120 is moveable to nearside actuated position, balladeur train 8104 can be displaced to more lower position by this, thus breech lock 8140 can be displaced to non-position latching.In this class formation, such as, drive rod 8172 can be configured to enter pod 8130 and/or received by this pod.

After this, if release trigger 8120, referring now to Figure 68, such as, trigger 8120 bias voltage can be gone back to unactuated position, distally by spring 8150, balladeur train 8104 bias voltage can be returned raised position, and breech lock 8140 bias voltage can be returned pod-position latching.Therefore, such as, drive member 8172 lockable becomes engaging socket 8130 because breech lock 8140 can prevent flexible tabs 8132a, 8132b to extrinsic deflection, and therefore drive member 8172 can be fixed in pod 8130.Therefore, referring now to Figure 69, in order to drive member 8172 be separated with pod 8130, such as, trigger 8120 can move to nearside actuated position again, and balladeur train 8104 can be displaced to more lower position by this, thus breech lock 8140 can be displaced to non-position latching.In this class formation, that is, when pod 8130 is not latched, such as, drive member 8172 can remove from pod 8130.

In all cases, surgical instruments can comprise the drive system being attached to motor.In some cases, this motor and drive system can affect various surgical function.Such as, this motor and drive system can affect opening of surgical end-effector and/or close, and such as can affect cutting and/or percussion stroke.In some cases, this motor and drive system can affect multiple different surgical function.Such as, surgical end-effector open and/or closed can independent of or the cutting that is different from from the securing member of surgical end-effector and/or percussion.In this case, drive system can comprise transmission and/or clutch pack, and such as, being bonded between different output system of drive system can be shifted by this transmission and/or clutch pack.

In all cases, surgical instruments can comprise drive system, and this drive system has multiple output shaft and the clutch for being shifted between different output shaft.In some cases, this output shaft may correspond in different surgical function.Such as, the first output shaft may correspond in end effector closing motion, and such as the second output shaft may correspond in end effector percussion motion.In all cases, such as, drive system can switch between engaging with the first output shaft and engaging with the second output shaft, make surgical function be separately and different and/or independently.Such as, end effector closing motion can independent of and be different from end effector percussion motion.Such as, it can be preferred for causing closing motion and cause independent percussion campaign when completing closing motion.In addition, such as, the single drive system that can be attached to electro-motor is utilized to control and/or drive independent closing motion and percussion motion can be preferred.In other cases, this first output shaft and the second output shaft can operationally connect, and the motion of such as various surgical function and/or surgery can and/or occur at least in part simultaneously simultaneously.

Referring now to Figure 75-78, the shank 8600 for surgical instruments can comprise drive system 8602, and this drive system can comprise the first output driving system 8610 and the second output driving system 8620.In all cases, when end effector is attached to shank 8600, first output driving system 8610 can be attached to the first drive system in attached end effector, and the second output driving system 8620 can be attached to the second drive system in attached end effector.Such as, the first output driving system 8610 can affect the first surgical function, such as the clamping of end effector jaw, and such as the second output driving system 8620 can affect the second surgical function, such as pulls the trigger the percussion of element through this end effector.In other cases, such as, can put upside down and/or otherwise revise relative to the surgical function of the first output driving system 8610 and the second output driving system 8620.

In all cases, drive system 8602 can comprise motor sub-assembly, and this motor sub-assembly can comprise electro-motor 8640 and motor drive shaft 8642.Such as, driven wheel 8644 can be mounted to motor drive shaft 8642, electro-motor 8640 is driven and/or affects the rotation of driven wheel 8644.In all cases, the first output driving system 8610 can comprise the first driving shaft 8612 and the first driven gear 8612.Such as, the first driven gear 8614 can be mounted to the first driving shaft 8612, make the rotation of Effect of Rotation first driving shaft 8612 of the first driven gear 8614.In all cases, such as, linear actuators 8616 is positioned on the first driving shaft 8612 by screw thread, and the rotation of the first driving shaft 8612 can affect the linear displacement of linear actuators 8616.In addition, in all cases, the second output driving system 8620 can comprise the second driving shaft 8622 and the second driven gear 8624.Such as, the second driven gear 8624 can be mounted to the second driving shaft 8622, make the rotation of Effect of Rotation second driving shaft 8622 of the second driven gear 8624.In all cases, such as, linear actuators 8626 is positioned on the second driving shaft 8624 by screw thread, and the rotation of the second driving shaft 8624 can affect the linear displacement of linear actuators 8626.

In all cases, drive system 8602 also can comprise transmission or shift unit assembly 8648.Such as, shift unit assembly 8648 can be configured to make driven wheel 8644 the joint of the first output driving system 8610 and and the joint of the second output driving system 8620 between be shifted.For some situation, such as, shift unit assembly 8648 can comprise shifted gear 8652, and this shifted gear can engage with driven wheel 8644 and engage.In addition, such as, shifted gear 8652 can be configured to displacement or motion between a series of position, and can keep when shifted gear 8652 moves in these position ranges engaging with driven wheel 8644 engaging.

Such as, shifted gear 8652 is movable becomes to engage and/or departs from least one in the first driven gear 8614 and/or the second driven gear 8624.In all cases, the movable one-tenth of shifted gear 8652 engages with the second driven gear 8624 of the second output driving system 8620 and engages.Such as, when being in the primary importance in described position range (Figure 78), shifted gear 8652 can depart from the second driven gear 8624, and such as when being in the second position in described position range (Figure 77), shifted gear 8652 can engage with the second driven gear 8624.Such as, when shifted gear 8652 engages with the second driven gear 8624, power can be passed to the second driven gear 8624 from driven wheel 8644 by shifted gear 8652, makes motor 8640 can affect surgical function by the second output driving system 8620.In addition, such as, when shifted gear 8652 departs from second driven gear 8624, the rotation of motor 8640 can not be passed to the second output driving system 8620.

In all cases, shift unit assembly 8648 also can comprise idler gear and/or transmit gear 8654.Such as, transmit gear 8642 driving force can be configured to be delivered to the first driven gear 8614 from shifted gear 8652.In all cases, transmission gear 8654 can engage with the first driven wheel 8614 and engage, such as, make the rotation of transmitting gear 8654 be passed to such as the first driven gear 8614.In addition, in all cases, the movable one-tenth of shifted gear 8652 engages and/or departs from and transmits gear 8654.Such as, when being in the primary importance in described position range (Figure 78), shifted gear 8652 can engage with transmission gear 8654, and when being in the second position in described position range (Figure 77), shifted gear 8652 can depart from such as transmission gear 8654.When shifted gear 8652 engages with transmission gear 8654, power can be delivered to the first driven gear 8614 from driven wheel 8644 via transmission gear 8654 by shifted gear 8652.In such cases, such as, motor 8640 can affect surgical functions via such as the first output driving system 8610.In addition, when shifted gear 8652 departs from transmission gear 8654, the rotation of motor 8640 may not be delivered to such as the first output driving system 8610.

In all cases, transmit gear 8654 can be rotatably installed on the second driving shaft 8622 of the second output driving system 8620.Such as, transmit gear 8654 can be configured to rotate relative to the second driving shaft 8622 and not affect the second driving shaft 8622 and be fixed to its rotation of the second driven gear 8624.In all cases, displaceable members 8648 can comprise balladeur train or lining ring 8650, and this balladeur train or lining ring can at least in part around shifted gears 8652.Balladeur train 8650 can be located around shifted gear 8652, such as, makes the motion of balladeur train 8650 that shifted gear 8652 can be made to move.

In all cases, shank 8600 and/or displaceable members 8648 also can comprise trigger or clutch 8630.Clutch 8630 can be configured in position range, make balladeur train 8650 and/or shifted gear 8652 be shifted.Such as, clutch 8630 can comprise the trigger extended from shank 8600, and can engage with balladeur train 8650 and/or shifted gear 8652.In all cases, balladeur train 8650 can comprise pin 8656, and this pin can extend to the hole 8638 (Figure 75) of clutch 8630 from balladeur train 8640.Such as, clutch 8630 can comprise arm 8632 and/or a pair arm 8632 of the pivotal point 8634 be connected on shank 8600.Clutch 8630 can in such as pivotal point 8634 place pivotable, and the pivotable of arm 8632 can make the pin 8656 of balladeur train 8560 move.Such as, the motion of balladeur train 8650 can make shifted gear 8652 be shifted between primary importance (Figure 78) and the second position (Figure 77).

In all cases, the motion of balladeur train 8650 can be restrained, make shifted gear 8652 longitudinally axial-movement by its position range.In addition, the pivotable stroke of clutch 8630 and/or range of movement can restrained and/or restrictions, such as, shifted gear 8652 remained in this position range when clutch 8630 pivotable.In addition, the hole 8638 (Figure 75) in clutch 8630 can be configured to and/or be structured to shifted gear 8652 can be maintained and/or remains in position range and/or with such as the second driven gear 8624 and/or the one transmitted in gear 8654 aligns.In all cases, shank 8600 can comprise spring or other bias mechanisms, shifted gear 8652 to be biased into the one place in primary importance or the second position.In some cases, shank 8600 can comprise the bi-stable state compliant mechanism being configured to shifted gear 8652 be remained on its primary importance or its second position.With regard to shifted gear 8652 is between primary importance and the second position, bi-stable state compliant mechanism can be dynamic instability and for shifted gear 8652 is placed in its primary importance or its second position.Alternatively, shifted gear 8652 can be biased in centre position, and wherein shifted gear 8652 can such as engage with the first output driving system 8610 and the second output driving system 8620 simultaneously.In addition or alternatively, shank 8600 can comprise lock and/or ratchet, shifted gear 8652 to be remained on the one place in such as primary importance or the second position.

Surgical instruments can comprise the rotatable drive shaft of closed driving device and the percussion driving device being configured to operate surgical instruments.See Figure 79 to Figure 84, surgical instruments 10000 can comprise rotatable drive shaft 10020, closed driving device 10030 and percussion driving device 10040.As described in more detail below, driving shaft 10020 can comprise the first screw thread 10024 being configured to operate closed driving device 10030 and the second screw thread 10026 being configured to operate percussion driving device 10040.In all cases, apparatus 10000 can comprise such as circular stapler.

Surgical instruments 10000 can comprise framework 10002 and the device for generating rotary motion.In some cases, rotary motion can be produced by the hand-crank of such as manual actuation, and in all cases, rotary motion can be produced by electro-motor.In any one situation, the rotary motion generated can be sent to Rotating input shaft 10010.Power shaft 10010 can comprise the nearside bearing portions 10011 and distally bearing portions 10013 that are rotatably supported by framework 10002.In all cases, nearside bearing portions 10011 and/or distally bearing portions 10013 directly can be supported by framework 10002, and in some cases, nearside bearing portions 10011 and/or distally bearing portions 10013 can comprise the bearing be positioned between power shaft 10010 and framework 10002.Power shaft 10010 also can comprise the gear 10012 being installed to and/or being bonded to power shaft 10010, and make when power shaft 10010 rotates along direction A (Figure 79), gear 10012 also rotates along direction A.Correspondingly, when namely direction A ' (Figure 82) rotates power shaft 10010 in opposite direction, gear 10012 also rotates along direction A '.

Main see Figure 79 and Figure 80, driving shaft 10020 can comprise proximal end 10021 and distal end 10023.Proximal end 10021 and distal end 10023 rotatably can be supported by framework 10002.In all cases, proximal end 10021 and/or distal end 10023 directly can be supported by framework 10002, and in some cases, proximal end 10021 and/or distal end 10023 can comprise the bearing be positioned between driving shaft 10020 and framework 10002.Gear 10022 can be installed to and/or be bonded to the proximal end 10021 of driving shaft 10020.Gear 10022 engages with gear 10012 and engages, and make when power shaft 10010 rotates along direction A, driving shaft 10020 rotates along direction B.Correspondingly, see Figure 81, when power shaft 10010 rotates along direction A ', driving shaft 10020 rotates along direction B '.

Refer again to Figure 79, closed drive system 10030 can comprise the closure pin 10032 engaged with the first screw thread 10024 of driving shaft 10020.Closed drive system 10030 also can comprise can translation enclosed member 10033.Closure pin 10032 is positioned in the hole in the proximal end being defined in enclosed member 10033.Closure pin 10032 can comprise the first end in the groove that is positioned at and limited by the first screw thread 10024.When driving shaft 10020 rotates, the sidewall of groove can contact the first end of closure pin 10032 and closure pin 10032 proximally or is distally shifted, and this depends on the direction of wherein driving shaft 10020 rotation.Such as, when driving shaft 10020 rotates along direction B (Figure 79), closure pin 10032 can distally displacement indicated by the D of direction or translation.Correspondingly, when driving shaft 10020 rotates along direction B ' (Figure 82), closure pin 10032 can proximally displacement indicated by the P of direction or translation.Closure pin 10032 can be closely received in the hole that is defined in enclosed member 10033, makes the displacement of closure pin 10032 or translation be passed to enclosed member 10033.If reader is by understanding, closure pin 10032 and enclosed member 10033 restrained and can not rotate relative to framework 10002, make the rotation of driving shaft 10020 be converted into the translation of closure pin 10032 and enclosed member 10033.

Main see Figure 80, the first screw thread 10024 extends along the first length 10025 of driving shaft 10020.In some cases, the first screw thread 10024 can extend along the whole length of driving shaft 10020, and in other cases, the first screw thread 10024 can extend along the whole length being less than driving shaft 10020.First screw thread 10024 can comprise the portions of proximal adjacent with the proximal end 10021 of driving shaft 10020 and the distal part adjacent with the distal end 10023 of driving shaft 10020.When closure pin 10032 is in the distal part of the first screw thread 10024, as shown in Figure 81, the anvil block of surgical instruments 10000 can be positioned at open position by enclosed member 10033.When driving shaft 10020 rotates along direction B ', closure pin 10032 can proximally translation, until closure pin 10032 arrives the portions of proximal of the first screw thread 10024, as shown in fig.82.When closure pin 10032 is proximally moved, closure pin 10032 can proximally tractive enclosed member 10033 and anvil block.When closure pin 10032 arrives the portions of proximal of the first screw thread 10024, anvil block can be in complete make position.

To being described further above, the anvil block that closed driving device 10030 can be operated to surgical instruments 10000 moves to suitable position relative to nail bin.In all cases, surgical instruments 10000 can comprise actuator, this actuator can along first direction operation with along direction A Rotating input shaft 10010 and along direction B rotating driveshaft 10020, and can along second direction operation with along direction A ' Rotating input shaft 10010 and along direction B ' rotating driveshaft 10020.In other cases, surgical instruments 10000 can comprise and being configured to when operating along direction A Rotating input shaft 10010 and along the first actuator of direction B rotating driveshaft 10020, and to be configured to when operating along direction A ' Rotating input shaft 10010 and along the second actuator of direction B ' rotating driveshaft 10020.In any one situation, the operator of surgical instruments 10000 can as required towards with the anvil block away from nail bin motion surgical instruments 10000, to form required gap between anvil block and nail bin.When anvil block is in its complete make position, can produces or gap needed for this type of can not be produced.

To being described further above, surgical instruments 10000 can comprise the fastener being configured to receive and keep releasedly drive pin 10032 when closed-system 10030 reaches its complete closed configuration.Main see Figure 81 and Figure 82, surgical instruments 10000 can comprise fastener element stems 10073, and this fastener element stems has the fastener hole 10077 be defined in wherein.When drive pin 10032 proximally advances, drive pin 10032 can become to be aimed at fastener hole 10077, then enters fastener hole 10077 at least in part.Fastener pin 10032 is by being positioned at the middle spring 10035 of enclosed member 10033 and the circumference head 10037 extended around fastener pin 10032 towards fastener element stems 10073 bias voltage.When fastener pin 10032 is distally located relative to fastener hole 10077, spring 10035 can against fastener element stems 10073 bias voltage drive pin 10032.Proximally being moved by the rotation of drive screw 10020 when fastener pin 10032 and become with fastener hole 10077 on time, drive pin 10032 can move upward in fastener hole 10077 by spring 10035.Drive pin 10032 moves upward by spring 10035, until the head contact fastener element stems 10073 of drive pin 10032.It should be noted that drive pin 10032 can cause drive pin 10032 to become towards the motion of fastener hole 10077 and operationally depart from the first screw thread 10024.Therefore, when drive pin 10032 arrives fastener hole 10077, closed-system 10030 can be deactivated, the follow-up rotation of driving shaft 10020 is made not make drive pin 10032, enclosed member 10033 and move with its anvil block operationally engaged, at least until drive pin 10032 and the first screw thread 10024 are re-engaged, as hereinafter described in more detail further.

As mentioned above, drive pin 10032 enters in the fastener hole 10077 of fastener element stems 10073 and can limit the terminal of the closing stroke of closed-system 10030 and the complete make position of anvil block.In all cases, fastener element stems 10073 can not be moved relative to framework 10002 and fastener hole 10077 can limit fixed position.In other cases, fastener element stems 10073 can be moved relative to framework 10002.In this case, the final make position of anvil block will depend on the position of fastener hole 10077.Therefore, the position of fastener hole 10077 will be depended in the gap between the nail bin of anvil block and surgical instruments 10000.Substantially see Figure 79, surgical instruments 10000 also can comprise the gap initialization system 10070 being configured to fastener element stems 10073 is moved.The driven wheel 10071 that gap initialization system 10070 can comprise rotatable knob 10072 and engage with rotatable knob 10072.Fastener element stems 10073 can comprise the tooth bar 10075 extended from it, and this tooth bar comprises multiple tooth.Driven wheel 10071 engages with tooth bar 10075 and engages, make when knob 10072 rotates along first direction, tooth bar 10075 can distally drive fastener element stems 10073, and when knob 10072 rotates along the second direction contrary with first direction, tooth bar 10075 can proximally drive fastener element stems 10073.When fastener element stems 10073 is distally moved, fastener hole 10077 can be positioned such that, when closed driving device 10030 is in its complete make position, can there is comparatively wide arc gap between anvil block and nail bin.When fastener element stems 10073 is proximally moved, fastener hole 10077 can be positioned such that, when closed driving device 10030 is in its complete make position, can there is comparatively small―gap suture between anvil block and nail bin.In all cases, fastener hole 10077 can be positioned in position range, and this position range can hold the distance range between the anvil block of surgical instruments 10000 and nail bin.

In all cases, gap initialization system 10070 can comprise the knob lock being configured to knob 10072 is fixed on releasedly appropriate location.Such as, framework 10002 can comprise the lock protuberance 10004 extended from it, and this lock protuberance can be received in one or more lockholes 10074 of being defined in knob 10072.Lockhole 10074 can circumferentially path orientation.Each lockhole 10074 can be corresponding with the prepsetting gap distance between nail bin with the anvil block of the predeterminated position of closed driving device 10030 and surgical instruments 10000.Such as, when locking protuberance 10004 and being positioned in the first lockhole 10074, closed driving device 10030 can remain on the first predeterminated position, and correspondingly, anvil block can remain on apart from nail bin first predeterminable range place.In order to knob 10072 is moved to the second predeterminated position, knob 10072 can by lifting away from framework 10002, lock protuberance 10004 is made no longer to be positioned in the first lockhole 10074, rotate to drive tooth bar 10075 and fastener element stems 10073, then move towards framework 10002, make to lock protuberance 10004 and enter in the second lockhole 10074 of being defined in knob 10072.When locking protuberance 10004 and being positioned in the second lockhole 10074, closed driving device 10030 can be held in the second predeterminated position, and correspondingly, anvil block can remain on apart from nail bin second predeterminable range place, and this second predeterminable range is different from the first predeterminable range.In order to knob 10072 is moved to the 3rd predeterminated position, knob 10072 can by lifting away from framework 10002, lock protuberance 10004 is made no longer to be positioned in the first lockhole or the second lockhole 10074, rotate to drive tooth bar 10075 and fastener element stems 10073, then move towards framework 10002, make to lock protuberance 10004 and enter in the 3rd lockhole 10074 that is defined in knob 10072.When locking protuberance 10004 and being positioned in the 3rd lockhole 10074, closed driving device 10030 can be held in the 3rd predeterminated position, and correspondingly, anvil block can remain on apart from nail bin the 3rd predeterminable range place, and the 3rd predeterminable range is different from the first predeterminable range and the second predeterminable range.Gap initialization system 10070 also can comprise the biased element be configured to towards framework 10002 bias voltage knob 10072.Such as, gap initialization system 10070 can comprise the spring 10076 be positioned in the middle of shell 10002 and driven wheel 10071, and this spring is such as configured to lockhole 10074 to be biased into and locks protuberance 10004 and engage.

In some cases, the operator of surgical instruments 10000 can distinguish the position of closed-system 10030 by the position observing anvil block.But in some cases, anvil block may be sightless in surgery surgical field of view.Main see Figure 79, surgical instruments 10000 also can comprise the anvil position indication mechanism 10050 being configured to the position indicating anvil block.Anvil position indication mechanism 10050 can comprise be defined in window 10058 in framework 10002 and by window 10058 observe can pivot member 10051.Can pivot member 10051 can comprise rotatably be installed to framework 10002 pivot 10052, drive end 10054 and display end 10056.Can be between the second position (Figure 82) of complete make position in the primary importance (Figure 81) indicating anvil block be in a fully open position and instruction anvil block by pivot member 10051, and move between position range between the first location and the second location, described position range represents the position range of anvil block.Closed-system 10030 can be configured to contact can the drive end 10054 of pivot member 10051, to make to move by pivot member 10051.Main see Figure 82, when drive pin 10032 is proximally moved by driving shaft 10020, drive pin 10032 can proximally tractive enclosed member 10033, make the shoulder 10036 be limited on enclosed member 10033 can contact can pivot member 10051 drive end 10054 and rotate around pivot 10052 can pivot member 10051.Can pivot member 10051 rotation can in window 10058 kinematic displays end 10056, to indicate the position of anvil block.In order to be conducive to this observation, framework 10002 and/or window 10058 can comprise one or more demarcation line 10059, and this demarcation line can indicate the position of anvil block.Such as, when can the display end 10056 of pivot member 10051 align with nearside demarcation line 10059 (Figure 81) time, operator can determine that anvil block is in an open position, and when aliging with demarcation line, distally 10059 (Figure 82) in display end 10056, operator can determine that anvil block is in the close position.If display end 10056 is positioned in the middle of nearside demarcation line and demarcation line, distally 10059, then operator can suppose that anvil block is in the position between its open position and its make position.Line bonus boundary line 10059 between nearside demarcation line and demarcation line, distally 10059 can be used for the additional position indicating anvil block.When enclosed member 10033 distally moves to open anvil block (Figure 84), can pivot member 10051 rotatable get back to its primary importance and become again align with nearside demarcation line 10059.Position Indicator System 10050 also can comprise and is such as configured to be biased into biasing member in its primary importance, such as spring by pivot member 10051.

