CN105658155A

CN105658155A - Conductor arrangements for electrically powered surgical instruments with rotatable end effectors

Info

Publication number: CN105658155A
Application number: CN201480058049.0A
Authority: CN
Inventors: D·C·耶茨; S·G·哈尔; E·A·谢林; F·E·谢尔顿四世
Original assignee: Ethicon Endo Surgery Inc
Current assignee: Ethicon Endo Surgery Inc
Priority date: 2013-08-23
Filing date: 2014-08-19
Publication date: 2016-06-08
Anticipated expiration: 2034-08-19
Also published as: RU2684036C2; BR112016003507A2; CN105658155B; JP6469689B2; BR112016003507B1; JP2016530956A; RU2016110413A; MX370810B; MX2016002347A

Abstract

A surgical instrument that includes a housing (12) that has an elongated shaft assembly (16) attached thereto that is configured to be rotated relative to the housing. The surgical instrument further includes a conductor arrangement (930, 932, 936, 944) that facilitates transfer of electrical power or current from a power source (200) which may be located in the housing or external to the housing to a distal portion of the elongated shaft assembly or to a surgical end effector coupled thereto. The surgical instrument may further include a travel limiting arrangement (950) for limiting the amount of rotary travel of the elongated shaft assembly relative to the housing to a predetermined range of rotary travel.

Description

Be used for the conductor configuration of the Motorized surgical instrument with rotatable end effector

Technical field

The present invention relates to a kind of surgical instruments, and in various structures, the present invention relates to be designed to cutting andThe power surgery cutting of suture tissue and suture instruments and nail bin thereof.

Background technology

Surgical stapling device is generally used for nail to be deployed in soft tissue, for example especially to reduce in the time that tissue is crosscut or to disappearRemove the hemorrhage of soft tissue. Surgical stapling device such as inner cutter can comprise end effector, and this end effector can be relativeIn the motion of slender axles assembly or joint motions. End effector is often configured to soft tissue to be fixed on the first jaw structureBetween part and the second jaw member, wherein the first jaw member often comprises and is configured to store removedly therein nailNail bin, the second jaw member often comprises anvil block. This class surgical stapling device can comprise for making anvil block with respect to nail bin pivotableClosed-system.

As described above, surgical stapling device can be configured to make the anvil block of end effector with respect to nail bin pivotTurn, to soft tissue is trapped between them. In all cases, anvil block can be configured to soft tissue to apply clampingPower, to be firmly held in soft tissue between anvil block and nail bin. But, if the dissatisfied end effector of surgeonPosition, surgeon conventionally must enable relieving mechanism on surgical stapling device by anvil block be pivoted into open position and withAfter reorientate end effector. Then, nail is disposed from nail bin by driver conventionally, and this driver traverses the passage in nail bin,Nail is out of shape against anvil block, and soft tissue layer is fixed together. As known in the art, nail often with some nail lines orRow disposes, so that organized layer is fixed together more reliably. End effector also can comprise the cutting element such as cutter,After soft tissue layer has been sewn to together, this cutting element advances to cut soft tissue between two nails.

The size of this type of surgical stapling device and actuator and structure can be designed to enter opening by trochar or otherIn insertion body cavity. End effector is conventionally connected to size and is designed to the slender axles through trochar or opening. Slender axles groupPart is operationally connected to shank conventionally, and this shank supports the control system of the operation for controlling end effector and/or touchesHair device. In order to be conducive to end effector correct location and orientation in vivo, many surgical instruments are configured to favourableCarry out joint motions in end effector with respect to a part for slender axles.

Powered surgical instrument is called U.S. of POWEREDSURGICALSTAPLINGDEVICE in the people's such as Zemlok nameState public announcement of a patent application US2009/0090763A1 has disclosed in (hereinafter, " Zemlok ' 763 "), this public announcement of a patent applicationWhole disclosures be incorporated herein by reference accordingly. Powered surgical instrument is also called in the people's such as Zemlok nameThe U.S. Patent Application Publication US2011/0278344A1 of POWEREDSURGICALINSTRUMENT (hereinafter," Zemlok ' 344 ") have in (being United States Patent (USP) 8,201 now, 721) disclosed, whole disclosures of this public announcement of a patent applicationBe incorporated herein by reference accordingly.