As mentioned above, the closed-system 10030 of surgical instruments 10000 can be operated with the anvil block relative to nail bin mapping surgical apparatus 10000.During the operation of closed-system 10030, trigger system 10040 can not be operated.Trigger system 10040 operationally can not engage with driving shaft 10020, until closed driving device 10030 has arrived its complete make position.Surgical instruments 10000 can comprise such as be configured to by surgical instruments anvil block closed procedure pattern and nail pull the trigger the switch carrying out between operator scheme switching, such as switch 10060.Closed driving device 10030 also can comprise the switch pin 10031 extended from the proximal end of enclosed member 10033.According to the contrast of Figure 81 and Figure 82, reader will know, when closure pin 10032 just proximally advances with closed anvil block, switch pin 10031 contacts with switch 10060.Switch 10060 can be pivotally mounted to framework 10002 around pivot 10062 and can comprise the one or more arms 10064 extended from it.When drive pin 10032 arrives its complete make position, switch pin 10031 can contact arm 10064 and around pivot 10062 rotary switch 10060.Switch 10060 also can comprise the arm 10066 extended from it, and this arm can be configured to be pushed to by the percussion nut 10042 of percussion driving device 10040 when switch 10060 rotates around pivot 10062 operationally engage with driving shaft 10020.More specifically, at least one situation, arm 10066 can be configured to push rod 10044 is distally shifted, and percussion nut 10042 can be pushed on the second screw thread 10026 by this push rod then.Now, drive pin 10032 and closed-system 10030 can depart from the first screw thread 10024, and this is because above-mentioned fastener hole 10077, percussion nut 10042 and trigger system 10040 can engage with the second screw thread 10026.

To being described further above, percussion nut 10042 can comprise the screwed hole 10041 be defined in wherein, and this screwed hole can be threadably engaged with the second screw thread 10026.To being described further above, when closed driving device 10030 operates, percussion nut 10042 proximally can be located relative to the second screw thread 10026, and screwed hole 10041 is not threadably engaged with the second screw thread 10026.In this case, percussion nut 10042 can be in idle condition, and driving shaft 10020 rotates to operate closed-system 10030.To being described further above, when pulling the trigger nut 10042 and being distally shifted, screwed hole 10041 can become and be threadably engaged with the second screw thread 10026.Once percussion nut 10042 and the second screw thread 10026 are threadably engaged, then driving shaft 10020 will make percussion nut 10042 distally be shifted along the rotation of direction B ' (Figure 82).Percussion nut 10042 can comprise one or more anti-rotational feature, such as flange 10043, and such as it can engage to prevent pulling the trigger nut 10042 slidably with framework 10002 and rotates together with driving shaft 10020.Percussion driving device 10040 also can comprise the firing member being connected to percussion nut 10042, and this firing member distally can be promoted by percussion nut 10042.Firing member can be configured to from nail bin injection nail.When pulling the trigger nut 10042 and arriving the distal end of the second screw thread 10026, percussion nut 10042 can be become and be departed from by screw thread with the second screw thread 10026, and wherein driving shaft 10020 no longer can advance percussion nut 10042 along the additional rotation of direction B '.

Main see Figure 82 and Figure 83, surgical instruments 10000 also can comprise the reverse starting device 10047 at the distal end place being positioned at the second screw thread 10026.When pulling the trigger nut 10042 and arriving the distal end of the second screw thread 10026, percussion nut 10042 can be configured to contact reverse actuator 10047 and reverse actuator 10047 is distally shifted.It is middle with framework 10002 that the such as biasing member of spring 10048 such as can be positioned on reverse actuator 10047, and this framework can be configured to the distal movement of resisting reverse actuator 10047.As shown in Figure 83, the distal movement compressible spring 10048 of reverse actuator 10047 and apply nearside biasing force to percussion nut 10042.When driving shaft 10020 rotates along direction B, the percussion screwed hole 10041 of nut 10042 and the second screw thread 10026 can be re-engaged by the nearside biasing force being applied to percussion nut 10042, and pull the trigger nut 10042 and can proximally move, as shown in figure 84.Firing member can proximally move by the proximal movement of percussion nut 10042.During present dynasty's proximal movement, percussion nut 10042 can make push rod 10044 be shifted, and makes the arm 10066 of push rod 10044 contact switch 10060 and rotated by switch 10060 in opposite direction to get back to its non-switching position.Now, percussion nut 10042 can be become and be departed from by screw thread with the second screw thread 10026, and driving shaft 10020 can no longer make percussion nut 10042 proximally be shifted along further rotating of direction B.Now, pull the trigger nut 10042 and will recover its clear position.

To being described further above, when switch 10060 rotate get back to its initial position time, the arm 10064 of switch 10060 can distally pull switch pin 10031 and enclosed member 10033.The distal movement of switch pin 10031 and enclosed member 10033 can make drive pin 10032 be shifted from the fastener hole 10077 be defined in fastener element stems 10073.When drive pin 10032 leaves fastener hole 10077, the biasing force that drive pin 10032 can overcome spring 10035 moves downward, so that in fastener element stems 10073 slid underneath.Drive pin 10032 and the first screw thread 10024 can be re-engaged by moving downward of drive pin 10032.Driving shaft 10020 will make drive pin 10032 and enclosed member 10033 distally be shifted, to open the anvil block of surgical instruments 10000 along further rotating of direction B.Now, surgical instruments 10000 will be reset so that its follow-up use.In all cases, nail bin can be replaced and/or reload, and surgical instruments 10000 can reuse.

As reader by above understand, drive screw 10020 can make drive pin 10032 be shifted to operate closed driving device 10030, and makes percussion nut 10042 be shifted to operate percussion driving device 10040.To being described further above, drive screw 10020 can make drive pin 10032 be shifted along the first length 10025 of drive screw 10020.Similarly, drive screw 10020 can make percussion nut 10042 be shifted along the second length 10027 of drive screw 10020.First length 10025 can limit the closing stroke of closed-system 10030, and the second length 10027 can limit the percussion stroke of trigger system 10040.Comparable second length 10027 of first length 10025 is long, but in some cases, comparable first length 10025 of the second length 10027 is long.In use, closure pin 10032 can be passed through percussion nut 10042.Such as, when closure pin 10032 is proximally moved with closed anvil block, closure pin 10032 can when percussion nut 10042 is in its clear position through percussion nut 10042.Similarly, when closure pin 10032 distally moves to open anvil block, closure pin 10032 can be passed through the percussion nut 10042 being in its clear position.For the ease of this relative motion, percussion nut 10042 can comprise the opening be such as defined in wherein, such as slit 10046, and when closure pin 10032 is moved relative to percussion nut 10042, closure pin 10032 can pass this opening.In other embodiments various, this type of opening be defined in percussion nut 10042 also can allow percussion nut 10042 to slip over closure pin 10032.

To being described further above, the first length 10025 and the second length 10027 can be overlapping at least in part.In addition, the first screw thread 10024 and the second screw thread 10026 can be overlapping at least in part.First screw thread 10024 and the second screw thread 10026 can be limited on the same section of drive screw 10020.First screw thread 10024 and the second screw thread 10026 can be enough dissimilar, make closure pin 10032 not follow the second screw thread 10026, and make percussion nut 10042 not follow the first screw thread 10024.Such as, the first screw thread 10024 can have the first pitch, and the second screw thread 10026 can have second pitch different from the first pitch.First pitch of the first screw thread 10024 can be constant or can not be constant.When the first constant pitch, the closure pin 10032 operationally engaged with the first screw thread 10024 and anvil block will move in whole closing stroke with constant speed, to obtain the given rotary speed of driving shaft 10020.In the inconstant situation of the first pitch, closure pin 10032 and anvil block will move during closing stroke with friction speed, to obtain the given rotary speed of driving shaft 10020.Such as, the pitch of the distal part of the first screw thread 10024 can be greater than the pitch of the portions of proximal of the first screw thread 10024.In this case, anvil block by rapid movement away from its open position and near its make position time more slowly move, to obtain the given rotary speed of driving shaft 10020.This type of arrangement rapidly moves to appropriate location by allowing anvil block against the tissue be positioned in the middle of anvil block and nail bin, then more slowly moves when anvil block engages with tissue, thus reduces the probability of excess compression tissue.In other situations various, the pitch of the distal part of the first screw thread 10024 can be less than the pitch of the portions of proximal of the first screw thread 10024.In any one situation, pitch can change between the end of the first screw thread 10024.This change can be linear and/or nonlinear.

To being described further above, the second pitch of the second screw thread 10026 can be constant or can not be constant.When the second constant pitch, the percussion nut 10042 operationally engaged with the second screw thread 10026 and firing member will move in whole closing stroke with constant speed, to obtain the given rotary speed of driving shaft 10020.In the inconstant situation of the second pitch, percussion nut 10042 and firing member will move, to obtain the given rotary speed of driving shaft 10020 during percussion stroke with friction speed.Such as, the pitch of the distal part of the second screw thread 10026 can be less than the pitch of the portions of proximal of the second screw thread 10026.In this case, the destination county at its percussion stroke more slowly moves, to obtain the given rotary speed of driving shaft 10020 by firing member.This type of arrangement makes it slow down by when arriving the terminal following closely forming process at firing member.In addition, this type of arrangement can generate a large amount of moments of torsion at the destination county of percussion stroke, and this moment of torsion is relevant to completing of nail forming process.In other situations various, the pitch of the distal part of the second screw thread 10026 can be greater than the pitch of the portions of proximal of the second screw thread 10026.In any one situation, pitch can change between the end of the second screw thread 10026.This change can be linear and/or nonlinear.

Forward Figure 86 to Figure 93 to now, surgical instruments 10500 can comprise axle 10504 and end effector 10505.End effector 10505 can comprise nail bin 10506 and movable anvil block 10508.Surgical instruments 10500 can comprise the closed driving device with the enclosed member that can operationally engage with anvil block 10504 and have the percussion driving device being configured to dispose the firing member followed closely from nail bin 10506.Surgical instruments 10500 can comprise the device for generating rotary motion, such as hand-crank and/or electro-motor.Rotary motion can be sent to power shaft 10510.Surgical instruments 10500 can comprise transporter 10502, and this transporter is configured to the rotation of power shaft 10510 is optionally sent to closed driving device and percussion driving device, as hereafter discussed in more detail further.

Power shaft 10510 can comprise the input gear 10512 installing and/or be bonded to it, and this input gear rotates together with power shaft 10510.Power shaft 10510 rotatably can be supported in proximal end 10511 and distal end 10519 by the framework of surgical instruments 10500.Input gear 10512 can engage with the idler gear 10522 installing and/or be bonded to jackshaft 10520 and engage.Therefore, when power shaft 10510 and input gear 10512 rotate along direction A (Figure 89), jackshaft 10520 and idler gear 10522 rotate along direction B (Figure 89).To similar above, jackshaft 10520 rotatably can be supported in proximal end 10521 and distal end 10529 by surgical instruments framework.Jackshaft 10520 also can comprise threaded portion 10524, and this threaded portion can be threadably engaged with shift unit block 10526.Main see Figure 87, shift unit block 10526 can comprise the one or more screwed holes 10527 be threadably engaged with threaded portion 10524.Main see Figure 89, when jackshaft 10520 rotates along direction B, jackshaft 10520 can make shift unit block 10526 proximally be shifted.

To being described further above, shift unit block 10526 can comprise the gear slot 10528 be defined in wherein.Power shaft 10510 also can comprise the slide block gear 10516 being installed to it slidably, and this slide block gear is positioned in gear slot 10528.When shift unit block 10526 is proximally moved by jackshaft 10520, as mentioned above, the power shaft part 10514 of slide block gear 10516 along bonding can proximally promote by shift unit block 10526.Main see Figure 87, slide block gear 10516 can comprise the hole 10517 be defined in wherein, and this hole comprises one or more flat surfaces, and described flat surfaces such as aligns with the corresponding flat surfaces in bonding power shaft part 10514.The flat surfaces of hole 10517 and bonding power shaft part 10514 can allow slide block gear 10516 along power shaft 10510 longitudinal sliding motion, and cooperation is with conveying rotary motion between slide block gear 10516 and power shaft 10510.As described in more detail below, shift unit block 10526 can make slide block gear 10516 slide through primary importance scope, second position scope and the inoperative position in the middle of primary importance scope and second position scope or inoperative position scope, in primary importance scope, slide block gear 10516 engages with closed axle 10530, in second position scope, slide block gear 10516 engages with beating shaft 10540, and in inoperative position or inoperative position scope, slide block gear 10516 does not engage with any one in closed axle 10530 or beating shaft 10540.

To being described further above, Figure 85 illustrates the anvil block 10508 of the end effector 10505 being in complete make position and is in the percussion driving device 10548 of non-firing position.Figure 86 illustrates transporter 10502, and shown in its configuration with Figure 85, the configuration of end effector 10505 is consistent.More specifically, slide block gear 10516 is in its invalid or clear position, and does not operationally engage with the closed axle 10530 of closed driving device or the beating shaft 10540 of pulling the trigger driving device.When slide block gear 10516 is in its clear position, it is middle with the percussion gear 10542 installing and/or be bonded to beating shaft 10540 that slide block gear 10516 is positioned in the closed gear 10532 installing and/or be bonded to closed axle 10530.In addition, when slide block gear 10516 is in its clear position, slide block gear 10516 is not with closed gear 10532 or pull the trigger gear 10542 and engage.As shown in Figure 88, in order to anvil block 10508 is moved to its open position, and/or anvil block 10508 is separated with end effector 10505, power shaft 10510 can rotate, as shown in Figure 89 along direction A.As mentioned above, power shaft 10510 can make jackshaft 10520 rotate and the shift unit block 10526 that proximally moves along direction B along the rotation of direction A.When shift unit block 10526 proximally moves, slide block gear 10516 can be pushed to and operationally engage with closed gear 10532 by shift unit block 10526.Now, power shaft 10510 can be sent to closed axle 10530 via the slide block gear 10516 of engagement joint and closed gear 10532 along the lasting rotation of direction A.When slide block gear 10516 to engage with closed gear 10532 engage time, power shaft 10510 will make output shaft 10530 rotate, as shown in Figure 89 along direction C along the rotation of direction A.Closed driving device also can comprise the closed nut 10536 with the screwed hole 10537 be defined in wherein, and the threaded portion 10534 of this closed nut and closed axle 10530 is threadably engaged.Closed nut 10536 can comprise the one or more anti-rotational features engaged slidably with the framework of surgical instruments, such as, this anti-rotational feature can prevent closed nut 10536 from rotating together with closed axle 10530, makes the rotary motion of closed axle 10530 can be converted into the lengthwise movement of closed nut 10536.Closed-system also can comprise the enclosed member 10538 extended from closed nut 10536, and this enclosed member can engage with anvil block 10508.Refer again to Figure 89, when closed axle 10530 rotates along direction C, closed nut 10536 and enclosed member 10538 distally can advance that anvil block 10508 is moved to open position.

To being described further above, Figure 89 illustrates the transporter 10502 being in closed configuration, and in this configuration, anvil block 10508 can be opened and close.When slide block gear 10516 to engage with closed gear 10532 engage time, Direct driver is closed axle 10530 by power shaft 10510.Meanwhile, because engaging between input gear 10512 with idler gear 10522 engages, power shaft 10510 is by Direct driver jackshaft 10520.In addition, when slide block gear 10516 to engage with closed gear 10532 engage time, slide block gear 10516 does not engage with percussion gear 10542 and engages, and therefore, when transporter 10502 is in closed configuration, power shaft 10510 will not drive beating shaft 10540.

To being described further above, once anvil block 10508 having been moved to open position and/or being separated with enclosed member 10538, organizing and just can be positioned in the middle of anvil block 10508 and nail bin 10506.Then, see Figure 90 and Figure 91, anvil block 10508 by make power shaft 10510 in opposite direction (i.e. direction A ') rotate and move to its make position, this will make (i.e. direction the C ') rotation in opposite direction of closed axle 10530, so that proximally motion closes nut 10536, enclosed member 10538 and anvil block 10508.When power shaft 10510 rotates along direction A ', power shaft 10510 also will in opposite direction (i.e. direction B ') rotating intermediate shaft 10520.When jackshaft 10520 rotates along direction B ', jackshaft 10520 will make shift unit block 10526 and slide block gear 10516 distally be shifted.Slide block gear 10516 can distally promote by shift unit block 10526, until slide block gear 10516 no longer merges with closed gear 10532 joggle(d) joint and slide block gear 10516 has returned its clear position.Jackshaft 10520 will cause shift unit block 10526 to be distally shifted by slide block gear 10516 along the additional rotation of direction B ', engage until slide block gear 10516 engages with percussion gear 10542.Now, see Figure 92 and Figure 93, power shaft 10510 can Direct driver beating shaft 10540.Then, when power shaft 10510 rotates along direction A ', power shaft 10510 can rotate beating shaft 10540 along direction D '.Trigger system also can comprise the percussion nut 10546 with screwed hole 10547, and the threaded portion 10544 of this percussion nut and beating shaft 10540 is threadably engaged.When beating shaft 10410 rotates along direction A ', beating shaft 10540 distally can advance percussion nut 10546.Percussion nut 10546 can comprise one or more anti-rotational feature, described anti-rotational feature can engage slidably with the framework of surgical instruments, percussion nut 10546 is not rotated together with beating shaft 10540, and makes the rotary motion of beating shaft 10540 can be converted into the lengthwise movement of percussion nut 10546.Percussion driving device also can comprise the firing member 10548 extended from percussion nut 10546, and this firing member distally advances to penetrate nail from nail bin 10506.In the whole percussion stroke of trigger system, shift unit block 10526 can continue distally to advance slide block gear 10516.When slide block gear 10516 to be distally advanced into the point that wherein slide block gear 10516 is no longer threadably engaged with percussion gear 10542 by shift unit block 10526, percussion stroke can complete.Now, firing member 10548 can be in its complete firing position.

To being described further above, Figure 93 illustrates the transporter 10502 being in percussion configuration, and in this configuration, firing member 10548 can be pushed into or bounce back.When slide block gear 10516 with percussion gear 10542 engage engage time, power shaft 10510 is by Direct driver beating shaft 10540.Meanwhile, because engaging between input gear 10512 with idler gear 10522 engages, power shaft 10510 is by Direct driver jackshaft 10520.In addition, when slide block gear 10516 with percussion gear 10542 engage engage time, slide block gear 10516 does not engage with closed gear 10532 and engages, therefore, when transporter 10502 be in pull the trigger configuration time, power shaft 10510 will not drive closed axle 10530.

In order to make firing member 10548 bounce back, power shaft 10510 can rotate along direction A with along direction B rotating intermediate shaft 10520, and shift unit block 10526 is proximally shifted, and slide block gear 10516 is re-engaged with percussion gear 10542.Now, power shaft 10510 rotates will beating shaft 10540 be rotated along the direction contrary with direction D ' along the continuation of direction A, percussion nut 10546 is proximally shifted, and firing member 10548 is bounced back.When slide block gear 10516 rotates percussion gear 10542, shift unit block 10526 can continue proximally traction sliding block gear 10516, until slide block gear 10516 no longer merges with percussion gear 10542 joggle(d) joint and slide block gear 10516 arrives its clear position.Now, power shaft 10510 makes shift unit block 10526 and slide block gear 10516 proximally be shifted along the lasting rotation of direction A by continuing and is re-engaged slide block gear 10516 and closed gear 10532 to reopen anvil block 10508.

Figure 94 to Figure 98 illustrates the surgical instruments 11010 being configured to sew up and/or incision is organized.Surgical instruments 11010 can comprise pistol grip shape shank 11015.Shank 11015 comprises the first handle portions 11020 limiting longitudinal axis 11030, and jaw 11070 and 11090 can extend from this first handle portions.Shank 11015 comprises the second handle portions, i.e. shank handle 11040, and it limits Part II axis 11050.Part II axis 11050 is predetermined angle 11060 together with longitudinal axis 11030.In all cases, angle 11060 can comprise any suitable angle, all 120 degree according to appointment.Jaw 11070 can comprise storehouse passage, and this storehouse passage has the opening being configured to receive nail bin 11080 removedly.Nail bin 11080 can comprise the multiple nails be stored in removedly with the nail intracavity of at least two stringers layouts, and a stringer is on the either side of passage, and the cutter for transecting patient tissue can be advanced in the channels, as described in greater detail below.In at least one situation, the nail chamber of three stringers can be arranged on the first side of cutter passage, and the nail chamber of three stringers can be arranged on the second side of cutter passage.Jaw 11090 can comprise anvil block, and this anvil block can rotate to position that is relative with nail bin 11080 and that align with it, makes the anvil block pit be defined in anvil block 11090 can receive the nail from nail bin 11080 injection and make it be shaped.Figure 98 illustrates anvil block 11090 in an open position, and Figure 94 illustrates anvil block 11090 in the close position.Although not shown, contemplate other embodiments, the jaw comprising nail bin 11080 can rotate relative to anvil block 11090.Under any circumstance, as described in more detail below, shank 11015 also can comprise close push button 11065 (Figure 98) and firing button 11055, this close push button is configured to operate the closed-system moved between its open position and make position by anvil block 11090, and this firing button is configured to operate will follow closely the trigger system penetrated from nail bin 11080.Close push button 11065 can locate and be arranged on shank 11015, make it can be easy to close by the thumb of the hands of the support shank 11015 of such as operator, and firing button 11055 can be located and be arranged so that it can be easy to close by the forefinger of the hands of the support shank 11015 of operator.

To being described further above, during use, anvil block 11090 can move towards with away from nail bin 11080.In all cases, close push button 11065 can comprise two-way switch.When close push button 11065 presses along first direction, anvil block 11090 can move towards nail bin 11080 by the closed-system of surgical instruments 11010, and when close push button 11065 presses along second direction, anvil block 11090 can move away from nail bin 11080 by closed-system.Main see Figure 95 and Figure 97, closed-system can comprise the closed motor 11110 being configured to motion anvil block 11090.Closed motor 11110 can comprise the closed gear 11140 of rotatable closed axle 11130, first extended from it and be attachable to this closed axle.The closed rotatable closed axle 11130 of motor 11110, and the closed gear 11140 of closed axle 11130 rotatable first.First closed gear 11140 can engage with idle gear 11150 and engage, and this idle gear then can engage with closed driving screw driven wheel 11160 and engage.Closed driving screw driven wheel 11160 is attached to closed driving screw 11170.When the first closed gear 11140 is rotated by closed axle 11130, the first closed rotatable idle gear 11150 of gear 11140, the rotatable closed driving screw driven wheel 11160 of idle gear 11150, and the closed rotatable closed driving screw 11170 of driving screw driven wheel 11160.

Main see Figure 97, closed axle 11130, first closed gear 11140, idle gear 11150 and closed driving screw driven wheel 11160 rotatably can be supported by the motor block 11125 be supported in handle portions 11120.Closed driving screw 11170 can comprise the first end rotatably supported by motor block 11125 equally and/or the second end rotatably supported by the shell of shank 11015.Closed driving screw 11170 also can be included in the threaded portion in the middle of first end and the second end.Closed-system also can comprise the closure blocks 11175 (Figure 96) can with screwed hole 11176, and the threaded portion of this screwed hole and closed driving screw 11170 is threadably engaged.Closure blocks 11175 can be restrained and can not rotate together with closed driving screw 11170, make when closed driving screw 11170 rotates, closed driving screw 11170 can make closure blocks 11175 proximally or distally be shifted, and this depends on the direction that closed driving screw 11170 rotates.Such as, if closed driving screw 11170 rotates along first direction, then closed driving screw 11170 can make closure blocks 11175 distally be shifted, and when closed driving screw 11170 rotates along second direction or rightabout, closed driving screw 11170 can make closure blocks 11175 proximally be shifted.Main see Figure 96, closure blocks 11175 form of close passage 11180 can be installed to latch member, and this latch member is along the outside translation of storehouse passage 11170.In all cases, close passage 11180 can be encapsulated in handle portions 11120, and in some cases, close passage 11180 can from handle portions 11120 projection.When observed from the end, close passage 11180 can comprise roughly the passage of " U " shape and can comprise opposing sidewalls 11182.Each sidewall 11182 can comprise the cam slot 11190 be defined in wherein.As hereafter described in more detail further, cam slot 11190 can be configured to engage anvil block 11090 and relative to nail bin 11080 motion anvil block 11090.