Above-mentioned discussion is only the current each aspect of correlation technique in technical field in order to demonstrate the invention, and shouldWhen be considered as to claim scope negate.

Brief description of the drawings

Carry out in conjunction with the drawings the following explanation with reference to the embodiment of the present invention, the features and advantages of the present invention with and obtainMethod will become more apparent, and can understand better invention itself, wherein:

Fig. 1 is the perspective view that adopts the surgical instruments of a kind of form of retraction structure;

Fig. 2 is can be in conjunction with the perspective view of the exemplary loading unit of various surgical instruments uses disclosed herein;

Fig. 3 is the decomposition diagram of a part for the loading unit shown in Fig. 2;

Fig. 4 is the top view of a part for the surgical instruments of Fig. 1;

Fig. 5 is the partial side view of a part for the surgical instruments shown in Fig. 4, and wherein clutch pack is in departing from positionPut;

Fig. 6 is the top view of a part for retraction assemblies embodiment and retraction lever structure thereof;

Fig. 7 is the partial exploded view of a kind of form of driver element, and wherein its part illustrates with section;

Fig. 8 is another top view of a part for surgical instruments, and wherein driver element locking system is in latched position;

Fig. 9 is the top view of a kind of form of locking pawl assembly;

Figure 10 is the side front view of the locking pawl assembly of Fig. 9;

Figure 11 is the bottom view of the locking pawl assembly of Fig. 9 and Figure 10;

Figure 12 is the front view of gearbox-case embodiment;

Figure 13 is the partial side sectional view of surgical instruments embodiment, and wherein its part illustrates with section and driver element lockFixed system is in locking orientation;

Figure 14 is another partial side sectional view of the surgical instruments of Figure 13, and wherein driver element locking system is in releaseOrientation;

Figure 15 is the top view of another surgical instruments embodiment, and a part for its housing is removed to expose apparatusA part for driver element locking system structure;

Figure 16 is the partial side sectional view of the surgical instruments embodiment of Figure 15, and wherein its part illustrates with section, and solid line showsThe driver element locking system that source is orientated in locking, and be shown in dotted line the driver element locking system in release orientation;

Figure 17 is another partial top view of the surgical instruments embodiment of Figure 15 and Figure 16, and wherein solid line illustrates actuatingBefore retraction lever position and be shown in dotted line the position of the retraction lever after initial activation;

Figure 18 is another partial top view of the surgical instruments embodiment of Figure 15-17, is wherein shown in dotted line in completelyThe retraction lever of actuated position;

Figure 19 is the partial top view of a part of another surgical instruments embodiment, and a part for its housing is removedTo expose the driver element locking system of apparatus, solid line illustrates the retraction lever in unactuated position, and at the beginning of being shown in dotted lineBegin to activate retraction lever afterwards;

Figure 20 is the partial top view of another surgical instruments embodiment, and a part for its housing is removed to expose itIn the driver element locking system of locking orientation;

Figure 21 is another partial top view of the surgical instruments embodiment of Figure 20, wherein driver element locking system inRelease orientation;

Figure 22 is the partial cut away side views of a part for surgical instruments and end effector, wherein its retraction assemblies inDo not activate orientation;

Figure 23 is that trigger shaft assembly is by the surgical instruments of Figure 22 and another part of end effector after percussionCross sectional side view;

Figure 24 is that retraction assemblies has activated so that drive beam retraction to turn back to its original position in end effectorAnother partial cut away side views of the surgical instruments of Figure 23 afterwards and end effector;

Figure 25 is the part section side of a part for another surgical instruments in pre-percussion state and end effectorView, wherein its retraction assemblies is not in activating orientation;