To being described further above, close passage 11180 is engaged in around storehouse passage 11070, makes storehouse passage 11070 be nested in the inside of " U " shape close passage 11180.Main see Figure 96, storehouse passage 11070 can comprise the elongated slot 11195 be defined in wherein, and close passage 11180 can comprise the pin extended inward in elongated slot 11195.Close passage pin and elongated slot 11195 can retrain the motion of close passage 11180, make close passage 11180 relative to storehouse passage 11070 longitudinally path shift.The translational motion of close passage 11180 can make anvil block 11090 rotate.Anvil block 11090 can be connected to close passage 11180 via distally closure pin 11210, and this distally closure pin extends through the anvil block cam hole 11211 be defined in anvil block 11090 and the cam slot 11190 be defined in close passage 11180.Each cam slot 11190 can comprise first end or distal end 11191 and the second end or proximal end 11192.Each cam slot 11190 also can comprise the first drive surfaces or nearside drive surfaces 11193 and the second drive surfaces or distally drive surfaces 11194.When closed-system be in its open configuration and anvil block 11090 is in its open position time, close passage 11180 can be in its primary importance or not advance position, and distally closure pin 11210 can be in first end or the distal end 11191 of cam slot 11190.When close passage 11180 distally advances with during towards nail bin 11080 motion anvil block 11090, the first drive surfaces 11193 can contact distally closure pin 11210 and promote distally closure pin 11210 downwards towards nail bin 11080.When closed-system is in its closed configuration and anvil block 11090 is in its make position relative with nail bin 11080, close passage 11180 can be in its second position or advance in position completely, and distally closure pin 11210 can be in the second end or the proximal end 11192 of cam slot 11190.

Each cam slot 11190 can comprise crooked route or bow-shaped route.First drive surfaces 11193 can comprise the first arcuate surfaces, and the second drive surfaces 11194 can comprise the second arcuate surfaces.In all cases, each cam slot 11190 can comprise at least one sweep and at least linear segment.In at least one situation, each first drive surfaces 11193 can comprise the flat surfaces in the distal end 11191 of cam slot 11190.Flat surfaces can comprise perpendicular to or at least be substantially perpendicular to the vertical surface of longitudinal axis 11030 of apparatus 11010.This type of flat surfaces can be used as ratchet, and this ratchet is displaced to needing the power of primary quantity in the arcuate section of cam slot 11190 to make closure pin 11210.In some cases, each first drive surfaces 11193 can comprise the flat surfaces 11196 in the proximal end 11192 of cam slot 11190.Each flat surfaces 11196 can comprise and to be parallel to or at least substantially parallel to the horizontal surface of longitudinal axis 11030.Flat surfaces 11196 can provide larger mechanical dominance between close passage 11180 and anvil block 11090.In all cases, when closure pin 11210 is in the distal end 11191 of slit 11190, the first drive surfaces 11193 can apply very little mechanical dominance to closure pin 11210; But when closure pin 11210 slides through cam slot 11190 towards proximal end 11192, the mechanical dominance applied to closure pin 11210 by the first drive surfaces 11193 can increase.When closure pin 11210 enters in proximal end 11192, the mechanical dominance applied by the first drive surfaces 11193 for maximum, and can be greater than the mechanical dominance applied by the first drive surfaces 11193 when closure pin 11210 is in the distal end 11191 of cam slot 11190 without doubt.That is, when distal end 11191 can apply compared with gadget advantage to closure pin 11210, distal end 11191 can make closure pin 11210 relative to storehouse 11080 rapid traverse.Close passage 11180 distally advance and be applied to closure pin 11210 mechanical dominance increase time, as mentioned above, the first drive surfaces 11193 can more slowly motion anvil block 11090 to obtain the given speed of close passage 11180.

As shown in Figure 96, storehouse passage 11070 also can comprise the distally be defined in wherein and close slit 11215, and it can be configured to receive distally closure pin 11210 at anvil block 11090 close to during its make position.Distally closes slit 11215 for substantially vertical, and can be included in the open end at storehouse passage 11070 top place and the closed ends at its opposed end place.Slit 11215 is comparable wide at its closed ends place at its open end place.In all cases, when anvil block 11090 arrives its make position, closure pin 11210 can contact the closed ends of closed slit 11215.In this case, the closed ends of closed slit 11215 can stop the motion of anvil block 11090.In some cases, when anvil block 11090 is in its make position, anvil block 11090 can contact nail bin 11080.In at least one situation, anvil block 11090 can rotate around pivot pin 11200, until the distal end 11091 of anvil block 11090 contacts the distal end 11081 of nail bin 11080.As shown in Figure 98, the distally closure pin 11210 of motion anvil block 11090 is distally located relative to pivot pin 11220.Therefore, the closing force being applied to anvil block 11090 by closed driving device distally applies relative to pivot, and anvil block 11090 is rotationally attached to storehouse passage 11070 by this pivot.Similarly, the tensile force being applied to anvil block 11090 by closed driving device distally applies relative to pivot, and anvil block 11090 is rotationally attached to storehouse passage 11070 by this pivot.

As mentioned above, shank 11015 can comprise close push button 11065, and this close push button is configured to the closed-system of operate surgical instruments 11010.The motion of close push button 11065 can be detected by such as sensor or switch.When close push button 11065 is pressed, Closing Switch 11285 can be activated or close, and this causes power flow direction to close motor 11110.In this case, switch 11285 can closed electrical source circuit, and this power circuit can provide power supply to closed motor 11110.In some cases, surgical instruments 11010 can comprise such as microprocessor.In this case, Closing Switch 11285 can communicate with microprocessor signals, and when Closing Switch 11285 is closed, power source can be operably connected to closed motor 11110 by microprocessor.Under any circumstance, first polarity of voltage can be applied to closed motor 11110 to make closed output shaft 11130 along first direction rotation and to make anvil block 11090 close, in addition, the second polarity of voltage or opposite voltage polarity can be applied to closed motor 11110 to make closed output shaft 11130 rotate along second direction or rightabout and to open anvil block 11090.

In all cases, under surgical instruments 11010 can be configured to make the operator of surgical instruments 11010 need that close push button 11065 is remained on pressed state, until closed driving device has reached its complete closed configuration.In the d/d situation of close push button 11065, microprocessor can stop closed motor 11110.Alternatively, if discharged close push button 11065 before closed driving device reaches its complete closed configuration, then microprocessor can make the direction of closed motor 11110 reverse.After closed driving device reaches its complete closed configuration, microprocessor can stop closed motor 11110.In all cases, as described in greater detail below, surgical instruments 11010 can comprise and is configured to detect closed-system and when reaches the closed sensor 11300 (Figure 96 and Figure 98) of its complete closed configuration.Closed sensor 11300 can communicate with microprocessor signals, and when microprocessor receives from closed sensor 11300 signal that anvil block 11090 closed, power source can disconnect from closed motor 11110 by this microprocessor.In all cases, after closed-system has been placed in its closed configuration, but before trigger system is operated, re-presses close push button 11065 and microprocessor can be caused to make the direction of closed motor 11110 oppositely and reopen anvil block 11090.In some cases, anvil block 11090 can reopen to its fully open position by microprocessor, and in other cases, anvil block 11090 can reopen to partial open position by microprocessor.

Once anvil block 11090 adequate closure, the trigger system of surgical instruments 11010 just can be operated.Main see Figure 95 and Figure 97, trigger system can comprise percussion motor 11120.Percussion motor 11120 can with closed motor 11110 adjacent positioned.Closed motor 11110 can extend along first longitudinal motor axis, and pull the trigger motor 11120 can along to be parallel to or second longitudinal motor axis at least substantially parallel to the first motor axis extends.First longitudinal motor axis and second longitudinal motor axis can be parallel to the longitudinal axis 11030 of surgical instruments 11010.Closed motor 11110 can be positioned on the first side of longitudinal axis 11030, and pulls the trigger motor 11120 and can be positioned on the second side of longitudinal axis 11030.In this case, first longitudinal motor axis can longitudinally axis 11030 first side extend, and second longitudinal motor axis can longitudinally axis 11030 second side extend.In all cases, first longitudinal motor axis can extend across the center of closed axle 11130.To similar above, percussion motor 11120 can comprise the rotatable beating shaft 11230 extended from it.Same to similar above, second longitudinal motor axis can extend across the center of beating shaft 11230.

To being described further above, the first percussion gear 11240 can be installed on beating shaft 11230.First percussion gear 11240 be installed to the percussion driving screw driven wheel 11250 of pulling the trigger driving screw 11260 and engage and engage.When beating shaft 11230 is rotated by motor 11120, the rotatable first percussion gear 11240 of beating shaft 11230, first percussion gear 11240 rotatable percussion driving screw driven wheel 11250, and pull the trigger the rotatable percussion driving screw 11260 of driving screw driven wheel 11250.Main see Figure 97, beating shaft 11230, first is pulled the trigger gear 11240, percussion driving screw driven wheel 11250 and/or percussion driving screw 11260 and rotatably can be supported by motor block 11125.First percussion gear 11240 and percussion driving screw driven wheel 11250 can be positioned in the middle of motor block 11125 and the first barrier plate 11126.First barrier plate 11126 can be installed on motor block 11125 and also rotatably can to support beating shaft 11230, first pulls the trigger gear 11240, percussion driving screw driven wheel 11250 and/or percussion driving screw 11260.In all cases, surgical instruments 11010 also can comprise second barrier plate 11127 that can be installed to the first barrier plate 11126.To similar above, the first closed gear 11140, idle gear 11150 and closed driving screw driven wheel 11160 can be positioned in the middle of the first barrier plate 11126 and the second barrier plate 11127.In all cases, the first barrier plate 11126 and/or the second barrier plate 11127 rotatably can support the closed gear 11140 of closed axle 11130, first, idle gear 11150, closed driving screw driven wheel 11160 and/or closed driving screw 11170.

Said motor and arrangement of gears can contribute to the space saved in the shank 11015 of surgical instruments 11010.As mentioned above, and main see Figure 97, and closed motor 11110 and percussion motor 11120 are positioned on motor block 11125.On the side that closed motor 11110 is positioned at percussion motor 11120 and slightly proximally.From a motor proximally another motor of bias voltage can produce the space for two gear trains, one of them gear train is after another gear train.Such as, the closed gear train comprising the first closed gear 11140, closed idle gear 11150 and closed driving screw driven wheel 11160 is positioned at the percussion gear train nearside comprising the first percussion gear 11240 and percussion driving screw driven wheel 11250.Make motor drive shaft proximally extend (main body of motor distally extends towards jaw) away from jaw simultaneously and can produce space in shank 11015, and by making the miscellaneous part side parallel alignment of the main body of motor 11110 and 11120 in shank 11015 allow shorter shank 11015.

To being described further above, closed gear train and percussion gear train are designed to save space.In the embodiment shown in Figure 97, closed motor 11110 drives three gears, and pulls the trigger motor 11120 and drive two gears; But closed gear train and percussion gear train can comprise the gear of any suitable quantity.Adding the 3rd gear i.e. closed idle gear 11150 to closed gear train allows closed driving screw 11170 to offset downward relative to percussion driving screw 11260, and independent driving screw can be rotated around different axis.In addition, the 3rd gear eliminates the demand for the axis using larger diameter gear skew driving screw, and the volume of the overall diameter in the space needed for gear train and shank 11015 can be reduced.

Main see Figure 98, closed driving screw 11170 can along the first longitudinal axis Axis Extension, and pull the trigger driving screw 11260 can along the second longitudinal axis Axis Extension.First longitudinal axis axis and the second longitudinal axis axis can be parallel to the longitudinal axis 11030 of surgical instruments 11010.First longitudinal axis axis or the second longitudinal axis axis can with longitudinal axis 11030 conllinear.In all cases, percussion driving screw 11260 can longitudinally extend by axis 11030, and the second longitudinal axis axis can with longitudinal axis 11030 conllinear.In this case, closed driving screw 11170 and the first longitudinal axis axis can offset relative to longitudinal axis 11030.

To being described further above, percussion driving screw 11260 can comprise the first end such as rotatably supported by motor block 11125, the second end rotatably supported by shank 11015, and the threaded portion extended between first end and the second end.Percussion driving screw 11260 can to reside in " U " shape storehouse passage 11070 and above closed driving screw 11170.Main see Figure 95, percussion driving device also can comprise percussion block 11265, and this percussion block can comprise the screwed hole 11266 be threadably engaged with the threaded portion of percussion driving screw 11260.Percussion block 11265 can restrained and can not with percussion driving screw 11260 together with rotate, making to pull the trigger the rotation of driving screw 11260 can make percussion block 11265 proximally or distally translation, and this depends on the direction that percussion driving screw 11260 is rotated by percussion motor 11120.Such as, when pulling the trigger driving screw 11260 and rotating along first direction, percussion driving screw 11260 can make percussion block 11265 distally be shifted, and when pulling the trigger driving screw 11260 and rotating along second direction, percussion driving screw 11260 can make percussion block 11265 proximally be shifted.As described in greater detail below, percussion block 11265 can distally advance to dispose and be stored in nail in nail bin 11080 and/or incision removedly and be captured in tissue between nail bin 11080 and anvil block 11090.

To being described further above, percussion block 11265 may be attached to pushing block 11270, makes pushing block 11270 translation together with percussion block 11265.Trigger system also can comprise percussion wedge 11280, and this percussion wedge is attached to pushing block 11270 and distally extends from pushing block 11270.Percussion wedge 11280 can comprise at least one cam face in its distal end place of each leisure, and this cam face can be configured to penetrate nail from nail bin 11080.Trigger system also can comprise the cutter block 11281 arranged in the mode that can slide along percussion wedge 11280.In all cases, the initial distal movement pulling the trigger block 11265 can not be sent to cutter block 11281; But when pulling the trigger block 11265 and distally advancing, pushing block 11270 such as can contact cutter block 11281 and distally promote cutter block 11281 and be installed to its cutter 11282.In other cases, cutter block 11281 can be installed in percussion wedge 11280, and cutter block 11281 and cutter 11282 are moved in the whole motor process of percussion wedge 11280 together with percussion wedge 11280.Percussion block 11265, pushing block 11270, percussion wedge 11280, cutter block 11281 and cutter 11282 can form pushing block and knife assembly.Under any circumstance, pull the trigger wedge 11280 and cutter 11282 distally to move to pull the trigger simultaneously and be stored in nail in nail bin 11080 and incision and be captured in tissue between nail bin 11080 and anvil block 11090.The cam face of percussion wedge 11280 distally can be located relative to the cutting surfaces of cutter 11282, and the tissue be captured between nail bin 11080 and anvil block 11090 can be sewn before it is cut.

As mentioned above, when pushed, close push button 11065 contacts Closing Switch 11285 and is energized to make closed motor 11110.Similarly, when pushed, firing button 11055 contacts percussion switch 11290 and is energized to make percussion motor 11120.In all cases, percussion switch 11290 can closed electrical source circuit, and this power circuit can provide electrical power to percussion motor 11120.In some cases, percussion switch 11290 can communicate with the microprocessor signals of surgical instruments 11010, and when percussion switch 11290 is closed, power source can be operably connected to percussion motor 11120 by microprocessor.In any one situation, first polarity of voltage can be applied to percussion motor 11120 to make percussion output shaft 11230 rotate along first direction and distally to advance percussion assembly, and the second polarity of voltage or opposite voltage polarity can be applied to percussion motor 11120 to make percussion output shaft 11230 rotate along second direction or rightabout and to make percussion assembly bounce back.In all cases, firing button 11055 can comprise two-way switch, this two-way switch is configured on its first direction, operate percussion motor 11120 when firing button 11055 promotes along first direction, and in its second direction, operates percussion motor 11120 when firing button 11055 promotes along second direction.

As mentioned above, after closed-system adequate closure anvil block 11090, trigger system can activated.In all cases, anvil block 11090 can when it has arrived its complete make position by adequate closure.Surgical instruments 11010 can be configured to detect anvil block 11090 and when arrive its complete make position.Main see Figure 98, surgical instruments 11010 can comprise closed sensor 11300, and this closed sensor is configured to detect the terminal when close passage 11180 arrives its closing stroke, and therefore when detection anvil block 11090 is in its make position.Closed sensor 11300 can be positioned in closed driving screw 11170 distal end place or with closed driving screw 11170 adjacent positioned.In at least one situation, closed sensor 11300 can comprise proximity transducer, and it is when adjacent with closed sensor 11300 and/or contact with closed sensor 11300 that this proximity transducer is configured to sensing close passage 11180.To similar above, closed sensor 11300 can communicate with the microprocessor signals of surgical instruments 11010.When microprocessor from closed sensor 11300 receive close passage 11180 arrived its advance position completely and anvil block 11090 signal in the close position time, microprocessor can allow trigger system to activated.In addition, microprocessor can prevent trigger system from activateding, until microprocessor receives this type of signal from closed sensor 11300.In this case, microprocessor can apply from power from power supply to percussion motor 11120 according to the input selection from closed sensor 11300, or optionally controls the power being applied to percussion motor 11120.Finally, in these embodiments, until apparatus closes, percussion switch 11290 just can cause percussion stroke.

Contemplate some embodiment, even if wherein closed-system is in part closed configuration and anvil block 11090 is in partial closed position, the trigger system of surgical instruments 11010 still can operate.In at least one embodiment, when pulling the trigger assembly and distally advancing to pull the trigger the nail be stored in nail bin 11080, the percussion assembly of surgical instruments 11010 can be configured to contact anvil block 11090 and anvil block 11090 is moved to its complete make position.Such as, cutter 11282 can comprise the cam member being configured to engage anvil block 11090 when cutter 11282 distally advances, and anvil block 11090 can be moved to its complete make position by this cam member.Cutter 11282 also can comprise the second cam member being configured to engage storehouse passage 11070.Cam member can be configured to located relative to nail bin 11080 by anvil block 11090 and set interstice's distance between anvil block 11090 and nail bin 11080.In at least one situation, cutter 11282 can comprise I ellbeam, and this I ellbeam can distally be shifted to set interstice, penetrates nail from nail bin 11080, and incision tissue.

Surgical instruments 11010 can comprise be configured to detect trigger system when completed its percussion stroke sensor.In at least one situation, surgical instruments 11010 can comprise sensor, such as encoder, and it such as can be configured to the rotation of detection percussion driving screw 11260 and count it.Sensors with auxiliary electrode can communicate with the microprocessor signals of surgical instruments 11010.Microprocessor can be configured to count the rotation of percussion driving screw 11260, and rotated enough number of times with after pulling the trigger all nails from nail bin 11080 at percussion driving screw 11260, the power that microprocessor interruptible price is supplied to percussion motor 11120 stops making percussion driving screw 11260.In some cases, once all nails pulled the trigger by percussion assembly, microprocessor reversible has been applied to the polarity of voltage of percussion motor 11120, to make percussion assembly automatic retracted.

As mentioned above, surgical instruments 11010 can comprise power source.Power source can comprise the power source being such as arranged in shank 11015 outside and the cable that may extend into shank 11015.Power source can comprise at least one battery be contained in shank 11015.Battery can be positioned in the first handle portions 11020 and/or shank handle 11040.It is contemplated that, battery, gear, motor and rotating shaft can all be merged in a unit, and this unit can independent of the remainder of shank 11015.This type of unit can clean and can sterilizing.

In all cases, surgical instruments 11010 can comprise the one or more indicators being configured to the state indicating surgical instruments 11010.In at least one embodiment, surgical instruments 11010 can comprise such as LED11100.In order to send the state of surgical instruments to user, during the different operating state of surgical instruments 11010, LED11100 can different colours luminescence.Such as, when surgical instruments 11010 be powered and unspent nail bin 11080 no-fix in storehouse passage 11070 time, LED11100 can send the light of the first color.Surgical instruments 11010 can comprise one or more sensor, and whether described sensor can be configured to detect nail bin 11080 and to be present in storehouse passage 11070 and whether nail penetrates from nail bin 11080.When surgical instruments 11010 is powered and unspent nail bin 11080 is positioned in storehouse passage 11070, LED11100 can send the light of the second color.When apparatus 11010 is powered, unspent nail bin 11080 is loaded onto in storehouse passage 11070, and when anvil block 11090 is in the close position, LED11010 can send the light of the 3rd color.This type of the 3rd color can indicate surgical instruments 11010 to be ready to penetrate nail from nail bin 11080.LED11100 can send the light of the 4th color after percussion process starts.LED can send the light of the 5th color after percussion process completes.This is only an exemplary embodiment.The color of any suitable number can be used to indicate the state of any suitable number of surgical instruments 11010.Although one or more LED can be used to transmit the state of surgical instruments, also other indicators can be used.

In use, first the user of surgical instruments 11010 loads nail bin 11080 by nail bin 11080 being placed in storehouse passage 11070 for surgical instruments 11010.Storehouse 11080 is loaded in storehouse passage 11070 and LED11100 can be caused to become the second color from the first color.User can grasp shank handle 11040 and use thumb to start Closing Switch 11065 to open the anvil block 11090 of surgical instruments 11010, to be placed in storehouse passage 11070 by nail bin 11080.Then nail bin 11080 can be positioned to be stapled with on the side of the tissue of crosscut by user, and is positioned on the opposite side of tissue by anvil block 11090.By pinning close push button 11065 with its thumb, user can close surgical instruments 11010.Before closing stroke completes, discharge close push button 11065 can reopen anvil block 11090 and allow user to reorientate surgical instruments 11010 as required.User can be enjoyed and can use that have can the opening linear sickle of pivotable jaw and the advantage without the need to assembling linear cutter part.User can enjoy the sensation of pistol grip further.

When anvil block 11090 moves to its complete make position, close passage 11080 can contact closed sensor 11300, and closed sensor 11300 can by microprocessor signals to arm percussion switch 11290.Now, the light that LED11100 can send the 3rd color loads to illustrate, close and get out the surgical instruments 11010 pulled the trigger.Then user can press firing button 11055, and this firing button contacts percussion switch 11290 and causes percussion switch 11290 that percussion motor 11120 is energized.Make percussion motor 11120 energising that beating shaft 11230 can be made to rotate, this beating shaft rotates the first percussion gear 11240 and percussion driving screw driven wheel 11250 then.Percussion driving screw driven wheel 11250 rotates percussion driving screw 11260.Percussion driving screw 11260 be threadedly engaged be defined in percussion block 11265 in female thread and resist its applying power with distally move percussion block 11265.Percussion block 11265 makes pushing block 11270 distally move, thus distally wedge 11280 is pulled the trigger in carrying.The cam face 11305 at the distal end place of percussion wedge 11280 makes the nail be stored in nail bin 11080 carry out camming movement towards anvil block 11090, and anvil block 11090 can make nail shaping carry out fastening tissue.Pushing block 11270 engages cutter block 11281 distally to promote cutter block 11281 and cutter 11282, thus the tissue that crosscut is sewed up.After percussion stroke completes, percussion motor 11120 can be reversed to pushing block 11270, cutter block 11281, percussion wedge 11280 and cutter 11282 are returned.Surgical instruments 11010 can comprise button and/or switch, and it automatically indicates microprocessor to bounce back and pulls the trigger assembly, even if percussion stroke not yet completes.In some cases, pull the trigger assembly and may not need retraction.Under any circumstance, user opens surgical instruments 11010 by pressing close push button 11065.Close push button 11065 can contact Closing Switch 11285 and closed motor 11110 is energized.Closed motor 11110 along inverse direction operation to make close passage 11180 proximally bounce back, thus can reopen the anvil block 11090 of surgical instruments 11010.LED11100 can send the storehouse of instruction percussion and the light of the 4th color of the process completed.