Figure 26 is the surgical instruments of Figure 25 and another partial cut away side views of end effector after percussion;

Figure 27 is another partial cut away side views of surgical instruments and the end effector of Figure 26, wherein its retraction memberBreech lock in latch mode not;

Figure 28 is another partial cut away side views of surgical instruments and the end effector of Figure 27, wherein distally trigger shaftPart is in retraction orientation;

Figure 29 is the part sectioned view of a part of another surgical instruments embodiment, and wherein it drives coupler assembly placeBe orientated in joint motions;

Figure 30 is the part sectioned view of a part of the surgical instruments embodiment of Figure 29, and wherein it drives coupler assembly placeIn percussion orientation;

Figure 31 is the broken view of amplification of the driving coupler assembly of the surgical instruments of Figure 29 and Figure 30, wherein illustrates with solid lineCoupling selector member get in percussion in joint motions orientations and coupling selector member shown in broken linesTo;

Figure 32 is the part sectioned view of a part of another surgical instruments embodiment;

Figure 33 is the amplification part sectioned view of a part for the surgical instruments of Figure 32;

Figure 34 is another amplification part sectioned view, wherein its limit of advancing of a part for the surgical instruments of Figure 32 and Figure 33Device processed is in its farthest side orientation;

Figure 35 is another amplification part sectioned view of the surgical instruments of Figure 32-34, and wherein its travel restrictor is in itRecent side orientation;

Figure 36 is the part sectioned view along the surgical instruments of Figure 33 of the line 36-36 intercepting in Figure 33;

Figure 37 is the fragmentary, perspective view of a part for the surgical instruments of Figure 32-36;

Figure 38 is according to the axle of the surgical instruments of various embodiment of the present disclosure, lining ring and is not attached to the disposable of axleThe fragmentary, perspective view of loading unit;

Figure 39 is the fragmentary, perspective view of axle, lining ring and the disposable loading unit of Figure 38, is attached to one of axle shown in itInferior property loading unit;

Figure 40 is the partial, exploded perspective view of axle, lining ring and the disposable loading unit of Figure 38;

Figure 41 is another partial, exploded perspective view of axle, lining ring and the disposable loading unit of Figure 38;

Figure 42 is the perspective view of the distally attachment part of the disposable loading unit of Figure 38;

Figure 43 is another perspective view of the distally attachment part of the disposable loading unit of Figure 38;

Figure 44 is the perspective view of the nearside attachment part of the axle of Figure 38;

Figure 45 is another perspective view of the nearside attachment part of the axle of Figure 38;

Figure 46 is the lining ring of surgical instruments and the perspective view of beating shaft of Figure 38;

Figure 47 is the partial perspective profile of disposable loading unit, lining ring and the axle of Figure 38, is attached to axle shown in itDisposable loading unit;

Figure 48 is the partial cross-sectional front view of disposable loading unit, lining ring and the axle of Figure 38, shown in it, is not attached toThe disposable loading unit of axle;

Figure 49 is the partial cross-sectional front view of disposable loading unit, lining ring and the axle of Figure 38, is attached to axle shown in itDisposable loading unit;

Figure 50 is along the lining ring of Figure 38 of the planar interception shown in Figure 48 and the front view of axle;

Figure 51 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, not attached shown in itTo the disposable loading unit of axle, and the lining ring in initial orientation with respect to axle is shown;

Figure 52 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, not attached shown in itTo the disposable loading unit of axle, and the lining ring in initial orientation with respect to axle is shown;

Figure 53 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, enters axle shown in itDisposable loading unit, and the lining ring in initial orientation with respect to axle is shown;

Figure 54 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, enters axle shown in itDisposable loading unit, and illustrate with respect to axle in second, the lining ring of rotation orientation;

Figure 55 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, enters axle shown in itDisposable loading unit, and illustrate with respect to axle in second, the lining ring of rotation orientation;