Surgery suturing appliance 12010 is shown in Figure 99 to Figure 106.Apparatus 12010 can comprise shank 12015, closed driving device and percussion driving device, this closed driving device comprises the closed breech lock 12050 being configured to compress tissue between nail bin 12080 and anvil block 12090, and this percussion driving device is configured to follow closely from nail bin 12080 injection and cut tissue.Figure 99 illustrate be in open, the apparatus 12010 of non-latch mode.Open when apparatus 12010 is in it, non-latch mode time, anvil block 12090 pivotable is away from nail bin 12080.In all cases, anvil block 12090 can be pivoted through wide angle relative to nail bin 12080, makes anvil block 12090 and nail bin 12080 can be easy to be positioned on the opposite side of tissue.Figure 100 illustrates the apparatus 12010 being in closed, non-latch mode.When apparatus 12010 be in that it is closed, non-latch mode time, anvil block 12090 rotates in the make position relative with nail bin 12080 towards nail bin 12080.In all cases, the make position of anvil block 12090 can be depending on the thickness being positioned at anvil block 12090 tissue middle with nail bin 12080.Such as, when be positioned in the middle of anvil block 12090 and nail bin 12080 organize thicker time compared with when organizing thinner, anvil block 12090 can arrive the make position of nail bin 12080 further away from each other.Figure 101 illustrates and is in apparatus 12010 that is closed, latch mode.When apparatus 12010 be in that it is closed, latch mode time, closed breech lock 12050 is rotated to engage anvil block 12090 and is located anvil block 12090 relative to nail bin 12080.Now, as hereafter described in more detail further, the percussion driving device of surgical instruments 12010 can activated to pull the trigger nail from nail bin 12080 and incision tissue.

Main see Figure 106, surgical instruments 12010 can comprise the framework 12020 extended from shank 12015.Framework 12020 can comprise the frame passage 12022 be defined in wherein, and it can be configured to receive and/or support storehouse passage 12070.Storehouse passage 12070 can comprise proximal end and distal end.The proximal end of storehouse passage 12070 can be connected to framework 12020.The distal end of storehouse passage 12070 can be configured to receive nail bin 12080 removedly wherein.Frame passage 12022 can comprise the pivot hole 12207 be defined in its opposite side.Pivot pin 12205 can be supported in pivot hole 12207 and can to extend between the side of passage 12022.Closed breech lock 12050 can comprise the latch frame 12051 with latch bar 12052.Latch bar 12052 can rotatably be mounted to framework 12020 via pivot pin 12205, and this pivot pin can extend across the pivot hole 12206 be defined in latch bar 12052.In all cases, pivot hole 12206,12207 and pivot pin 12205 can limit fixed axis 12208, and closed breech lock 12050 can rotate around this fixed axis.Closed breech lock 12050 also can comprise the latch housing 12057 being installed to latch bar 12052.When the user motion latch housing 12057 of surgical instruments 12010, latch housing 12057 can make latch bar 12052 move.Closed operating in of breech lock 12050 hereinafter describes further in more detail.

To being described further above, anvil block 12090 can comprise proximal end and distal end.The distal end of anvil block 12090 can comprise multiple nail shaping pit maybe can aimed at that aligns, and wherein when anvil block 12090 is in its make position, nail chamber is defined in nail bin 12080.The proximal end of anvil block 12090 can be connected to framework 12020 pivotly.Anvil block 12090 can comprise and with the pivot hole 12202 be defined in storehouse passage 12207 and can be defined in the pivot hole 12201 that the pivot hole 12203 in framework 12020 aligns.Pivot pin 12200 can extend across pivot hole 12201,12202 and 12203, and anvil block 12090 can be rotationally attached to storehouse passage 12207.In all cases, pivot hole 12201,12202 and 12203 and pivot pin 12200 can limit fixed axis, and anvil block 12090 can rotate around this fixed axis.In some cases, pivot hole 12201,12202 and/or 12203 can longitudinal tensile strain, such as, make pivot pin 12200 can slide in pivot hole 12201,12202 and/or 12203.In this case, anvil block 12090 can rotate around axis relative to storehouse passage 12070, in addition, relative to storehouse passage 12070 translation.Anvil block 12090 also can comprise the anvil block shell 12097 being installed to it.When the user motion anvil block shell 12097 of surgical instruments 12010, anvil block shell 12097 can make anvil block 12090 move, and anvil block 12090 can be rotated between open position (Figure 99) and make position (Figure 100).

To being described further above, anvil block 12090 also can comprise latch pin 12210.Anvil block 12090 can comprise breech lock pin-and-hole 12211, and anvil block shell 12097 can comprise breech lock pin-and-hole 12212, and this breech lock pin-and-hole is configured to receive and support latch pin 12210.When anvil block 12090 has been moved in its make position or the position adjacent with its make position, breech lock 12050 can engagement latch lock pin 12210 and towards nail bin 12080 tractive anvil block 12090.In all cases, the latch bar 12052 of breech lock 12050 can comprise the latch arms 12053 being configured to engagement latch lock pin 12210 separately.Breech lock 12050 can rotate between non-position latching (Figure 100) and position latching (Figure 101), and at non-position latching, latch arms 12053 does not engage with latch pin 12210.When breech lock 12050 moves between its non-position latching and its position latching, latch arms 12053 can engagement latch lock pin 12210 and anvil block 12090 is moved towards nail bin 12080.Each latch arms 12053 can comprise the cam face being configured to contact latch pin 12210.Cam face can be configured to promote towards nail bin 12080 and guide latch pin 12210.When breech lock 12050 arrives its position latching, latch pin 12210 can be trapped in the breech lock slit 12054 that is defined in latch bar 12052.Breech lock slit 12054 can be limited by latch arms 12053 at least in part.The opposite side of breech lock slit 12054 can comprise lifting surface, this lifting surface can be configured to the engagement latch lock pin 12210 when breech lock 12050 rotates to open apparatus 12010 between its position latching and its non-position latching and promote anvil block 12090 away from nail bin 12080, as hereafter described in more detail further.

As mentioned above, anvil block 12090 can move towards nail bin 12080.In all cases, when the distal end of the distal end contact nail bin 12080 of anvil block 12090, anvil block 12090 can stop towards the motion of nail bin 12080.In some cases, when latch pin 12210 contacts storehouse passage 12070, the motion of anvil block 12090 can stop.Storehouse passage 12070 can comprise the slit 12215 be defined in wherein, and this slit is configured to receive latch pin 12210.Each slit 12215 can comprise towards upper open end and other comprise closed ends, and latch pin 12210 enters slit 12215 by this open end.In all cases, when anvil block 12090 arrives its make position, latch pin 12210 can contact the closed ends of slit 12215.In some cases, if thick tissue positioned is between anvil block 12090 and nail bin 12080, then latch pin 12210 may not contact the closed ends of slit 12215.In at least one situation, anvil block 12090 also can comprise latch 12095.Latch 12095 can be installed to via the pin-and-hole 12096 be defined in wherein on anvil block 12090 and to be supported by anvil block 12090.Latch 12095 can be configured to contact storehouse passage 12070 and stop anvil block 12090 towards the motion of nail bin 12080.To similar above, storehouse passage 12070 also can comprise the retaining slot 12075 be defined in wherein, and this retaining slot can be configured to receive latch 12095.Each retaining slot 12075 can comprise towards upper open end and other closed ends, and latch 12095 enters retaining slot 12275 by this open end.In all cases, when anvil block 12090 arrives its make position, latch 12095 can contact the closed ends of retaining slot 12075.In some cases, if thick tissue positioned is between anvil block 12090 and nail bin 12080, then latch 12095 may not contact the closed ends of retaining slot 12075.

As mentioned above, storehouse passage 12070 can be installed to framework 12020.In all cases, storehouse passage 12070 can rigidity and be fixedly secured to framework 12020.In this case, storehouse passage 12070 may can not move relative to framework 12020 and/or shank 12015.In some cases, storehouse passage 12070 can be connected to framework 12020 pivotly.In this type of situation of at least one, storehouse passage 12070 can comprise the pivot hole 12202 be defined in wherein, and this pivot hole can be configured to connect pivot pin 12200.In this case, anvil block 12090 and storehouse passage 12070 can rotate around pivot pin 12200 relative to framework 12020.When breech lock 12050 engages with latch pin 12210, anvil block 12090 and storehouse passage 12070 can be remained on appropriate location by breech lock 12050.

In some cases, to being described further above, apparatus 12010 can comprise and is configured to detect anvil block 12090 and whether is in one or more sensors of its make position.In at least one situation, apparatus 12010 can comprise the pressure transducer be positioned in the middle of framework 12020 and storehouse passage 12070.Pressure transducer can be installed to the bottom of such as frame passage 12022 or storehouse passage 12070.When pressure transducer is installed to the bottom of storehouse passage 12070, pressure transducer can when storehouse passage 12070 moves towards frame passage 12022 contact frame passage 12022.If storehouse passage 12070 can rotate relative to frame passage 12022, then storehouse passage 12070 can move towards frame passage 12022, as mentioned above.In addition to the above or as replacement mentioned above, if storehouse passage 12070 bends towards frame passage 12022, then storehouse passage 12070 can move towards frame passage 12022.When generating compressive load between anvil block 12090 and storehouse passage 12070, then storehouse passage 12070 can bend towards frame passage 12022.When anvil block 12090 moves to its make position and/or when anvil block 12090 is moved towards storehouse passage 12070 by breech lock 12050, between anvil block 12090 and storehouse passage 12070A, compressive load can be generated.When anvil block 12090 is promoted towards storehouse passage 12070 and/or when breech lock 12050 is for during towards storehouse passage 12070 tractive anvil block 12090, storehouse passage 12070 can against pivot pin 12205.In all cases, storehouse passage 12070 can comprise the slit or groove 12209 that are defined in wherein, and it can be configured to receive pivot pin 12205.Under any circumstance, pressure transducer can be configured to detect to storehouse passage 12070 applied pressure or power.Pressure transducer can communicate with the microprocessor signals of surgical instruments 12010.When the pressure detected by pressure transducer or power exceed threshold value, microprocessor can allow the trigger system of apparatus 12010 to be operated.Before pressure or power exceed threshold value, when user attempts operation trigger system, microprocessor can warn the user of surgical instruments 12010, and anvil block 12090 may be not closed or may non-adequate closure.The replacement of warning except this type of warning or as this type of, if the pressure detected by pressure transducer or power do not exceed threshold value, then microprocessor can prevent the trigger system of apparatus 12010 from being operated.

In some cases, to being described further above, apparatus 12010 can comprise and is configured to detect breech lock 12050 and whether is in one or more sensors of its position latching.In at least one situation, apparatus 12010 can comprise the sensor 12025 be positioned in the middle of framework 12020 and storehouse passage 12070.Sensor 12025 can be installed to the bottom of such as frame passage 12022 or storehouse passage 12070.When sensor 12025 is installed to the bottom of storehouse passage 12070, breech lock 12050 can when moving to its position latching from its non-position latching touch sensor 12025.Sensor 12025 can communicate with the microprocessor signals of surgical instruments 12010.When sensor 12025 detects that breech lock 12050 is in its position latching, microprocessor can allow the trigger system of apparatus 12010 to be operated.Sense before breech lock 12050 is in its position latching at sensor 12025, when user attempts operation trigger system, microprocessor can warn the user of surgical instruments 12010, and anvil block 12090 may be not closed or may non-adequate closure.The replacement of warning except this type of warning or as this type of, if do not detect that breech lock 12050 is in its position latching, then microprocessor can prevent the trigger system of apparatus 12010 from being operated.In all cases, sensor 12025 can comprise such as proximity transducer.In some cases, sensor 12025 can comprise such as hall effect sensor.In this type of situation of at least one, breech lock 12050 can comprise at least one magnetics, such as permanent magnet, and such as it can be detected by hall effect sensor.In all cases, sensor 12025 can remain on appropriate location by such as balladeur train 12026.

Main see Figure 105, the trigger system of surgical instruments 12010 can comprise the percussion motor 12120 being configured to rotate beating shaft 12230.Percussion motor 12120 can be installed to the motor frame 12125 in the shank 12015 of surgical instruments 12010, and beating shaft 12230 is distally extended.Trigger system also can comprise gear train, and this gear train comprises: one. be installed to the first percussion gear 12240 of closed axle 12230, and two. be installed to the driving screw gear 12250 of driving screw 12260.First percussion gear 12240 can engage with driving screw gear 12250 and engage, make when the first percussion gear 12240 is rotated by beating shaft 12230, the rotatable driving screw gear 12250 of first percussion gear 12240, and the rotatable driving screw 12260 of driving screw gear 12250.Main see Figure 104, driving screw 12260 can comprise first end 12261 and the second end 12263, this first end is rotatably installed in the hole that is defined in motor block 12125, and this second end is rotatably supported in the bearing that is installed on the bearing portions 12264 of shank 12015.Driving screw 12260 also can be included in the threaded portion 12262 extended between first end 12261 and the second end 12263.Trigger system also can comprise the percussion nut 12265 be threadably engaged with the threaded portion 12262 of driving screw 12260.Percussion nut 12265 can be restrained and can not rotate together with driving screw 12260, make when driving screw 12260 is rotated along first direction by percussion motor 12120, driving screw 12260 distally can advance percussion nut 12265, and correspondingly, when driving screw 12260 is rotated along second direction or rightabout by percussion motor 12120, driving screw 12260 proximally can bounce back and pull the trigger nut 12265.

To being described further above, percussion nut 12265 can be installed to percussion block 12270, and this percussion block can translation together with percussion nut 12265.In all cases, pull the trigger nut 12265 and pull the trigger block 12270 and can be integrally formed.To similar above, trigger system also can comprise the trigger shaft 12280 extended from it, this trigger shaft and percussion nut 12265 with pull the trigger translation together with block 12270.In all cases, pull the trigger nut 12265, percussion block 12270 and trigger shaft 12280 can comprise by driving screw 12160 proximally and/or the percussion assembly of distally translation.When pulling the trigger assembly and distally being advanced by driving screw 12260, trigger shaft 12280 can to enter in nail bin 12080 and from its injection nail.Trigger system also can comprise cutter block 12281 and be installed to cutter block 12281 and the knife bar 12282 extended from it.When pulling the trigger block 12270 and distally advancing, trigger shaft 12280 can engage cutter block 12281 and distally advance cutter block 12281 and knife bar 12282.In all cases, percussion block 12270 can move relative to cutter block 12281 during the initial part of percussion stroke, then moves together during the last part of percussion stroke.In this type of situation of at least one, trigger shaft 12280 can be slid through the slit be defined in cutter block 12281, until also distally promoted by cutter block 12281 with trigger shaft 12280 from one or more raised surface contact cutter blocks 12281 of trigger shaft 12280 extension.In all cases, pull the trigger assembly and also can comprise the cutter block 12281 and knife bar 12282 that can move with percussion block 12270 and trigger shaft 12280 simultaneously.In any one situation, when knife bar 12282 distally advances, the cutting edge 12283 of knife bar 12282 can cut the tissue be captured between anvil block 12090 and nail bin 12080.The name being published on January 6th, 1987 is called the United States Patent (USP) 4 of " SURGICALSTAPLINGINSTRUMENTWITHJAWLATCHINGMECHANISMANDDIS POSABLELOADINGCARTRIDGE ", the disclosure of 633,874 is incorporated to herein in full with way of reference.

Main see Figure 106, the trigger system of surgical instruments 12010 can comprise firing button 12055 and percussion switch 12290.When the user pressing firing button 12055 of surgical instruments 12010, firing button 12055 can contact percussion switch 12290 and the closed cocking circuit that can operate percussion motor 12120.When the user release firing button 12055 of surgical instruments 12010, cocking circuit can be opened and be supplied to the power of pulling the trigger motor 12120 and can be interrupted.Firing button 12055 can be promoted again to operate percussion motor 12120 again.In some cases, firing button 12055 can comprise two-way switch, and when promoting along first direction, this two-way switch can along first direction operation percussion motor 12120, and when promoting along second direction, this two-way switch can along second direction or rightabout operation percussion motor 12120.Any suitably-arranged of percussion switch 12090 and/or percussion switch can communicate with the microprocessor signals of surgical instruments 12010, and this microprocessor can be configured to the power controlling to be supplied to percussion motor 12120.In some cases, to being described further above, microprocessor can ignore the signal from firing button 12055, until sensor 12025 detects that breech lock 12050 is closed.Under any circumstance, firing button 12055 can promote along its first direction distally to advance trigger shaft 12280 and cutter 12282, and can promote along its second direction to make trigger shaft 12280 and cutter 12282 proximally bounce back.In some cases, surgical instruments 12010 can comprise and being configured to along its first direction operation percussion firing button of motor 12120 and switch and the retraction button be configured to along its second direction operation percussion motor 12120 and switch.After trigger shaft 12280 and cutter 12282 have bounced back, breech lock 12050 can move to its non-position latching from its position latching, departs to make latch arms 12053 and latch pin 12210.Then, anvil block 12090 can pivotable away from nail bin 12080, to open to make surgical instruments 12010 turn back to, non-latch mode.To similar above, surgical instruments 12010 can comprise the one or more indicators being such as configured to the state indicating surgical instruments 12010, such as LED12100.LED12100 can communicate with the microprocessor signals of surgical instruments 12010, and can such as to operate with in conjunction with mode similar described in LED11100.LED12100 can remain on appropriate location by such as balladeur train 12101.

In all cases, apparatus 12010 can comprise percussion locking system, if anvil block 12090 is not in the close position or adequate closure position, this percussion locking system can stop the propelling of cutter 12282 and/or trigger shaft 12280.See Figure 104 and Figure 106, apparatus 12010 can comprise the biasing member 12400 being such as installed to storehouse passage 12070, and cutter 12282 can be biased into and engage with the lock part of shank 12015 by this biasing member.When anvil block 12090 rotates to its make position, anvil block 12090 can overcome the biasing force of biasing member 12400 and be promoted away from lock part downwards by cutter 12282.Now, cutter 12282 can distally advance.Similarly, apparatus 12010 can comprise biasing member, trigger shaft 12280 can be biased into and engage with the lock part of shank 12015 by this biasing member, and wherein when anvil block 12090 moves to its make position, anvil block 12090 can make trigger shaft 12280 and lock part depart from.

Surgical instruments 12010 can comprise the closed-system of manual actuation and the nail trigger system of motor driving.The part 12040 of shank 12015 can by of the user of surgical instruments 12010 grasped, and anvil block 12090 and breech lock 12050 can by its another manual operatings.In at least one embodiment, as making the part that breech lock 12050 is closed, user can move along the roughly direction of an one hands its another hands, this can reduce surgical instruments 12010 accidentally and accidental movement.Surgical instruments 12010 can by any suitable Power supply.Such as, cable can extend to shank 12015 from external power source.In some cases, battery can be stored in such as shank 12015.

Surgery suturing appliance 13010 is shown in Figure 107 to Figure 110.Figure 107 is the side view of shown surgical instruments 13010, and some of them parts are removed and miscellaneous part illustrates with cross section.Apparatus 13010 can comprise shank 13015, first actuator 13020, second actuator 13030, shaft assembly 13040 and comprise the end effector 13012 of anvil block 13050 and nail bin 13055.Shaft portion 13040 and anvil block 13050 name as being published on January 6th, 1998 can be called the United States Patent (USP) 5,704 of " ARTICULATIONASSEMBLYFORSURGICALINSTRUMENTS ", shown in 534 and describedly to operate.The name being published on January 6th, 1998 is called that the disclosure of the United States Patent (USP) 5,704,534 of " ARTICULATIONASSEMBLYFORSURGICALINSTRUMENTS " is incorporated to herein in full with way of reference.Apparatus 13010 can be connected to external power source by electricity input cable 13018.In at least one situation, external power source can comprise such as generator, the GEN11 generator such as manufactured by EthiconEnergy, Cincinnati, OH.In all cases, external power source can comprise AC to DC adapter.In some cases, apparatus 13010 can by such as internal battery powers, and the name being such as published on July 3rd, 2012 is called the United States Patent (USP) 8,210 of " MOTOR-DRIVENSURGICALCUTTINGINSTRUMENT ", with described battery shown in 411.The name being published on July 3rd, 2012 is called that the disclosure of the United States Patent (USP) 8,210,411 of " MOTOR-DRIVENSURGICALCUTTINGINSTRUMENT " is incorporated to herein in full with way of reference.

In all cases, main see Figure 107, the anvil block 13050 of end effector 13012 can move between open position (as shown in Figure 107) and make position, in this make position, anvil block 13050 is with nail bin 13055 adjacent positioned or be in contact with it, as hereafter described in more detail further.In this type of situation of at least one, nail bin 13055 can relative to anvil block 13050 pivotable.In some cases, although not shown, nail bin 13055 can relative to anvil block 13050 pivotable.In this type of situation of at least one, anvil block 13050 can relative to nail bin 13055 pivotable.Under any circumstance, the user of apparatus 13010 can handle end effector 13012, tissue T to be positioned between anvil block 13050 and storehouse 13055.Once tissue T is suitably positioned between anvil block 13050 and nail bin 13055, user just can tractive first actuator 13020 to activate the closed-system of apparatus 13010.Closed-system can make anvil block 13050 move relative to nail bin 13055.Such as, the first actuator 13020 can towards pistol grip portion 13016 tractive of shank 13015 with closed anvil block 13050, as hereafter described in more detail further.

Closed driving device can comprise the closed motor 13105 (Figure 110) being configured to motion anvil block 13050.Closed motor 13105 can be installed to shank 13015 via such as motor balladeur train 13101.First actuator 13020 is expressed to its make position (Figure 109) from its open position (Figure 108) can make closed motor 13105 be energized.Main see Figure 110, closed motor 13105 can comprise the rotatable output shaft operationally engaged with closed driving screw 13110.When closed motor 13105 makes output shaft rotate along first direction, closed driving screw 13110 can rotate along first direction by output shaft.Closed driving screw 13110 rotatably can be supported in shank 13015 and can to comprise threaded portion.Closed driving device also can comprise the closed nut be threadably engaged with the threaded portion of closed driving screw 13110.Closed nut can be restrained and can not rotate together with closed driving screw 13110, makes the rotary motion of closed driving screw 13110 translation can close nut.Closed nut can engage with closed yoke 13120 or be integrally formed therewith.When closed motor 13015 rotates along its first direction, closed driving screw 13110 can distally advance closed yoke 13120.In all cases, closed yoke 13120 is supported in shank 13015 by guide rail 13122 slidably, and this guide rail extends to the path of longitudinally axis restriction from the shank 13015 that constraint closed yoke 13120 moves.This type of axis can with the longitudinal axis parallel limited by shaft assembly 13040, substantially parallel, conllinear or conllinear substantially.Closed driving device also can comprise the closure tube 13125 distally extended from closed yoke 13120.Closure tube 13125 also can be a part for shaft assembly 13040, and can relative to the framework translation of shaft assembly 13040.When closed yoke 13120 is distally advanced by closed driving screw 13110, closure tube 13125 can distally advance by closed yoke 13120.The distal end of closure tube 13125 operationally can engage with anvil block 13050, and make when closure tube 13125 distally advances, anvil block 13050 can promote from its open position towards its make position by closure tube 13125.The name being published on January 6th, 1998 is called that the United States Patent (USP) 5,704,534 of " ARTICULATIONASSEMBLYFORSURGICALINSTRUMENTS " discloses a kind of closed-system of manual actuation.

In at least one form, apparatus 13010 can comprise the closed-system switch be positioned in shank 13015, when the first actuator 13020 moves from its open position (Figure 108) towards its make position (Figure 109), this closed-system switch can be closed.In some cases, when the first actuator 13020 is in its make position (Figure 109), closed-system switch can be closed.In any one situation, when closed-system switch closes, closed-system power circuit can be closed to provide electrical power to closed motor 13105, to make closed motor 13105 rotate along its first direction, as mentioned above.In some cases, surgical instruments 13010 can comprise microprocessor, and to similar above, closed-system switch can communicate with microprocessor signals.When the signal that closed-system switch has closed to microprocessor transmission instruction first actuator 13020, microprocessor can allow to provide power to close motor 13105 along the operation of its first direction and to make anvil block 13050 move towards its make position to closed motor 13105.In all cases, as long as the first actuator 13020 activates at least in part and closed-system switch is in closure state, closed motor 13105 just can make anvil block 13050 move towards its make position.When user discharges the first actuator 13020 and the first actuator 13020 is back to its unactuated position, closed-system switch can be opened and be supplied to the power interruptible price of closed motor 13105.This type of situation can make anvil block 13050 stay in partial closed position.When the first actuator 13020 is activated again and closed-system switch is closed, can again power be provided to move towards its make position to make anvil block 13050 to closed motor 13105.According to mentioned above, actuatable first actuator 13020 of user of surgical instruments 13010 and etc. motor 13105 to be closed anvil block 13050 is positioned in its complete make position.

In at least one form, the motion of the first actuator 13020 can with anvil block 13050 move into ratio.When first actuator 13020 can move between its open position (Figure 108) and its make position (Figure 109), motion is through the first range of movement or actuator movements scope.When anvil block 13050 can move between its open position (Figure 107) and its make position, motion is through the second range of movement or anvil block range of movement.Actuator movements scope may correspond in anvil block range of movement.For example, actuator movements scope can equal anvil block range of movement.Such as, actuator movements scope can comprise about 30 degree, and anvil block range of movement can comprise about 30 degree.In this case, when the first actuator 13020 is in its fully open position, anvil block 13050 can be in its fully open position; When the first actuator 13020 rotates 10 degree towards its make position, anvil block 13050 can rotate 10 degree towards its make position; When the first actuator 13020 rotates 20 degree towards its make position, anvil block 13050 can rotate 20 degree towards its make position, etc.When anvil block 13050 is blocked and cannot sees in operative site, the direct proportion between the first actuator 13020 and anvil block 13050 moves the user anvil block 13050 that can give apparatus 13010 sensation relative to the position of nail bin 13055.

To being described further above, anvil block 13050 can in response to the closed action of the first actuator 13020 and opening action.Such as, when the first actuator 13020 towards pistol grip 13016 move 10 degree time, anvil block 13050 can move 10 degree towards nail bin 13055, and when the first actuator 13020 away from pistol grip 13016 move 10 degree time, anvil block 13050 can move 10 degree away from nail bin 13055.Although the motion of the first actuator 13020 and the motion of anvil block 13050 can be directly proportional according to 1:1 ratio, other ratios are also possible.Such as, the motion of the first actuator 13020 and the motion of anvil block 13050 can be directly proportional according to 2:1 ratio.In this case, when the first actuator 13020 relative to pistol grip 13016 move 2 degree time, anvil block 13050 will move 1 degree relative to nail bin 13055.In addition, in this case, the range of movement of the first actuator 13020 can be the twice of the range of movement of anvil block 13050.In another case, the motion of the first actuator 13020 and the motion of anvil block 13050 can be directly proportional according to 1:2 ratio.In this case, when the first actuator 13020 relative to pistol grip 13016 move 1 degree time, anvil block 13050 will move 2 degree relative to nail bin 13055.In addition, in this case, the range of movement of the first actuator 13020 can be the half of the range of movement of anvil block 13050.In all cases, the first actuator 13020 motion can with anvil block 13050 move into linear scale.In other cases, the first actuator 13020 motion can with anvil block 13050 move into non-linear ratio.Regardless of ratio used, this type of embodiment becomes possible by using potentiometer, and this potentiometer such as can assess the rotation of the first actuator 13020, as hereafter described in more detail further.

To being described further above, see Figure 108 to Figure 110, the closed-system of apparatus 13010 can comprise the slip potentiometer 13090 of the motion that can detect the first actuator 13020.First actuator 13020 can be pivotally mounted to shank 13015 via pivot 13021.First actuator 13020 can comprise gear parts 13070, and this gear parts comprises the multiple gear teeth extended around pivot 13021 circumference.When the first actuator 13020 proximally rotates towards pistol grip 13016, to being described further above, gear parts 13070 can distally rotate.Correspondingly, when the first actuator 13020 distally rotates away from pistol grip 13016, gear parts 13070 can proximally rotate.Closed-system also can comprise the closed yoke tooth bar 13080 be supported on slidably in shank 13015.Closed yoke tooth bar 13080 can comprise the longitudinal tooth array extended along its lower surface, and this lower surface is towards the gear parts 13070 of the first actuator 13020.The gear parts 13070 of the first actuator 13020 can engage with the tooth array be limited on closed yoke tooth bar 13080 and engage, make when the first actuator 13020 rotates around pivot 13021, first actuator 13020 can make closed yoke tooth bar 13080 proximally or distally be shifted, and this depends on the direction that the first actuator 13020 rotates.Such as, when the first actuator 13020 rotates towards pistol grip 13016, the first actuator 13020 can make closed yoke tooth bar 13080 distally be shifted.Correspondingly, when the first actuator 13020 rotates away from pistol grip 13016, the first actuator 13020 can make closed yoke tooth bar 13080 proximally be shifted.Shank 13015 can comprise the guide groove be defined in wherein, and this guide groove can be configured to support closed yoke tooth bar 13080 slidably and retrain the path that closed yoke tooth bar 13080 moves to axis restriction along the longitudinal.This longitudinal axis can with the longitudinal axis parallel of shaft assembly 13040, substantially parallel, conllinear or conllinear substantially.

Closed yoke tooth bar 13080 can comprise mounted thereto can detecting element 13081.Can comprise such as magnetics by detecting element 13081, such as permanent magnet.When closed tooth bar 13080 is in shank 13015 during translation, can be configured to being defined in translation in the longitudinal slit 13091 in slip potentiometer 13090 by detecting element 13081.Slip potentiometer 13090 can be configured to detect can the position of detecting element 13081 in longitudinal slit 13091 and this position is sent to the microprocessor of surgical instruments 13010.Such as, when the first actuator 13020 is in its open position or unactuated position (Figure 108), can can be positioned on the proximal end place of longitudinal slit 13091 and potentiometer 13090 can pass the signal along to microprocessor by detecting element 13081, this signal can indicate the first actuator 13020 to be in its open position to microprocessor.Utilize this information, anvil block 13050 can be remained on its open position by microprocessor.When the first actuator 13020 rotates towards pistol grip 13016, can distally can slide in longitudinal slit 13091 by detecting element 13081.Potentiometer 13090 can indicate one or more signals of the position of the first actuator 13020 to microprocessor transmission.In response to this type of one or more signal, microprocessor can operate closed motor 13105 so that anvil block 13055 is moved to the position corresponding with the position of the first actuator 13020.When the first actuator 13020 is in its make position or complete actuated position (Figure 109), can can be positioned on the distal end place of longitudinal slit 13091 and potentiometer 13090 can pass the signal along to microprocessor by detecting element 13081, this signal can indicate the first actuator 13020 to be in its make position to microprocessor.Utilize this information, microprocessor can make anvil block 13050 move to its make position.

When the first actuator 13020 be pulled make the pistol grip 13016 of itself and shank 13015 substantially adjacent time, as mentioned above, closed yoke tooth bar 13080 moves to its farthest side position.When closed yoke tooth bar 13080 is in its farthest side position, closed release-push 13140 can engage closed yoke tooth bar 13080 so that closed yoke tooth bar 13080 is remained on its farthest side position releasedly, therefore, anvil block 13050 is remained on its make position releasedly.Main see Figure 108, closed release-push 13140 can be pivotally mounted on shank 13015 around pivot 13141.Closed release-push 13140 can comprise the lock arm 13142 extended from it.When the first actuator 13120 is in its unactuated position and closed yoke tooth bar 13080 is in its recent side position, above the top surface that lock arm 13142 can be positioned on closed yoke tooth bar 13080 and/or against its location.In this type of position, closed yoke tooth bar 13080 can slide relative to lock arm 13142.In some cases, lock arm 13142 can against the top surface bias voltage of closed yoke tooth bar 13080.As hereafter described in more detail further, apparatus 13010 also can comprise the lock 13290 being configured to the first actuator 13020 and the second actuator 13030 be remained on releasedly the non-actuated shown in Figure 108.Spring 13150 can be positioned in the middle of lock 13290 and firing button 13140, its can around pivot 13141 rotatably bias voltage close release-push 13140 and the top surface of lock arm 13142 against closed yoke tooth bar 13080 located.In all cases, lock 13290 can comprise proximal projections 13296, and closed release-push 13140 can comprise distal projections 13146, and these two protuberances can be configured to kept between lock 13290 and closed release-push 13140 by spring 13150 and snap to appropriate location.As shown in Figure 109, when the first actuator 13020 rotates to its actuated position, closed yoke tooth bar 13080 can be in its farthest side position, and lock arm 13142 can be biased into or fall into the recess 13082 of the proximal end being defined in closed yoke tooth bar 13080.In addition, when the first actuator 13020 moves to its make position shown in Figure 109 and Figure 110 or actuated position, lock 13290 can proximally promote and lock 13290 be rotated around pivot 13214 by the first actuator 13020.In at least one situation, the first actuator 13020 can comprise the actuator projection 13025 extended from it, and this actuator projection is configured to engage the distal projections 13295 extended from lock 13290.This type games of lock 13290 can between lock 13290 and closed release-push 13140 Compress Spring 13150 and increase the biasing force being applied to closed release-push 13140.Once lock arm 13142 engages with recess 13082, closed yoke tooth bar 13080 can move along proximal direction or distal direction or at least substantially move.

As mentioned above, the first actuator 13020 and the second actuator 13030 can remain on releasedly and/or be biased in its unactuated position shown in Figure 108.Apparatus 13010 can comprise return spring 13210, and this return spring comprises the first end being connected to pivot 13214 and the second end being connected to the spring mount 13034 extended from the second actuator 13030.Second actuator 13030 can rotatably be installed to shank 13015 around pivot 13021, and return spring 13210 can apply biasing force to the second actuator 13030 rotates around pivot 13021 to make the second actuator 13030.Lock 13290 can stop the second actuator 13030 around the rotation of pivot 13021.More specifically, also can be used for lock 13290 distally to promote for closed return push-button 13140 being biased into the spring 13150 engaged with closed yoke tooth bar 13080, after the shoulder 13032 lock arm 13292 of lock 13290 being positioned in be limited on the second actuator 13030, this shoulder can limit the rotation of the second actuator 13030 and remain in its unactuated position, as shown in Figure 108 by the second actuator 13030.Main see Figure 110, second actuator 13030 can comprise shoulder 13031, and this shoulder can be configured to the gear parts 13070 of adjacent first actuator 13020 and is biased in its unactuated position (Figure 108) by the first actuator 13020.When the first actuator 13020 rotates towards its actuated position (Figure 109), the first actuator 13020 can overcome the biasing force that provided by spring 13210 and be rotated at least in part towards pistol grip 13016 by the second actuator 13030.In fact, the actuating of the first actuator 13020 can make the second actuator 13030 can be touched by the user of surgical instruments 13010.Before actuating first actuator 13020, the second actuator 13030 can be untouchable for user.Under any circumstance, reader will remember that lock 13295 proximally promotes by the actuating of the first actuator 13020.This type of proximal movement of lock 13295 can make lock 13295 from the shoulder 13032 be limited to the second actuator 13030 displacement below.

Once the first actuator 13020 has moved and has locked onto its complete actuated position (Figure 109) and anvil block 13050 has been moved to its make position, as mentioned above, apparatus 13010 just can be used for sewing up the tissue be positioned in the middle of anvil block 13050 and nail bin 13055.When user is unsatisfied with the location be organized between anvil block 13050 and nail bin 13055, user unlocks by pressing closed release-push 13140 pairs of anvil blocks 13050.When pressing closed release-push 13140, the lock arm 13142 of closed release-push 13140 upwards pivotable can leave recess 13082, and this can allow closed yoke tooth bar 13080 proximally to move.In addition, first actuator 13120 and the second actuator 13130 can be turned back to its unactuated position shown in Figure 109 by return spring 13210, and because engaging between gear parts 13070 with closed yoke tooth bar 13080 engages, return spring 13210 can make closed yoke tooth bar 13080 turn back to its proximal position.This type games of closed yoke tooth bar 13080 can be detected by slip potentiometer 13090, and this slip potentiometer can transmit the first actuator 13020 to the microprocessor of apparatus 13010 and turn back to its unactuated position and anvil block 13050 should turn back to the signal of its open position.In response to this, microprocessor can rotate along its second direction proximally to drive the closed nut of closed-system and to make closure tube 13125 proximally bounce back by indicating closing motor 13105, and this will make anvil block 13050 turn back to its open position.Then, user is by again activating the first actuator 13020 to reorientate anvil block 13050 and nail bin 13055 and closed anvil block 13050 again.In all cases, the microprocessor of apparatus 13010 can be configured to ignore the input signal from the second actuator 13030, until potentiometer 13090 detects the in the close position or complete make position of anvil block 13050.

To being described further above, once the location of user to anvil block 13050 and nail bin 13055 is satisfied, then the second actuator 13030 can be pulled to make position or actuated position by user, makes it near the first actuator 13020.The actuating of the second actuator 13030 can press or percussion switch 13180 in closed shank 13015.In all cases, percussion switch 13180 can be supported by motor mount 13102, and this motor mount can also be configured to support closed motor 13105 and/or percussion motor 13100.The closed of percussion switch 13180 can operate percussion motor 13100.In some cases, percussion switch 13180 can communicate with the microprocessor signals of surgical instruments 13010.When microprocessor receives from percussion switch 13180 signal that second actuator 13030 fully activates, microprocessor can provide power to percussion motor 13100.In various embodiments, percussion switch 13180 closed percussion motor 13100 can be directly connected to DC or AC power supplies pulls the trigger motor 13100 operate.In at least one situation, percussion switch 13180 can be arranged such that 13180 until the second actuator 13030 has arrived its complete make position, and percussion switch is just closed.Main see Figure 110, the rotation of the second actuator 13030 can stop in its complete make position when it contacts with the first actuator 13020.In this type of situation of at least one, the first actuator 13020 can comprise the stop recess 13023 being configured to receive the stop lug 13033 extended from the second actuator 13030 when the second actuator 13030 arrives its make position.

Percussion motor 13100 can comprise the rotatable output shaft operationally engaged with the percussion driving screw 13190 of trigger system.When pulling the trigger motor 13100 and being operated to be rotated along first direction by its output shaft, percussion driving screw 13190 can rotate along first direction by output shaft.When pulling the trigger motor 13100 and being operated to its output shaft along second direction or rightabout rotation, output shaft can make percussion driving screw 13190 rotate along second direction.Trigger system also can comprise percussion nut, and this percussion nut is threadably engaged with the threaded portion of percussion driving screw 13190.Percussion nut can be restrained and can not rotate together with percussion driving screw 13190, and make to pull the trigger the rotation of driving screw 13190 and can make percussion nut proximally or distally translation, this depends on the direction that percussion driving screw 13190 rotates.Trigger system also can comprise the beating shaft 13220 being operatively connected to percussion nut, and this beating shaft can be shifted together with percussion nut.Trigger system also can comprise knife bar 13200 and dispose percussion band from the nail that beating shaft 13220 distally extends.When pulling the trigger motor 13020 and rotating along its first direction, percussion driving screw 13190 can make percussion nut, beating shaft 13220, knife bar 13200 and percussion band distally be shifted, to be penetrated from nail bin 13055 by nail and to cut the tissue be positioned in the middle of anvil block 13050 and nail bin 13055.Once cutter 13200 and percussion band arrive its terminal of advancing, percussion motor 13100 can be rotated make cutter 13200 and bring back to its initial position along its second direction or rightabout by microprocessor.In all cases, apparatus 13010 can comprise the end of the sensor of advancing communicated with microprocessor signals, and this sensor of advancing can send percussion driving device to microprocessor and arrive terminal of its percussion stroke and pull the trigger the signal that stroke should bounce back.Advance this type of end of sensor can be positioned in such as anvil block 13050 and/or nail bin 13055.In some cases, the encoder being operationally connected to percussion motor 13100 can determine that percussion motor 13100 has rotated enough revolutions to make cutter 13200 and percussion band arrive its terminal of advancing and the signal that should bounce back to microprocessor transmission trigger system.

But, once the second actuator 13030 activated, apparatus 13010 is in its cock and microprocessor can be configured to any input of ignoring from the first actuator 13020 and/or slip potentiometer 13090, until trigger system has returned it to its initial position.In all cases, apparatus 13010 can comprise pause button, and when pressing, this pause button can send the signal of pulling the trigger assembly and should bounce back immediately to microprocessor.In this type of situation of at least one, when pressing closed release-push 13140, percussion sequence can stop.As mentioned above, the closed release-push 13140 of pressing makes closed yoke tooth bar 13080 proximally move, and this closed yoke tooth bar makes proximally to move by detecting element 13081 then.Can the proximal movement of detecting element 13081 can be detected by slip potentiometer 13090, this slip potentiometer can send signal to make the rotation of percussion motor 13100 reverse to microprocessor, thus retraction percussion assembly and/or the closed motor 13105 of operation are to open anvil block 13050.

Apparatus 13010 also can comprise such as one or more indicator, such as LED13300, and it can be configured to the mode of operation of indicator instruments 13010.In all cases, LED13300 can such as operate in the mode similar to LED11100.Apparatus 13010 also combines the ability making end effector 13012 carry out joint motions.This passes through as United States Patent (USP) 5, and 704, the joint motions knob 13240 described in 534 completes.The manual rotation of shaft assembly 13040 also at United States Patent (USP) 5,704, discuss to some extent in 534.

In the modular concept of apparatus 13010, shaft assembly 13040 and end effector 13012 can be disposable, and are attached to reusable shank 13015.In another embodiment, anvil block 13050 and nail bin 13055 are disposable, and shaft assembly 13040 and shank 13015 are reusable.In various embodiments, the end effector 13012 comprising anvil block 13015, shaft assembly 13040 and shank 13015 can be reusable, and nail bin 13055 can be interchangeable.

Figure 111 is the perspective view of surgery suturing appliance 14010.Apparatus 14010 can comprise actuator or shank 14020, shaft portion 14030, tubulose storehouse housing 14040, and anvil block 14050.Apparatus 14010 also can comprise the closed-system being configured to anvil block 14050 is moved between the open position and the closed position.Actuator 14020 can comprise the rotating closed knob 14075 that can operate closed-system, as hereafter described in more detail further.Apparatus 14010 also can comprise trigger system, and this trigger system is configured to penetrate the nail be stored in removedly in storehouse housing 14040.Actuator 14020 also can comprise the percussion that can operate trigger system and start trigger 14070, as hereafter described in more detail further.Shaft portion 14030, storehouse housing 14040 and anvil block 14050 can be called the United States Patent (USP) 5,292 of " SURGICALANASTOMOSISSTAPLINGINSTRUMENT " with the name being published on March 8th, 1994, operate shown in 053 with described similar mode.The name being published on March 8th, 1994 is called that the disclosure of the United States Patent (USP) 5,292,053 of " SURGICALANASTOMOSISSTAPLINGINSTRUMENT " is incorporated to herein in full with way of reference.

To being described further above, actuator 14020 can comprise transporter 14000 and be configured to operate the slider button 14060 of transporter 14000.Slider button 14060 can move near between the distal position (Figure 115) of storehouse housing 14040 and the proximal position (Figure 114) of storehouse housing 14040 further away from each other.When slider button 14060 is in its proximal position, actuator 14020 is in the first operator scheme or closed mode, and anvil block 14050 can be made to move towards with away from storehouse housing 14040.When slider button 14060 is in its distal position, actuator 14020 is in the second operator scheme or percussion pattern, and nail can be penetrated from storehouse housing 14040 towards anvil block 14050.When actuator 14020 is in its closed mode, rotating closed knob 14075 can rotate to make anvil block 14050 proximally or distally move around the longitudinal axis extending through actuator 14020, and this depends on the direction that closed knob 14075 rotates.When actuator 14020 is in its percussion pattern, percussion starts trigger 14070 proximally can rotate to be penetrated from storehouse housing 14040 by nail.Closed-system and trigger system are discussed hereinafter further in more detail.

Actuator 14020 can comprise such as electro-motor, such as motor 14090 (Figure 113 to Figure 115), and it can operate closed driving device and percussion driving device via transporter 14000.Motor 14090 can be supported in the actuator housings 14080 of actuator 14020.Main see Figure 113, actuator housings 14080 can comprise two half-unit, i.e. actuator housings right-hand part 14080a and actuator housings left side 14080b.Actuator housings half portion 14080a and 14080b keeps together by screw rod, but any suitable fastening and/or adhesive bonding method also can be used to carry out assembly actuator shell 14080.Motor 14090 can be supported between actuator housings half portion 14080a and 14080b and can to comprise the rotatable shaft 14100 distally extended from it.In some cases, actuator 14020 can comprise the motor support 14101 be positioned in shell 14080, and this motor support is configured to support the shell of motor 14100 and retrains motor case and rotate relative to actuator housings 14080.In all cases, rotatable shaft 14100 can comprise the expander part 14110 being attached to it.Axle 14100 and expander part 14110 can rotatably connect, and they are rotated together.

To being described further above, mainly see Figure 116, expander part 14110 can comprise cylindrical or columniform main body 14111 and the flat 14120 that is defined in the distal end 14113 of expander part 14110 at least substantially.The cylinder-shaped body 14111 of expander part 14110 is rotatably supported in actuator housings 14080 by bearing 14105.The distal end 14113 of expander part 14110 can be positioned in the slider bore 14114 that is defined in slide block 14115.As hereafter described in more detail further, slide block 14115 is a part for transporter 14000 and can offsets between proximal position (Figure 114) and distal position (Figure 115), in proximal position, the rotary motion of motor 14090 is delivered to closed-system by slide block 14115, in distal position, the rotary motion of motor 14090 is delivered to trigger system by slide block 14115.When slide block 14115 offsets between its proximal position (Figure 114) and its distal position (Figure 115), slide block 14115 can slide relative to expander part 14110.The slider bore 14114 be defined in slide block 14115 can limit periphery, the periphery of this periphery coupling or at least substantially distal end 14113 of coupling expander part 14110, making one. expander part 14110 and slide block 14115 are rotatably linked together, and two. slide block 14115 can relative to expander part 14110 translation.In at least one situation, slider bore 14114 comprises the cylindrical part 14116 of the cylinder-shaped body 14111 of coupling expander part 14110 and mates the flat 14117 of the flat 14120 be defined in the distal end 14113 of slide block 14115.

To being described further above, slide block 14115 can comprise the structure of tubulose or generally tubular.Multiple peripheries spline 14130 that slide block 14115 can comprise distal end 14118 and extend around the outer surface of distal end 14118, described periphery spline operationally can engage with percussion driving device, as shown in Figure 115.Slide block 14115 also can comprise the multiple inner circumferential splines 14140 in the distal end being defined in slider bore 14114, and described inner circumferential spline operationally can engage with closed driving device, as shown in Figure 114.Slide block 14115 can be a part for slide block assembly 14150.Main see Figure 116, slide block assembly 14150 also can comprise upper axis journal bearing 14160, the bottom bearing of journals 14170, slider button 14060 and sliding block spring 14180.Upper axis journal bearing 14160 and the bottom bearing of journals 14170 combine to form the bearing of journals, and it can one. and enough loosely support slippers 14115 make slide block 14115 can rotate in the bearing of journals, and two. slide block 14115 proximally and is distally shifted.Main see Figure 116, slide block 14115 can comprise the distal lip 14121 and proximal flange 14122 that extend from it, and both can limit groove 14123 betwixt, and this groove is configured to closely receiving axes journal bearing.When distally promoting slider button 14060, the bearing of journals can against distal lip 14121 distally to promote slide block 14115.Correspondingly, when slider button 14060 proximally promotes, the bearing of journals can against proximal flange 14122 proximally to promote slide block 14115.

Slide block assembly 14150 can comprise the lock being configured to slide block 14115 be remained on releasedly appropriate location.Main see Figure 116, slider button 14060 can comprise flange 14181, this flange is optionally assembled in first depression at first end or the proximal end place being limited to longitudinal slit and is limited in the second end of longitudinal slit or second depression at distal end place, and described longitudinal slit is limited in actuator housings 14080.When flange 14181 and nearside cave in engage time, slide block assembly 14150 can remain in its proximal position by flange 14181, and this slide block assembly makes slide block 14115 and closed driving device operationally engage with motor 14090.When flange 14181 and distally cave in engage time, slide block assembly 14150 can remain in its distal position by flange 14181, and this slide block assembly makes slide block 14115 and percussion driving device operationally engage with motor 14090.Upper axis journal bearing 14160 can comprise journal hole 14161, and this journal hole is configured to the axle 14061 receiving button 14060 slidably.In journal hole 14161, button 14060 can be promoted downwards depart to make flange 14181 and actuator housings 14080.Once flange 14181 departs from actuator housings 14080, button 14060 just can slide being defined in the longitudinal slit in actuator housings 14080, moves between its proximal position and distal position to make slide block 14115.Spring 14180 can be configured to flange 14181 towards actuator housings 14080 bias voltage, and when the user release-push 14060 of surgical instruments 14010, button 14060 upwards can be biased into and again engage with actuator housings 14080 by spring 14180.

To being described further above, when slide block assembly 14150 is in its proximal position, slide block 14115 engages with the closed nut 14190 of closed driving device.Closed nut 14190 comprises elongated tubular construction, and this elongated tubular construction comprises the closed nut external splines 14200 being limited to its proximal end place.When slide block 14115 is in its proximal position, the internal spline 14140 of slide block 14115 engages with the external splines 14200 of closed nut 14190 and engages, and makes when slide block 14115 is rotated by motor 14090, and closed nut 14190 is rotated by slide block 14115.Closed nut 14190 is rotatably supported in actuator housings 14080 by such as one or more bearing (such as axle bush 14220), and described bearing rotatably supports the distal end of closed nut 14190.Closed nut axle bush 14220 can be made up of such as acetal resin (Delrin), nylon, copper, pyrite, bronze and/or carbon.In some cases, closed nut axle bush 14220 can comprise such as ball bearing or roller bearing.In all cases, closed nut axle bush 14220 can be the integral part of actuator housings 14080.

Closed nut 14190 can comprise the longitudinal hole 14191 be defined in wherein.Closed-system also can comprise closed bar 14230, and this closed bar can be positioned in longitudinal hole 14191 at least in part.Closed bar 14230 can comprise restriction screw thread 14231 thereon, and this screw thread and the closed nut thread 14210 be defined in longitudinal hole 14191 are threadably engaged.Closed bar 14230 can be restrained and do not rotate together with closed nut 14190, makes when closed nut 14190 is rotated along first direction by motor 14090, close bar 14230 by the proximally translation of closed nut 14190.As shown in Figure 115, closed bar 14230 proximally can move in the longitudinal hole 14191 of closed nut 14190.Similarly, when closed nut 14190 by motor 14090 in opposite direction or second direction rotates time, closed bar 14230 is by the distally translation of closed nut 14190.As hereafter described in more detail further, closed bar 14230 operationally can engage with anvil block 14050, make when closed bar 14230 proximally tractive time, anvil block 14050 can move towards storehouse housing 14040.Correspondingly, when closed bar 14230 distally promotes, anvil block 14050 is movable away from storehouse housing 14040.In all cases, the closing stroke length of closed-system can be measured between the open position of anvil block 14050 and make position.Closed bar 14230 can be at least the same with closing stroke length long to hold closing stroke.

As mentioned above, the button 14060 of actuator 14020 can move between proximal position (Figure 114) and distal position (Figure 115), in this proximal position, transporter 14000 engages with closed driving device, in this distal position, transporter 14000 engages with percussion driving device.In this way, transporter 14000 can be used for closed driving device and percussion driving device optionally to connect with motor 14090.When the user of surgical instruments 14010 is satisfied with relative to the location of storehouse housing 14040 anvil block 14050, as shown in Figure 115, user can make button 14060 distally be shifted, and to depart from and slide block 14115 is engaged with percussion driving device to make slide block 14115 with closed driving device.When slide block 14115 distally slides, the internal spline 14140 of slide block 14115 departs from the external splines 14200 of closed nut 14190, makes the follow-up rotation of slide block 14115 no longer be delivered to closed nut 14190 and closed-system.While slide block and closed-system depart from, slide block 14115 becomes and engages with trigger system.Alternatively, when slide block 14115 is distally shifted, slide block 14115 becomes and departs from closed-system, and is shifted due to the additional far side of slide block 14115, and slide block 14115 becomes and engages with trigger system.In this case, closed driving device and percussion driving device may not operationally engage with motor 14090 by transporter 14000 simultaneously.Under any circumstance, trigger system can comprise percussion nut 14260, and when slide block 14115 distally moves, this percussion nut can be engaged by slide block 14115.

To being described further above, main see Figure 116, percussion nut 14260 can comprise the hole 14261 be defined in wherein, receives the distal end 14118 of slide block 14115 when this hole can be configured in slide block 14115 is advanced to its distal position (Figure 115) wherein.Percussion nut bore 14261 can comprise the percussion nut spline 14270 limited around its inner circumference, and this percussion nut spline can intermesh with the periphery spline 14130 of slide block 14115.When the periphery spline 14130 of slide block 14115 engages with the percussion nut spline 14270 of percussion nut 14260, slide block 14115 rotatably can connect with percussion nut 14260, makes the rotation of slide block 14115 be passed to percussion nut 14260.Actuator 14020 also can comprise the percussion nut axle bush 14275 rotatably supporting percussion nut 14260.Percussion nut axle bush 14275 can comprise the integral part of such as needle bearing, acetal resin, nylon and/or other plastic bushings, metal axle bush or actuator housings 14080.Percussion nut 14260 also can comprise the female thread 14272 in the distal inner surface being defined in percussion nut bore 14261.Trigger system also can comprise the firing tube 14280 be threadably engaged with the female thread 14272 of percussion nut 14260.

In all cases, to being described further above, firing tube 14280 can comprise restriction screw thread 14281 on its outer surface, and this screw thread and female thread 14272 are threadably engaged.Firing tube 14280 can restrained and can not with percussion nut 14260 together with rotate, make when percussion nut 14260 rotated by motor 14090 and slide block 14115 time, pull the trigger nut 14260 can translation firing tube 14280.Such as, when pulling the trigger nut 14260 and rotating along first direction, firing tube 14280 is distally shifted by percussion nut 14260, and when pulling the trigger nut 14260 and rotating along second direction or rightabout, firing tube 14280 is proximally shifted by percussion nut 14260.Can be positioned at least partially of firing tube 14280 is defined in the hole 14261 in percussion nut 14260.When firing tube 14280 is proximally shifted, firing tube 14280 proximally can move in hole 14261.When firing tube 14280 is distally shifted, firing tube 14280 distally can move in hole 14261.As described in more detail below, firing tube 14280 can be operably connected with firing member, and when firing tube 14280 distally advances, nail can penetrate from storehouse shell 14040 by this firing member.When firing tube 14280 proximally moves, firing tube 14280 can make firing member bounce back.When firing member moves between non-firing position and firing position, firing tube 14280 can long enough to hold the percussion stroke of firing member.In all cases, the threaded portion of firing tube 14280 is shorter than the threaded portion of closed bar 14230.In this case, pull the trigger stroke and can be shorter than closing stroke.In other cases, the length of the threaded portion of firing tube 14280 can be identical with the length of the threaded portion of closed bar 14230.In this case, the length pulling the trigger stroke can be identical with the length of closing stroke.In some cases, the threaded portion of firing tube 14280 is longer than the threaded portion of closed bar 14230.In this case, pull the trigger stroke and can be longer than closing stroke.

To being described further above, actuator 14020 and shaft portion 14030 can comprise total system.In all cases, actuator 14020 and shaft portion 14030 can comprise integrated component.In some cases, actuator 14020 can be dismantled from shaft portion 14030.Figure 34 is the perspective view of surgery suturing appliance 14010, and it illustrates the actuator 14020 dismantled from shaft portion 14030.Apparatus 14010 can comprise the one or more lock or breech lock that are configured to shaft portion 14030 be remained to releasedly actuator 14020.Such as, actuator 14020 can comprise breech lock 14025 on opposite sides thereof, and this breech lock is configured to shaft portion 14030 to remain to actuator 14020 releasedly.Breech lock 14025 can slide between the first location and the second location, and in this primary importance, this breech lock engages with shaft portion 14030, and in this second position, this breech lock and shaft portion 14030 depart from.As described in greater detail below, actuator 14020 and shaft portion 14030 can comprise the part of closed-system, when shaft portion 14030 is assembled into actuator 14020, fit together described portion being operable.Similarly, actuator 14020 and shaft portion 14030 can comprise the part of trigger system, when shaft portion 14030 is assembled into actuator 14020, fit together described portion being operable.

To being described further above, mainly see Figure 113, closed-system also can comprise the closed fastener 14240 of the distal end being attached to closed bar 14230.In all cases, closed fastener 14240 can be locked onto closed bar 14230 by screw rod, make when closed bar 14230 distally translation time, closed fastener 14240 distally translation, and correspondingly, when closed bar 14230 proximally translation time, this closed fastener 14240 proximally translation.Closed fastener 14240 can comprise one or more lateral extension, and this lateral extension can be assembled in the groove in actuator housings 14080, aligns to make closed fastener 14240 and closed bar 14230.Lateral extension also can prevent closed bar 14230 and closed fastener 14240 from rotating when closed bar 14230 is driven by closed nut 14190, as mentioned above.Closed fastener 14240 can comprise the closed driver output device of actuator 14020 and can be attached to the closed driving input equipment of shaft portion 14030.The closed driving input equipment of shaft portion 14030 can comprise the second fixture 14250, and when shaft portion 14030 is assembled into actuator 14020, this second fixture can be attached to closed fastener 14240.When closed fastener 14240 is distally advanced by closed bar 14230, the second fixture 14250 can distally promote by closed fastener 14240; Correspondingly, when closed fastener 14240 is proximally bounced back by closed bar 14230, closed fastener 14240 can by the second fixture 14250 proximally tractive.

The closed drive part of shaft portion 14030 also can comprise be installed to the second fixture 14250 and from its extend one or more tension bands 14252 and 14253.Tension band 14252 and 14253 can be fastened to the second fixture 14250, make when the second fixture 14250 is distally advanced by closed fastener 14240, second fixture 14250 can by tension band 14252,14253 distally promote, and correspondingly, make when the second fixture 14250 is proximally bounced back by closed fastener 14240, the second fixture 14250 can by tension band 14252,14253 proximally tractives.In all cases, shaft portion 14030 can be bending, and at least one situation, it can comprise the bending axis shell 14031 that proximally shell installed part 14032 extends.In some cases, tension band 14252 and 14253 can be flexible, to adapt to the crooked route of the closed drive part of shaft portion 14030.The closed drive part of shaft portion 14030 also can comprise the attachment part or the trocar 14258 that are attached to tension band 14253 and 14253.The trocar 14258 can be fastened to tension band 14252,14253, makes the trocar 14258 and tension band 14252,14253 advance together and bounce back.The trocar 14258 can comprise distal end, and this distal end can engage releasedly with anvil block 14050, and make when anvil block 14050 is assembled into the trocar 14258, anvil block 14050 advances and bounces back together with the trocar 14258.With reference to above, United States Patent (USP) 5,292,503 in more detail to this has been discussion.

To being described further above, mainly see Figure 113, trigger system also can comprise the percussion fixture 14290 of the distal end being attached to firing tube 14280.In all cases, screw rod can by percussion fixture 14290 lock onto firing tube 14280, make when firing tube 14280 distally translation time, the distally translation of percussion fixture 14290, and correspondingly, when firing tube 14280 proximally translation time, this percussion fixture 14290 proximally translation.Percussion fixture 14290 can comprise one or more lateral extension, and this lateral extension can be assembled in the groove in actuator housings 14080, aligns to make percussion fixture 14290 and firing tube 14280.Lateral extension also can prevent firing tube 14280 and percussion fixture 14290 from rotating when firing tube 14280 is driven by percussion nut 14260, as mentioned above.Percussion fixture 14290 can comprise actuator 14020 percussion driver output device and can be attached to shaft portion 14030 percussion drive input equipment.The percussion of shaft portion 14030 drives input equipment can comprise the second fixture 14300, and when shaft portion 14030 is assembled into actuator 14020, this second fixture can be attached to percussion fixture 14290.Percussion fixture 14290 tongue-groove mode and second can be pulled the trigger fixture 14300 and coordinates.When assembling, when pulling the trigger fixture 14290 and distally being advanced by firing tube 14280, the second fixture 14300 can distally promote by percussion fixture 14290; Correspondingly, when pulling the trigger fixture 14290 and proximally being bounced back by firing tube 14280, percussion fixture 14290 can by the second fixture 14300 proximally tractive.

Percussion driving device also can comprise staple drivers 14310, and this staple drivers is connected to the second fixture 14300, and staple drivers 14310 proximally and is distally moved together with the second fixture 14300.When staple drivers 14310 is distally moved by the second fixture 14300, nail can penetrate from storehouse shell 14040 by staple drivers 14310.In all cases, the second fixture 14300 can utilize staple drivers 14310 distally to be advanced by cutter 14320, to cut the tissue be captured between anvil block 14050 and storehouse shell 14040.When the second fixture 14300 is proximally bounced back by percussion fixture 14290, the second fixture 14300 can make staple drivers 14310 and cutter 14320 proximally bounce back.

To being described further above, it should be noted that, closed-system comprises the part of closed nut 14190 and closed bar 14230 and trigger system and comprises percussion nut 14260 and can be concentric and nested with the part of firing tube 14280.Percussion nut 14260 and firing tube 14280 can be considered external agency, and closed nut 14190 and closed bar 14230 can be considered internal mechanism.Transporter 14000 can be formed together with slide block 14115, closed nut 14190, closed bar 14230, percussion nut 14260 and firing tube 14280.Concentric and the nested arrangement mode of transporter 14000 can reduce system to be closed and pulls the trigger required space, to form the less actuator 14020 with being easier to keep.This arrangement also allows external agency to be used as support member and provides the componental movement of load-bearing surface for making internal mechanism.In an illustrated embodiment, the translation member of internal mechanism is shown as the translation member of being longer than external agency.Closed bar 14230 can be such as about two inches, and firing tube 14280 is such as about one inch; But, any suitable length can be used.When the longer translation distance of needs, longer translation member can be used.In an illustrated embodiment, load can be driven the distance of being longer than external agency or percussion driving device by internal mechanism or closed driving device.That is, pull the trigger driving device and load can be driven the distance of being longer than percussion driving device.

As mentioned above, actuator 14020 and shaft portion 14030 are designed to be convenient to assembling.Percussion fixture 14290 comprises semicircle antelabium in the end of the flange distally extended.This semicircle antelabium is assembled in semi-circular grooves at the proximal end place of the second percussion fixture 14300.Because this assembling is around semicircular surface, thus can by make percussion fixture 14290 transversely or the direction of roughly longitudinal axis being orthogonal to part towards the second percussion fixture 14300 translation, percussion fixture 14290 and second is pulled the trigger fixture 14300 and is connected.The connection of closing assembly part also promotes usually in the same manner.Such as, closed fastener 14240 can comprise the flange distally extended.It is the semicircle antelabium extended from the semicylindrical portions substantially of closed fastener 14240 at the distal end place of this flange.Circumferential recess in the portions of proximal of the second fixture 14250 receives this semicircle antelabium, so that closed fastener 14240 is attached to the second fixture 14250.Due to the semicircle character of closed fastener 14240, closed fastener 14240 and the second fixture 14250 carry out assembly and disassembly by the translation of transverse direction or the roughly longitudinal axis that is orthogonal to part, thus are conducive to quick connection and the disconnection of shaft portion 14030 and actuator 14020.

Roughly see Figure 113, illustrate that percussion trigger 14070 and closed knob 14075 are to observe the interaction of itself and adjacent part better further in the manner of an exploded view.Closed knob 14075 along first direction or clockwise direction and second direction or counterclockwise can rotate.When closed knob 14075 rotates along first direction, closed knob 14075 can contact and close the first switch, and when closed knob 14075 rotates along second direction, closed knob 14075 can contact and closed second switch.When by closed knob 14075 closed first switch, motor 14090 can be energized and operate along first direction, and when by closed knob closed second switch, motor 14090 can be energized and operate along second direction.When motor 14090 operates along its first direction, closed bar 14230 can distally drive to make anvil block 14050 move away from storehouse housing 14040 by motor 14090, and when motor 14090 operates along its second direction, closed bar 14230 can proximally drive to make anvil block 14050 move towards storehouse housing 14040 by motor 14090.Closed knob 14075 can be positioned on center or neutral position, and wherein closed the and motor 14090 of the first switch and second switch is not in response to closed knob 14075.In all cases, apparatus 14010 can comprise such as at least one spring, such as spring 14076, and it is configured to closed knob 14075 to be biased into such as its neutral position.

Forward now percussion trigger 14070 to, percussion trigger 14070 is rotatably pinned to actuator housings 14080 and carries out spring loading by torsionspring 14071, and this torsionspring forces percussion trigger 14070 to arrive the position rotated away from actuator housings 14080.When rotating towards actuator housings 14080 when pulling the trigger trigger 14070 and overcoming the biasing force of torsionspring 14071, the percussion switch 14305 be arranged near percussion trigger 14070 is in the position will contacted with percussion trigger 14070.When pulling the trigger trigger 14070 and activateding, percussion trigger 14070 can close percussion switch 14305.When percussion switch 14305 closes, motor 14090 can along first direction operation distally to advance firing tube 14280 and staple drivers 14310.When pulling the trigger trigger 14070 and being released, torsionspring 14071 can make percussion trigger 14070 move and get back to its unactuated position and the contact of disengaging and percussion switch 14305.Now, percussion switch 14305 can be in open mode, and motor 14090 can not in response to percussion trigger 14070.In all cases, apparatus 14010 also can comprise the safe breech lock 14320 being rotatably pinned to actuator housings 14080, this safe breech lock can stop percussion trigger 14070 latched position that activated and wherein pull the trigger trigger 14070 can to activated with the second position of closed percussion switch 14035 between rotate.Under any circumstance, motor 14090 can along second direction operation to make firing tube 14280 and staple drivers 14310 bounce back.In some cases, when trigger system has arrived the terminal of its percussion stroke, motor 14090 can switch between first direction and second direction.In some cases, actuator 14020 also can comprise and can be operated with the reversing button operated along its second direction by motor 14090 and switch.

According to mentioned above, provide the method using apparatus 14010 hereinafter, but also can use any suitable method.In addition, be described above actuator 14020 can provide two export and shaft portion 14030 can receive two inputs, thus execution two clock functions.These functions have been described to closure function and percussion function, but the present invention is not limited thereto.This function can comprise such as any suitable function, such as joint motions function.In all cases, in order to use actuator 14020, user is first by making actuator 14020 vertically actuator 14020 is assembled into shaft portion 14030, as shown in Figure 112 in the motion of the shaft portion 14030 of the longitudinal axis of actuator 14020.User can by the open side of the proximal end of shaft portion 14030 towards the distal part of actuator 14020 open side alignment and by assembling parts together.This class component can connect closed fastener and percussion fixture as mentioned above.Similarly, as described above, the breech lock 14025 on actuator 14020 can protuberance on clamp axis part enclosure 14032, actuator 14020 and shaft portion 14030 to be fixed together releasedly.After assembly actuator 14020 and shaft portion 14030, slide block assembly 14150 can be placed in its primary importance by user, to use the first required function of the surgical technique and tools of attachment part.As mentioned above, button 14060 can be used for slide block assembly 14150 to be positioned in its Part I.

Roughly see Figure 114, when slide block assembly 14150 is in its primary importance, the internal spline 14140 on slide block 14115 can engage the external splines 14200 on closed nut 14190.User then by rotating closed knob 14075 to locate anvil block 14050 relative to storehouse shell 14040.As mentioned above, closed knob 14075 can rotate with closed first Closing Switch along its first direction and anvil block 14050 be moved away from storehouse shell 14040, and can rotate with closed second Closing Switch along its second direction and anvil block 14050 be moved towards storehouse shell 14040.In some cases, the closed of the first Closing Switch can close the circuit making motor 14090 along its first direction work, and correspondingly, the closed of the second Closing Switch can close the circuit making motor 14090 along its second direction work.In some cases, first Closing Switch can be communicated with the microprocessor of surgical instruments 14010 with the second Closing Switch, this microprocessor can control the electrical power provided to motor 14090 according to the input from the first Closing Switch and the second Closing Switch, comprise the polarity of the electrical power provided to it.As mentioned above, motor 14090 can make rotatable shaft 14100, expander part 14110, slide block 14115 rotate, and due to the configuration of transporter 14000, closed nut 14190 also can be made to rotate.As mentioned above, closed nut 14190 is threadedly engaged with the closed bar 14230 proximally and be distally shifted by anvil block 14050.Alternatively, closed bar 14230 can perform some other functions.

As shown in Figure 114, when slide block assembly 14150 be in its first or proximal position time, motor 14090 can in response to closed knob 14075 not in response to percussion trigger 14070.In at least one situation, when slide block assembly 14150 is in its primary importance, the bottom bearing of journals 14170 of slide block assembly 14150 can contact and close the first transmitting switch 14340.In all cases, the first transmitting switch 14340 can be communicated with the microprocessor of surgical instruments 14010, and this microprocessor can be configured to the input ignored when the first transmitting switch 14340 is closed from percussion switch 14305.In such cases, the user of surgical instruments 14010 can press percussion trigger 14070, and motor 14090 will in response to this operation.On the contrary, in such cases, motor 14090 is in response to the first Closing Switch and the second Closing Switch, and these two Closing Switch activate by closing knob 14075 with motion anvil block 14050.As shown in Figure 115, when slide block assembly 14150 towards its second or distal position motion time, the bottom bearing of journals 14170 and the first transmitting switch 14340 depart from, and the first transmitting switch 14340 will turn back to open mode.When slide block assembly 14150 move to its second or distal position in time, the bottom bearing of journals 14170 can contact and close the second transmitting switch 14350.In all cases, the second transmitting switch 14350 can be communicated with the microprocessor of surgical instruments 14010, and this microprocessor can be configured to the input ignoring to come self-closing knob 14075 when the second transmitting switch 14350 is closed.In such cases, the rotatable closed knob 14075 of user of surgical instruments 14010, and motor 14090 will in response to this operation.On the contrary, in such cases, motor 14090 is in response to the percussion switch 14305 activated by percussion trigger 14070.

In order to make slide block assembly 14150 move to its second position from its primary importance, as mentioned above, user can press slider button 14060 to be discharged from its ratchet by slider button 14060 and to make slide block assembly 14150 distally move to its second position.In such cases, slide block 14115 can depart from closed nut 14160 and engage with percussion nut 14260.More specifically, the internal spline 14140 on slide block 14115 can become and depart from the external splines 14200 on closed nut 14190, and in addition, the external splines 14130 of slide block 14150 can become and engage with the internal spline 14270 of pulling the trigger nut 14260.Now, safe breech lock 14320 can be rotated to its unlocked position and prepare percussion to make percussion trigger 14070 by user.User makes trigger system pull the trigger by being rotated counterclockwise towards actuator housings 14080 by percussion trigger 14070 as shown in Figure 115.As mentioned above, percussion trigger 14070 can contact percussion switch 14305, and this percussion switch can make motor 14090 be energized.Be similar to the first configuration of transporter 14000, motor 14090 can make rotatable shaft 14100, expander part 14110 and slide block 14115 rotate; But in the second configuration of transporter 14000, slide block 14115 makes percussion nut 14260 rotate with translation firing tube 14280.

In all cases, power to apparatus 14010 by external power source.In some cases, the one or more batteries be positioned in actuator 14020 can be utilized.Battery can be such as chargeable lithium cell.In some cases, battery and motor 14090 can be positioned on can clean, can in sterilizing and recycling removable can.

After actuator 14020 is used in surgical operation, user can dismantle actuator 14020 from shaft portion 14030.User can press breech lock 14025 to be dismantled from shaft portion 14030 by actuator 14020.Then, actuator 14020 can cleaned, sterilizing and recycling or abandon.Similarly, shaft portion 14030 can cleaned, sterilizing and recycling or abandon.When shaft portion 14030 is reused, nail can be reloaded in storehouse shell 14040.In some cases, storehouse shell 14040 can comprise and can be used for the replaceable storehouse of following closely of reloading.In all cases, the various piece of actuator 14020 also can be combined in and can easily to insert in actuator housings 14080 and from the sealing compartmentation module that it removes.Such as, motor 14090, rotatable shaft 14100, expander part 14110, slide block assembly 14150, closed nut 14190, closed bar 14230, percussion nut 14260 may be combined with into the modular assembly that can remove from actuator housings 14080 with firing tube 14280.In addition, the part of actuator 14020 can be the ingredient of independent assembly module.Such as, the electronic section (such as motor 14090 and battery) of actuator 14020 can comprise a module, and the mechanical component comprising rotation and/or translating sections can comprise the second module.In such cases, can adopt to come the first module sterilizing with the second module diverse ways.This type of situation can be conducive to using such as the gamma-radiation of the second module, and this method may be not suitable for the first module sterilizing.

Contemplate the various additions to actuator 14020.Such as, micro-process can be utilized to detect the stroke end position of closed-system and/or trigger system, and when notice motor 14090 stop closing stroke and/or percussion stroke.Also can utilize micro-process to determine the type of the shaft assembly being attached to actuator 14020.Such as, actuator 14020 can comprise the sensor communicated with the microprocessor signals in actuator 14020, and this signal is that circular stapler shaft assembly is attached to actuator 14020, or linear cutter shaft assembly is attached to actuator 14020.Imagination actuator 14020 can to need such as at least one, perhaps two or more lengthwise movements input permitted eurypalynous surgical technique and tools power.In all cases, actuator 14020 can be powered to the surgical instruments of such as circular stapler, linear staplers, right angle stiching instrument, shears, grasper and/or other types.

The further amendment of actuator 14020 comprises and utilizes multiple motor, makes the quantity that can increase the function that can be adopted by actuator 14020.Actuator 14020 some amendment comprise utilize identical motor perform more than two kinds of functions.Such as, contemplate the 3rd position of slide block assembly 14150, in this position, drive the 3rd function by the 3rd nest mechanism.To being described further above, in some cases, slide block assembly 14150 can have the 3rd position, and this position is idle or neutral position, in this position, does not have function to be driven by motor 14090.

Further amendment can comprise use electronics and/or magnetic devices with by slide block 14115 from a position translation to another position.Such as, can use solenoid that slide block 14115 is moved to another position from a position.Slide block 14115 can be pre-loaded onto in default location by spring, and makes solenoid energising slide block 14115 can be moved to the second position from default location.

Surgery suturing appliance 15010 is shown in Figure 117 and Figure 118.Similar to above-mentioned, apparatus 15010 can comprise shank, be configured to make anvil block 15090 relative to the closed-system that nail bin 15080 moves between open position (Figure 117) and make position (Figure 118), and comprises and be configured to be disposed from nail bin 15080 by nail and cut the trigger system of the tissue be captured between anvil block 15090 and nail bin 15080.Remove the shell of surgical instruments shank in Figure 117 and Figure 118, be included in wherein each kind of parts to illustrate.Same similar to above-mentioned, the closed-system of apparatus 15010 can comprise closed motor 15110, comprise the closed gear train of the closed driving helical gear 15160 being operationally connected to closed motor 15110, and is operationally connected to the closed closed drive screw 15170 driving helical gear 15160.In all cases, closed motor 15110 can be supported by motor frame 15125, and in addition, this motor frame rotatably can support the closed helical gear 15160 that drives and drive driving screw 15170 with closed.Closed-system also can comprise and is configured to contact Closing Switch 15285 and the close push button 15065 making Closing Switch 15285 closed, and this Closing Switch can make closed motor 15110 work when closed.To being described further above, in some cases, close push button 15065 can be configured to contact and is configured to make closed motor 15110 along first direction work and makes the Closing Switch that anvil block 15090 is closed, and be configured to make closed motor 15110 along second direction work and anvil block 15090 is opened open switch.

To being described further above, closed-system also can comprise and is configured to engage anvil block 15090 and the storehouse 15180 of being moved between its open position (Figure 117) and its make position (Figure 118) by anvil block 15090.Storehouse 15180 can comprise the screw nut part 15175 be threadedly engaged with the threaded portion of closed driving driving screw 15170.Storehouse 15180 can be restrained and can not rotate together with closed driving driving screw 15170, makes closedly to drive the rotation of driving screw 15170 can make storehouse 15180 proximally and distally translation, and this depends on the closed direction driving driving screw 15170 to rotate.When closed motor 15110 makes closed driving driving screw 15170 rotate along first direction, storehouse 15180 can distally be shifted with closed anvil block 15090 by the closed driving screw 15170 that drives.Correspondingly, when closed motor 15110 makes closed driving driving screw 15170 rotate along second or rightabout, storehouse 15180 can proximally be shifted to open anvil block 15090 by the closed driving screw 15170 that drives.Storehouse 15180 can be arranged around storehouse passage 15070 at least in part, and in all cases, can remain to storehouse passage 15070 slidably.Main see Figure 118, storehouse passage 15070 can comprise the one or more slits 15195 be defined in its opposite side, and described slit is configured to receive the one or more protuberances 15185 extended internally from storehouse 15080 slidably.In other cases, passage 15070 can comprise protuberance 15185, and storehouse 15080 can comprise slit 15195.In any one situation, slit 15195 and protuberance 15185 can be configured to retrain such as storehouse 15180 to motion that is longitudinal or longitudinal path substantially.

Storehouse 15080 can from first or proximal position (Figure 117) move to second or distal position (Figure 118) with closed anvil block 15090.Storehouse 15080 can comprise cross bar 15081, and this cross bar is configured to contact anvil block 15090 when moving relative to anvil block 15090 in storehouse 15080 and make it move.In all cases, anvil block 15090 can be connected to storehouse passage 15070 pivotly around pivot 15200, and storehouse cross bar 15081 can make anvil block 15090 rotate around pivot 15200.More specifically, storehouse cross bar 15181 can be configured to the top or the cam face 15092 that contact anvil block 15090, and slides when distally moving in storehouse 15080 anvil block 15090 is rotated towards the storehouse 15080 be positioned in storehouse passage 15070 on top surface 15092.In some cases, when anvil block 15090 arrives its complete make position, the distal end 15091 of anvil block 15090 can contact the distal end 15081 in storehouse 15080.Storehouse 15180 can distally advance, until it arrives its farthest side position and/or anvil block 15090 is in its complete make position, this is shown in Figure 118.In all cases, when storehouse 15180 arrives its farthest side position, storehouse 15180 can be terminated sensor and makes it close by contacting travel.In some cases, stroke sensor can communicate with the microprocessor signals of surgical instruments 15010.When stroke sensor is closed by storehouse 15180, microprocessor interruptible price is supplied to the electric power of closed motor 15110 and stops the propelling in storehouse 15180.

As mentioned above, the cross bar 15181 in storehouse 15180 is by promoting cam face 15092 downwards to make anvil block 15090 carry out camming movement towards nail bin 15080.Anvil block 15090 also can comprise the latch pin 15210 extended from its side, and when anvil block 15090 rotates towards nail bin 15080, this latch pin can be received in the slit 15215 in the side being defined in storehouse passage 15070.In all cases, such as, when anvil block 15090 arrives its make position, latch pin 15210 can contact the closed ends of slit 15215.In some cases, anvil block 15090 can in the close position in, and latch pin 15210 can not contact with the closed ends of slit 15215.In some cases, closed-system can comprise the one or more breech locks 15190 being configured to engagement latch lock pin 15210 and/or being moved near nail bin 15080 by anvil block 15090.Breech lock 15190 can be rotatably connected to storehouse passage 15070 by pivot pin 15191, and can rotate around pivot axis with engagement latch lock pin 15210.In some cases, breech lock 15190 can engagement latch lock pin 15210 and against the closed ends positioning latch pin 15210 of slit 15215.Each breech lock 15190 can comprise latch arms 15192, and when breech lock 15190 distally rotates in its make position, this latch arms can be slided and be promoted latch pin 15210 downwards on latch pin 15210.Each latch arms 15192 can limit breech lock slit 15193 at least in part, and this breech lock slit can be configured to receive latch pin 15210 when breech lock 15190 moves in its actuated position.The closed ends of latch arms 15192 and slit 15215 can cooperate trapped by latch pin 15210 and/or remain on appropriate location.

To being described further above, when storehouse 15180 distally advances, storehouse 15180 can make breech lock 15190 move between non-position latching (Figure 117) and position latching (Figure 118).When cross bar 15181 does not make anvil block 15090 move in its complete make position, anvil block 15090 can move in its complete make position by breech lock 15190.In all cases, storehouse 15180 can comprise restriction distal camming surfaces 15182 thereon, and when storehouse 15180 distally advances, this distal camming surfaces can engages receptacle 15190.In this type of situation of at least one, each cam face 15182 can comprise such as tilting or angled surface.When closed driving driving screw 15170 rotates along its second direction, and when closed driving driving screw 15170 makes storehouse 15180 proximally bounce back, breech lock 15190 can turn back to its unactuated position.In all cases, apparatus 15010 also can comprise such as one or more biasing spring 15195, and this biasing spring can be configured to make breech lock 15190 proximally rotate when distal camming surfaces 15182 bounces back away from breech lock 15190.Each breech lock 15190 can comprise the hole 15194 being configured to the first end receiving spring 15195 be limited to wherein.The second end of spring 15195 can engage with the spring stack 15079 extended from storehouse passage 15070.As mentioned above, when storehouse 15180 makes breech lock 15190 distally rotate to its position latching from its non-position latching, spring 15195 can be extended resiliently, make when storehouse 15180 bounces back, spring 15195 can be elastically returned to its original state, thus applies power via such as hole 15194 to breech lock 15090.Under any circumstance, when breech lock 15190 has turned back to its non-position latching, anvil block 15090 can move relative to nail bin 15080 again.

As mentioned above, the cam face 15092 that the cross bar 15181 in storehouse 15180 can contact anvil block 15090 rotates towards nail bin 15080 to make anvil block 15090.Storehouse 15180 can also be configured to anvil block 15090 to rotate away from nail bin 15080.In this type of situation of at least one, anvil block 15090 can comprise restriction the second cam face 15093 thereon, and when closed driving driving screw 15170 makes storehouse 15080 proximally move, this second cam face can be contacted by the cross bar 15181 in storehouse 15080.If reader is by understanding, closing cam surface 15092 can be limited on the first side of pivot pin 15200, and opens cam face 15093 and can be limited on second or opposite side of pivot pin 15200.Opening cam face 15093 can relative to closing cam surface 15092 angled extension.In all cases, when storehouse 15180 bounces back, cross bar 15181 can contact to be opened cam face 15093 and opens cam face slip relative to this.Open degree that cam face 15093 can be configured to make wherein anvil block 15090 to open relative to nail bin 15080 or amount depends on the distance that cross bar 15181 proximally bounces back.Such as, if cross bar 15181 to bounce back the first distance at pivot 15200 nearside, then cross bar 15181 can make anvil block 15090 upwards pivotable away from nail bin 15,080 first degree, and if cross bar 15181 is greater than the second distance of the first distance at pivot 14200 nearside retraction, then cross bar 15181 can make anvil block 15090 upwards pivotable be greater than the second degree of the first degree away from nail bin 15080.

Above-mentioned closed-system can allow the user of surgical instruments by anvil block 15090 pivotable between the open position and the closed position, and without the need to manual operating anvil block 15090.Above-mentioned closed-system also by anvil block 15090 automotive latch or can be locked in its make position, and without the need to using independent actuator.If user is unsatisfied with the location be organized in when anvil block 15090 is in its make position between anvil block 15090 and nail bin 15080, then user can reopen anvil block 15090, anvil block 15090 and nail bin 15080 are reorientated relative to tissue, and then closed anvil block 15090.Before the trigger system activating apparatus 15010, user can repeatedly open and close anvil block 15090 as required.Trigger system can comprise the percussion motor 15120 being installed to motor frame 15125, the percussion gear train being operationally connected to percussion motor 15120 (comprising percussion gear 15240, percussion driving screw gear 15250) and percussion and drive driving screw 15260.Similar to above-mentioned, percussion gear train and/or percussion drive driving screw 15260 rotatably can be supported by motor frame 15125.Percussion driving device also can comprise percussion trigger 15055, and this percussion trigger is configured to close percussion switch 15290 when pulling the trigger trigger 15055 and being pressed, thus percussion motor 15120 is worked.When pull the trigger motor 15120 along first direction work to make percussion drive driving screw 15260 to rotate along first direction time, percussion driving device can be disposed and be stored in nail in nail bin 15080 removedly and the tissue that is captured between anvil block 15090 and nail bin 15080 of incision.When pull the trigger motor 15120 along second direction work with make percussion drive driving screw 15260 along second or rightabout rotate time, percussion driving device can bounce back.Then, anvil block 15090 can be switched on again to remove the tissue between anvil block 15090 and nail bin 15080.In some cases, pull the trigger driving device and can open anvil block 15090 without the need to bouncing back.In such cases, pull the trigger driving device and can not engage anvil block 15090 when it distally advances.In this type of situation of at least one, percussion driving device can enter to follow closely from its injection in nail bin 15080, and blade can advance to cut tissue between nail bin 15080 and anvil block 15090.Anvil block 15090 can not be locked in its make position by percussion driving device, but also contemplates the embodiment that anvil block 15090 can be locked in its make position by percussion driving device.This type of embodiment can utilize such as I ellbeam, and when I ellbeam distally advances, it can engage anvil block 15090 and nail bin 15080 and they are relative to each other remained on appropriate location.

Apparatus 15010 can be powered by external power source and/or internal electric source.Cable can enter in actuator housings 15080 to provide electric power from such as external power source.The shank that one or more battery (such as battery 15400) such as can be positioned on apparatus 15010 is interior to provide electric power from such as internal electric source.Apparatus 15010 also can comprise such as one or more indicator, such as LED indicator 15100, and it can indicate the duty of such as apparatus 15010.LED indicator 15100 can such as identical with above-mentioned LED indicator 11100 mode or similar mode work.LED indicator 15100 can communicate with the microcontroller signal of apparatus 15010, and this microcontroller can be positioned on such as printed circuit board (PCB) 15500.

Previous surgical instruments has utilized the closed-system being configured to the manual actuation that anvil block is moved between the open position and the closed position.The closed-system that various embodiment as herein described utilizes the motor being configured to anvil block is moved relative to fixing nail bin between the open position and the closed position to drive.Contemplate other embodiments, wherein anvil block can be fixed and motor drive closed-system nail bin can be made to move between the open position and the closed position.In any one situation, the motor of closed-system can set the interstice between anvil block and nail bin.In all cases, the closed-system of surgical instruments is separated from trigger system and different.In other cases, closed-system and trigger system can be integrated.When closed-system and trigger system be independent and different time, the user of surgical instruments can assess anvil block and the nail bin position relative to the tissue of to be stapled and incision before operation trigger system.

As mentioned above, the end effector (such as end effector 1000) of surgical instruments such as can be configured to clamp tissue between its anvil block jaw 1040 and nail bin 1060.When anvil block jaw 1040 is in its make position, interstice can be limited between anvil block jaw 1040 and nail bin 1060.In some cases, end effector 1000 can be suitable for and thin tissue, thick tissue, and the organizing of thickness had between thin tissue and thick tissue uses together.End effector 1000 is applicable to tissue thickness's scope that the most thin tissue of stitching and the thickest tissue can be defined for end effector 1000.In all cases, surgical instrument system can comprise shank and can be assembled into multiple end effectors of shank, and one or more in its end effector have different tissues thickness range.Such as, first end executor can have first tissue thickness's scope, and the second end executor can have the minor microstructure thickness range being different from first tissue thickness's scope.In some cases, first tissue thickness's scope and minor microstructure thickness range can be discrete, and in other cases, first tissue thickness's scope and minor microstructure thickness range can be partly overlapping.Surgical instrument system can use the end effector with different tissues thickness range of any suitable number, and some wherein in tissue thickness's scope can be overlapping at least in part, and other tissue thickness's scopes can be not overlapping.

To being described further above, in all cases, the nail bin of end effector, the nail bin 1060 of such as end effector 1000, such as, can be interchangeable.In all cases, nail bin 1060 can lock onto in the position in the lower jaw 1020 of end effector 1000 removedly.Once locks in place, the platform of nail bin 1060 or tissue contacting surface can not moved relative to lower jaw 1020 or at least substantially not move.Therefore, when anvil block jaw 1040 moves in its make position, fixed range or interstice can be limited between the platform surface of anvil block jaw 1040 and nail bin 1060.In order to change this fixed range, nail bin 1060 can remove from lower jaw 1020, and different nail bin can be locked in lower jaw 1020 removedly.The platform surface of different nail bin can be configured to provide the interstice different from the interstice that nail bin 1060 provides.Contemplate such embodiment, wherein surgical instrument system comprises shank, can be assembled into multiple end effectors of shank, and alternatively can insert the multiple nail bins in end effector.This type of embodiment can allow user to select the end effector that can use together with the tissue thickness of certain limit, and selects the nail bin being used for using together with end effector to regulate the scope of the tissue thickness can sewed up by end effector or to finely tune.In some cases, the first nail bin of surgical instrument system can comprise the nail of the first kind, and the second nail bin can comprise the nail of Second Type.Such as, the first nail bin can comprise the nail having the first unshaped or do not pull the trigger height, and the second nail bin can comprise the nail having second unshaped highly different from first or do not pull the trigger height.

Whole disclosures of following patent are incorporated herein by reference accordingly:

The name being published in April 4 nineteen ninety-five is called the United States Patent (USP) 5,403,312 of " ELECTROSURGICALHEMOSTATICDEVICE ";

The name being published on February 21st, 2006 is called the United States Patent (USP) 7,000,818 of " SURGICALSTAPLINGINSTRUMENTHAVINGSEPARATEDISTINCTCLOSINGA NDFIRINGSYSTEMS ";

Be published in the United States Patent (USP) 7,422,139 that in JIUYUE, 2008 name of 9 days is called " MOTOR-DRIVENSURGICALCUTTINGANDFASTENINGINSTRUMENTWITHTAC TILEPOSITIONFEEDBACK ";

Be published in the United States Patent (USP) 7,464,849 that in December, 2008 name of 16 days is called " ELECTRO-MECHANICALSURGICALINSTRUMENTWITHCLOSURESYSTEMAND ANVILALIGNMENTCOMPONENTS ";

The name being published on March 2nd, 2010 is called the United States Patent (USP) 7,670,334 of " SURGICALINSTRUMENTHAVINGANARTICULATINGENDEFFECTOR ";

The name being published on July 13rd, 2010 is called the United States Patent (USP) 7,753,245 of " SURGICALSTAPLINGINSTRUMENTS ";

The name being published on March 12nd, 2013 is called the United States Patent (USP) 8,393,514 of " SELECTIVELYORIENTABLEIMPLANTABLEFASTENERCARTRIDGE ";

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The name being filed on October 10th, 2008 is called the U.S. Patent Application Serial Number 12/249 of " POWEREDSURGICALCUTTINGANDSTAPLINGAPPARATUSWITHMANUALLYRE TRACTABLEFIRINGSYSTEM ", 117 (is now United States Patent (USP) 8,608,045);

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As previously mentioned, sensor can be configured to detect and collect the data be associated with surgical device.The sensing data that processor process receives from sensor.

Processor can be configured to executable operations logic.Processor can be any one in multiple monokaryon as known in the art or polycaryon processor.Storage device can comprise the volatibility forever copied with interim (work) and non-volatile memory medium that are configured to store operation logic.

In various embodiments, operation logic can be configured to process and the data be associated of moving, as mentioned above.In various embodiments, operation logic can be configured to perform initial treatment, and computer data being sent to managed application is to determine and to generate instruction.For these embodiments, operation logic can be constructed to be permeable to receive information from trustship computer and provide feedback to it further.In alternative embodiment, operation logic can be configured in reception information and determine to play the part of prior role in feedback.In any one situation, no matter be that it independently determines also to be in response to the instruction from trustship computer, operation logic can be constructed to be permeable to control feedback and provide feedback to user further.

In various embodiments, the instruction that operation logic can be supported by the instruction set architecture of processor (ISA) is implemented, or implements with more high-level language, and is compiled into supported ISA.Operation logic can comprise one or more logical block or module.Operation logic can OO mode be implemented.Operation logic can be configured to perform with multitask mode and/or multithreading.In other embodiments, operation logic can be implemented in hardware (such as gate array).

In various embodiments, communication interface can be configured to the communication that is conducive between ancillary equipment and computing system.This communication can comprise the exercise data of the collected biometric data be associated with position, posture and/or user body part is sent to trustship computer, and the data be associated with tactile feedback are sent to ancillary equipment from master computer.In various embodiments, communication interface can be wired or wireless communication interface.The example of wired communication interface can include but not limited to USB (universal serial bus) (USB) interface.The example of wireless communication interface can include but not limited to blue tooth interface.

For various embodiment, processor can be packaged together with operation logic.In various embodiments, processor can be packaged together to form system in package (SiP) with operation logic.In various embodiments, processor can be integrated together with operation logic in same die.In various embodiments, processor can be packaged together to form SOC(system on a chip) (SoC) with operation logic.

Various embodiment can be described in this article in the general background of computer executable instructions, described computer executable instructions such as software, program module and/or the engine just performed by processor.In general, software, program module and/or engine comprise any software element being arranged to perform specific operation or realize particular abstract data type.Software, program module and/or engine can comprise the routine, program, object, parts, data structure etc. that perform particular task or realize particular abstract data type.Transmit on the computer-readable medium that the concrete enforcement of software, program module and/or engine components and technology can be stored in certain form and/or by the computer-readable medium of certain form.Thus, computer-readable medium can be any usable medium that can be used for storage information and can be accessed by computing equipment.Some embodiments can also be put into practice in a distributed computing environment, in this distributed computing environment, operate and are performed by the one or more remote processing devices by communication network links.In a distributed computing environment, software, program module and/or engine can be arranged in the local and remote computer-readable storage medium comprising memory storage device.Memorizer (such as random access memory (RAM) or other dynamic storage device) can be adopted to store information and treat the instruction that performed by processor.Memorizer is also used in perform and treats to store temporary variable or other average informations between the order period that performed by processor.

Although some embodiments can be illustrated and are described as the module comprising functional part, software, engine and/or perform various operation, but should be appreciated that this base part or module can be realized by one or more hardware component, software part and/or their combination.Functional part, software, engine and/or module can be realized by the logic (such as, instruction, data and/or code) such as treated by logical device (such as, processor) performs.It is inner or outside that this logic of class can be stored in the logical device be positioned on the computer-readable recording medium of one or more types.In other embodiments, functional part such as software, engine and/or module can be realized by hardware element, this hardware element can comprise processor, microprocessor, circuit, component (such as, transistor, resistor, capacitor, inducer etc.), integrated circuit, special IC (ASIC), programmable logic device (PLD), digital signal processor (DSP), field programmable gate array (FPGA), gate, depositor, semiconductor equipment, chip, microchip, chipset, etc.

The example of software, engine and/or module can comprise software part, program, application, computer program, application program, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, process, software junction surface, application program junction surface (API), instruction set, Accounting Legend Code, computer code, code snippet, computer generation chip segment, word, value, symbol or their any combination.Determine whether embodiment uses hardware element and/or software element to realize to change according to any amount of factor, and all computation rates as desired of these factors, power level, thermal capacitance are poor, cycle for the treatment of budget, input data rate, output data rate, memory resource, data bus speed and other design or Performance Constraints.

One or more in module as herein described comprise the one or more built-in application programs being embodied as firmware, software, hardware or their combination in any.One or more in module as herein described comprise various executable module, such as software, program, data, driver, application programming interfaces (API) etc.Firmware can be stored in the memorizer of comprised nonvolatile memory (NVM) of controller 2016 and/or controller 2022, in such as bit mask read only memory (ROM) or flash memory.In various concrete enforcement, firmware is stored in ROM and can protects flash memory.Nonvolatile memory (NVM) can comprise the memorizer of other types, comprise such as programming ROM (PROM), erasable programmable ROM (EPROM), electrically erasable ROM (EEPROM) or battery backed random access memory (RAM), such as dynamic ram (DRAM), double data rate (DDR) DRAM (DDRAM) and/or synchronous dram (SDRAM).

In some cases, various embodiment can be embodied as manufacture goods.Described manufacture goods can comprise be arranged to store for performing one or more embodiment the logic of various operations, instruction and/or data computer-readable recording medium.In various embodiments, such as, described manufacture goods can comprise disk, CD, flash memories or firmware, and these goods comprise the computer program instructions being suitable for being performed by general processor or application specific processor.But embodiment is not limited in this.

The function of the various functional elements, logical block, module and the component that describe in conjunction with embodiment disclosed herein can be implemented in the general environment of computer executable instructions, the software such as performed by processing unit, control module, logic and/or logic module.Generally speaking, software, control module, logic and/or logic module comprise any software element being arranged to perform specific operation.Software, control module, logic and/or logic module can comprise the routine, program, object, parts, data structure etc. that perform particular task or implement particular abstract data type.Transmit on the computer-readable medium that the concrete enforcement of software, control module, logic and/or logic module and technology can be stored in certain form and/or by the computer-readable medium of certain form.Thus, computer-readable medium can be any usable medium that can be used for storage information and can be accessed by computing equipment.Some embodiments can also be put into practice in a distributed computing environment, in this distributed computing environment, operate and are performed by the one or more remote processing devices by communication network links.In a distributed computing environment, software, control module, logic and/or logic module can be arranged in the local and remote computer-readable storage medium comprising memory storage device.

In addition, should be appreciated that embodiment as herein described illustrates exemplary concrete enforcement, and other modes various that functional element, logical block, module and component can be consistent with described embodiment are implemented.In addition, the operation performed by this class functional element, logical block, module and component may be combined with and/or is separated for given concrete enforcement, and can be performed by the parts of greater number or smaller amounts or module.As those skilled in the art, institute is apparent upon reading this disclosure, each in described herein and shown independent embodiment has discrete parts and feature, under the prerequisite not deviating from the scope of the present disclosure, described parts and feature can the character separation of any aspect easily with in some other aspects or combinations.Any described method can be performed by the order of described event or by any other logically possible order.

It should be noted that any mention special characteristic, structure or characteristic described in all meaning in conjunction with the embodiments to " embodiment " or " embodiment " comprises at least one embodiment.The phrase " in one embodiment " occurred everywhere in the description or " in one aspect " might not all refer to identical embodiment.

Unless stated otherwise, otherwise be to be understood that, term is " process " such as, " computing ", " calculating ", " to determine " etc. to refer to computer or computing system, or the action of similar computing electronics and/or process, described computing electronics such as general processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or their any combination, it is designed to perform function as herein described, it is handled and is expressed as physical quantity in depositor and/or memorizer (such as, electronics) data and/or convert thereof into and be similarly expressed as memorizer, depositor or other this type of information storage devices, other data of physical quantity in transporter or display device.

It should be noted that some embodiments can use expression " connection " to describe with " connection " and their derivative words.These terms are not intended to be synonym each other.Such as, some embodiments can use term " connection " and/or " connection " to describe, to represent that two or more elements are in direct physical contact with each other or electrical contact.But it is not direct contact each other that term " connection " can also refer to two or more elements, but is fitted to each other or interacts.With regard to software element, such as, term " connection " can finger mouth, message interface, application programming interfaces (API), exchange messages.

Be to be understood that, described any patent incorporated herein by reference, publication or other open materials, no matter be full text or part, be only incorporated in the scope that be incorporated to material and the definition provided in the disclosure, statement or other open materials do not conflict herein.Similarly, and under the degree of necessity, the disclosure clearly set forth herein replaces any conflict material be incorporated herein by reference.Be incorporated herein by reference but with existing definition as herein described, statement or the afoul any material of other open materials or its part, be incorporated to herein under only not producing the degree of conflict between be incorporated to material and existing open material.

Disclosed embodiment of this invention is applied to conventional splanchnoscopy and open surgical apparatus and is applied to the operation of robot assisted.

The embodiment of device disclosed herein can be designed to abandon after single uses, and also can be designed to for repeatedly.In above-mentioned arbitrary or two kinds of situations, all can repair these embodiments, to re-use afterwards at least one times in use.The combination in any that reparation can comprise the following steps: provision for disengagement, then cleaning or change specific component and re-assemblying subsequently.Specifically, can the embodiment of provision for disengagement, and optionally change in any combination or the specific component of any amount of apparatus for removing or parts.When cleaning and/or change particular elements, the embodiment of described device can re-assembly at restoration facilities place or be re-assemblied for using subsequently by surgical team before being about to carry out surgical operation.It will be appreciated by those skilled in the art that, device reparation can utilize multiple technologies to carry out dismantling, clean/change and re-assemblying.The device that the use of these technology and gained are repaired again is all in the scope of the application.

Only by way of example, can process embodiment as herein described before surgical operation.First, can obtain new or with the apparatus crossed, and clean as required.Then, can carry out disinfection to apparatus.In a kind of disinfection technology, this apparatus is placed on closed and in the container of sealing, in such as plastics or TYVEK bag.Then container and apparatus can be placed in the radiation field that can penetrate this container, such as gamma-radiation, X-ray or high energy electron.Radiation can be killed on apparatus and antibacterial in container.Apparatus after sterilization can be stored in sterile chamber subsequently.Apparatus can be remained in aseptic condition by sealed container, until opened by this container in medical facilities.Any other technology known in the art also can be used to sterilize to device, include but not limited to β radiation or gamma-radiation, oxirane or steam.

It will be recognized by those skilled in the art, ingredient as herein described (such as, operation), device, object and their discussion of enclosing are used as example for the purpose of clear concept, and it is contemplated that multiple configuration is revised.Therefore, as used herein, the instantiation of elaboration is intended to represent their more generally classifications with the discussion of enclosing.Usually, the use of any concrete example is intended to represent its classification, and concrete ingredient (such as, operating), device and not including in of object partly should not take restriction.

For any plural number and/or singular references substantially used herein, those skilled in the art from complex conversion singularization and/or can convert plural number to from odd number, as long as be suitable for context and/or apply just passable.For clarity sake, various singular/plural displacement is not clearly stated in this article.

The different parts being included in different parts in other different parts or parts different from other and connecting set forth sometimes in theme as herein described.Should be appreciated that the framework described like this is only example, and in fact can implement other frameworks many realizing acquisition same functionality.In concept meaning, obtain any arrangement of the parts of same functionality all effectively " being associated ", thus functional needed for obtaining.Therefore, herein for obtaining particular functionality and any two assemblies of combining all can be regarded as each other " being connected ", thus functional needed for obtaining, no matter and structure or intermediate module.Equally, any two parts be so connected also can be regarded as each other " operatively connecting " or " operatively connecting ", required functional to obtain, and any two parts that can so be connected all can be regarded as each other " operationally connecting ", required functional to obtain.The instantiation operationally connected include but not limited to can Physical Match and/or physics interactive component, and/or wireless interactive, and/or wireless interaction parts, and/or logic is mutual, and/or the interactive parts of logic.

Some aspects can use expression " connection " to describe with " connection " and their derivative words.Should be appreciated that these terms are not intended to is synonym each other.Such as, some aspect can utilize term " connection " to describe, to represent that two or more elements are in direct physical contact with each other or electrical contact.In another example, some aspects can use term " connection " to describe, to represent the contact of two or more element direct physical or electrical contact.But it is not direct contact each other that term " connection " can also refer to two or more elements, but is fitted to each other or interacts.

In some cases, one or more parts can be called as in this article " being configured to ", " can be configured to ", " can operate/operationally ", " be applicable to/being suitable for ", " can ", " adapt to/be applicable to " etc.It will be appreciated by those skilled in the art that unless context indicates otherwise, otherwise " being configured to " can contain the parts of the parts of active state and/or the parts of inactivated state and/or holding state usually.

Although illustrate and described the particular aspects of present subject matter as herein described, but those skilled in the art be it is evident that, based on instruction content herein, change and modification can be made when not departing from theme as herein described, and as in the true scope of theme as herein described, its widely aspect and therefore claims all this type of to be changed and modification is included within the scope of it.Those skilled in the art is to be understood that, generally speaking, claim of particularly enclosing herein (such as, the text of claim of enclosing) in the term that uses usually be intended to for open to the outside world term (such as, term " comprises " and should be interpreted as " including but not limited to ", term " has " and should be interpreted as " at least having ", term " comprises " and should be interpreted as " including but not limited to " etc.).Those skilled in the art it is also understood that when introduced claim describe concrete number be expection time, then this type of intention will in the claims clearly describe, and when do not exist this type of describe, do not exist this type of intention.Such as, be help to understand, following claim of enclosing can comprise and describes to introduce claim the use of introductory phrase " at least one " and " one or more ".But, should not be regarded as implying that introducing claim by indefinite article " " or " one " describes and introduce any specific rights that claim describes and require to be limited in comprising this type of and comprise only in this type of claim described to the use of this type of phrase, even when same claim comprises the indefinite article of introductory phrase " one or more " or " at least one " and such as " " or " one " (such as, " " and/or " one " should be interpreted as meaning " at least one " or " one or more " usually); This is also applicable to the use for introducing the definite article that claim describes.

In addition, even if when clearly describing the given number that introducing claim describes, those skilled in the art will be appreciated that, this type of describes and usually should be interpreted as meaning at least described number (such as, when there is no other modifiers, " two describe " naked being described and usually means at least two and to describe or two or more describe).In addition, use under being similar to those situations of the convention of " at least one etc. in A, B and C " wherein, generally speaking, this class formation be intended to have it should be appreciated by those skilled in the art that described convention meaning (such as, " there is the system of A, B and at least one in C " by include but not limited to have only A, only B, only C, A together with B, together with A with C, together with B with C and/or A, B system together with C etc.).Use under being similar to those situations of the convention of " at least one etc. in A, B or C " wherein, generally speaking, this class formation be intended to have it should be appreciated by those skilled in the art that described convention meaning (such as, " there is the system of at least one in A, B or C " by include but not limited to have only A, only B, only C, A together with B, together with A with C, together with B with C and/or A, B system together with C etc.).Those skilled in the art it should also be understood that, usually, unless the context indicates otherwise, otherwise in detailed description of the invention, claim or accompanying drawing, no matter present the probability that the turning word of two or more alternative terms and/or phrase are interpreted as containing any one or these two terms in the one comprised in described term, described term.Such as, phrase " A or B " will be understood to include the probability of " A " or " B " or " A and B " usually.

For appended claim, one skilled in the art will appreciate that the operation wherein listed can any order be carried out usually.In addition, although list multiple operating process with a definite sequence, should be appreciated that other orders of order shown in can being different from carry out described multiple operation, or described multiple operation can be carried out simultaneously.Unless the context requires otherwise, otherwise this type of example substituting sequence can comprise overlap, staggered, interruptions, rearrangement, increment, preparation, supplementary, simultaneously, oppositely or sequences of other changes.In addition, unless the context requires otherwise, otherwise as " in response to ", the adjective of term " being correlated with " or other past tenses is not intended to get rid of this type of variant usually.

In a word, described by the many beneficial effects adopting concept as herein described to produce.Illustratively with the object described, provide the above-mentioned explanation of one or more embodiment.Described explanation is not intended to as detailed or be limited to precise forms disclosed in this invention.Can modify or modification to the present invention according to above-mentioned instruction content.One or more embodiments that are selected and that describe are to illustrate principle of the present invention and practical use, thus allow those of ordinary skill in the art can utilize multiple embodiment, and carry out various amendment when the embody rule of applicable imagination.The claims together submitted to are therewith intended to limit four corner.

Claims (20)

1., in conjunction with the surgical end-effector that surgical instruments uses, described surgical end-effector comprises:

End effector shell, described end effector shell is configured to for being operationally attached to described surgical instruments;

First end actuator driven system, described first end actuator driven system is supported by described end effector housing being operable, and is configured in response to by described surgical instruments, the first rotary motion be applied on it makes the linear movement between the first linear position and the second linear position of first end executor actuator;

The second end actuator driven system, described the second end actuator driven system is supported by described end effector housing being operable, and is configured in response to by described surgical instruments, the second rotary motion be applied on it makes the linear movement between original position and end position of the second end executor actuator;

First state component, described first state component joins with described first end actuator driven system and described end effector housing being operable ground, indicates to provide first of the linear position representing described first end executor actuator on described end effector shell; With

Second state component, described second state component joins with described the second end actuator driven system and described end effector housing being operable ground, indicates to provide second of the linear position representing described the second end executor actuator on described end effector shell.

2. surgical end-effector according to claim 1, wherein said first end actuator driven system comprises first end actuator driven axle, described first end actuator driven axle is rotatably supported by described end effector shell and limits the first axle axis, described first end actuator driven axle comprises the first coupling, and described first coupling is configured to for removedly and be operationally attached to the part of the first rotary drive system of described surgical instruments.

3. surgical end-effector according to claim 2, wherein said first end actuator driven axle has screw thread, and wherein said first end actuator driven system also comprises the first nut engaged with described first end actuator driven male thread, and described first nut is operationally connected to described first end executor actuator.

4. surgical end-effector according to claim 3, wherein said first state component is comprised and is arranged in the first indicating element on described first nut, that can be checked by the first indicator window of described end effector shell.

5. surgical end-effector according to claim 4, also comprises:

Be positioned on described end effector shell, first labelling adjacent with described first indicator window and the second labelling; With

Be positioned at the first Warning Mark on described first indicating element, make described first Warning Mark indicate the described another location of first end executor actuator between described first linear position and described second linear position relative to the position of described first labelling and the second labelling.

6. surgical end-effector according to claim 1, wherein said the second end actuator driven system comprises the second end actuator driven axle, described the second end actuator driven axle is rotatably supported by described end effector shell and limits the second axle axis being parallel to described first axle axis, described the second end actuator driven axle comprises the second coupling, and described second coupling is configured to for removedly and be operationally attached to the part of the second rotary drive system of described surgical instruments.

7. surgical end-effector according to claim 6, wherein said the second end actuator driven axle has screw thread, and wherein said the second end actuator driven system also comprises the second nut engaged with described the second end actuator driven male thread, and described second nut is operationally connected to described the second end executor actuator.

8. surgical end-effector according to claim 7, wherein said second state component is comprised and is arranged in the second indicating element on described second nut, that can be checked by the second indicator window of described end effector shell.

9. surgical end-effector according to claim 8, also comprise be positioned on described end effector shell, three labelling adjacent with described second indicator window and the 4th labelling, and the second Warning Mark be positioned on described second indicating element, make described second Warning Mark indicate the described another location of the second end executor actuator between described original position and described end position relative to the position of described 3rd labelling and described 4th labelling.

10. surgical end-effector according to claim 1, wherein said first end executor actuator comprises the first elongated portion from described end effector shell projection, and wherein said the second end executor actuator comprises the second elongated portion from described end effector shell projection, and wherein said first instruction and described second instruction are arranged on described end effector shell, and not on described first elongated portion and described second elongated portion.

11. 1 kinds of surgical end-effector used in conjunction with surgical instruments, described surgical end-effector comprises:

End effector tool head, described end effector tool head comprises:

Supporting construction, described supporting construction is configured to operationally support nail bin wherein;

Anvil block part, described anvil block part is operationally supported to be become in the face of relation with described supporting construction, and wherein said surgical end-effector also comprises:

End effector shell, described end effector shell is configured to for being operationally attached to described surgical instruments;

Closed drive system, described closed drive system is operationally supported in described end effector shell, and be configured to the first rotary motion received when described end effector shell is attached to described surgical instruments from described surgical instruments, described closed drive system operationally joins with the closed beam assembly being attached to described anvil block part, to make the linear movement between the open and the closed positions of described anvil block part when applying described first rotary motion to described closed drive system;

Percussion drive system, described percussion drive system is operationally supported in described end effector shell, and be configured to the second rotary motion received when described end effector shell is attached to described surgical instruments from described surgical instruments, described percussion drive system and trigger shaft component operable ground join, described trigger shaft assembly and described supporting construction join, to make trigger shaft and to be attached to described supporting construction linear movement between unactuated position and actuated position of described trigger shaft, at described actuated position, when applying described second rotary motion to described percussion drive system, nail is driven by from described nail bin, divide to be formed with described anvil portion and contact,

Closure state assembly, described closure state assembly joins with described closed drive system and described end effector housing being operable ground, to provide the closed instruction of the linear position representing described closed beam assembly on described end effector shell; With

Firing indicator component, described firing indicator component joins with described percussion drive system and described end effector housing being operable ground, to provide the percussion representing the linear position of described trigger shaft assembly between described unactuated position and described actuated position instruction on described end effector shell.

12. surgical end-effector according to claim 11, wherein said closed drive system comprises closed axle, described closed axle is rotatably supported by described end effector shell and limits the first axle axis, described closed axle comprises the first coupling, and described first coupling is configured to for removedly and be operationally attached to the part of the first rotary drive system of described surgical instruments.

13. surgical end-effector according to claim 12, wherein said closed axle has screw thread, and wherein said closed drive system also comprises the closed nut engaged with described closed male thread, and described closed nut is operationally connected to described closed beam assembly.

14. surgical end-effector according to claim 13, wherein said closure state assembly is comprised and is arranged in closing indicator component on described closed nut, that can be checked by the closing indicator window of described end effector shell.

15. surgical end-effector according to claim 14, also comprise be positioned on described end effector shell, first labelling adjacent with described closing indicator window and the second labelling, and the closed Warning Mark be positioned on described closing indicator component, make described closed Warning Mark relative to another linear position of the described closed beam assembly of position instruction of described first labelling and described second labelling.

16. surgical end-effector according to claim 11, wherein said percussion drive system comprises beating shaft, described beating shaft is rotatably supported by described end effector shell and limits the second axle axis being parallel to described first axle axis, described beating shaft comprises the second coupling, and described second coupling is configured to for removedly and be operationally attached to the part of the second rotary drive system of described surgical instruments.

17. surgical end-effector according to claim 16, wherein said beating shaft has screw thread, and wherein said percussion drive system also comprises the percussion nut be threadedly engaged with described beating shaft, described percussion nut is operationally connected to described percussion beam assembly.

18. surgical end-effector according to claim 17, wherein said firing indicator component is positioned on described percussion nut, and can be checked by the firing indicator window in described end effector shell.

19. surgical end-effector according to claim 11, wherein said closed instruction to be arranged on described end effector shell and not on described closed beam assembly, and wherein said percussion instruction to be arranged on described end effector shell and not on described trigger shaft assembly.

20. 1 kinds of surgical end-effector used in conjunction with surgical instruments, described surgical end-effector comprises:

End effector shell, described end effector shell is configured to for being operationally attached to described surgical instruments;

First end actuator driven system, described first end actuator driven system is configured in response to by described surgical instruments, the first rotary motion be applied on it makes the linear movement between the first linear position and the second linear position of first end executor actuator;

The second end actuator driven system, described the second end actuator driven system is configured in response to by described surgical instruments, the second rotary motion be applied on it makes the linear movement between original position and end position of the second end executor actuator; With

For the device joined with described first end actuator driven system and described the second end actuator driven system, to provide the instruction of the linear position representing described first end executor actuator and described the second end executor actuator on described end effector shell.