Figure 56 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, completely slotting shown in itEnter the disposable loading unit in axle, and illustrate with respect to axle in second, the lining ring of rotation orientation;

Figure 57 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, completely slotting shown in itEnter the disposable loading unit in axle, and the lining ring in initial orientation with respect to axle is shown;

Figure 58 is perspective, the part sectioned view of disposable loading unit, lining ring and the axle of Figure 38, completely slotting shown in itEnter the disposable loading unit in axle, and the lining ring in initial orientation with respect to axle is shown;

Figure 59 is according to the axle of the surgical instruments of various embodiment of the present disclosure and is not attached to the disposable loading list of axlePart, perspective, the profile of unit;

Figure 60 is the axle of Figure 59 and the part of disposable loading unit, perspective, profile, shown in it, inserts completely in axleDisposable loading unit, and illustrate in the breech lock of position latching not;

Figure 61 is the axle of Figure 59 and the part of disposable loading unit, perspective, profile, shown in it, inserts completely in axleDisposable loading unit, and the breech lock in position latching is shown;

Figure 62 is the axle of Figure 59 and the part of disposable loading unit, face, profile, shown in it, inserts completely in axleDisposable loading unit, and the breech lock in position latching is shown;

Figure 63 is according to the schematic diagram of moment of torsion-voltage curve of various embodiment of the present disclosure;

Figure 64 (a) is according to the high duty ratio recurrent pulse of being sent by pulse-width modulation circuit of various embodiment of the present disclosureSchematic diagram;

Figure 64 (b) is according to the low duty ratio recurrent pulse of being sent by pulse-width modulation circuit of various embodiment of the present disclosureSchematic diagram;

Showing of the percussion element that the high duty ratio recurrent pulse that Figure 65 (a) is the pulse-width modulation circuit by Figure 64 (a) drivesIntention;

Showing of the percussion element that the low duty ratio recurrent pulse that Figure 65 (b) is the pulse-width modulation circuit by Figure 64 (b) drivesIntention;

Figure 66 (a)-66 (c) is according to the pulsewidth with set of main coils and ancillary coil group of various embodiment of the present disclosureThe schematic diagram of modulation circuit;

Figure 67 is according to the speed in the whole percussion stroke of illustrating of various embodiment of the present disclosure and the curve map of moment of torsion;

Figure 68 is the curve that the speed restriction test section of percussion during stroke is shown according to various embodiment of the present disclosureFigure;

Figure 69 and Figure 70 are according to the schematic diagram of the simplification stepper motor of various embodiment of the present disclosure;

Figure 71-73 are according to the schematic diagram of the mixing stepper motor of various embodiment of the present disclosure;

The schematic diagram of the mixing stepper motor that Figure 74 (a)-74 (c) is Figure 71-73, the polarity changing shown in it;

Figure 75 is according to the display that comprises touch-screen using together with endoscope of various embodiment of the present disclosurePerspective view;

Figure 76 is the front view that is presented at the first information layer on the display of Figure 75, and wherein first information layer comprises by interiorThe video feed of the disposable loading unit (DLU) that appends to surgical instruments that sight glass is observed;

Figure 77 is the front view that is presented at the second Information Level on the display of Figure 75, wherein the second Information Level comprise forReceive the control panel of input via touch-screen;

Figure 78 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76;

Figure 79 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises near numerical data relevant to cutter progress in the time that cutter spacing is percussion stroke section start and the visual representation of cutter progress;

Figure 80 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises near numerical data relevant to cutter progress in the time that cutter spacing is the distal end of percussion stroke and the vision table of cutter progressShow;

Figure 81 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises that the symbol of the cutter on the detection position that is superimposed upon the cutter in the DLU shown in first information layer represents;

Figure 82 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises that distally during percussion stroke advances the diagrammatic representation of speed of cutter;

Figure 83 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises the diagrammatic representation that is applied to structural chucking power along the length of DLU jaw by DLU jaw;

Figure 84 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises the numerical data relevant to the orientation of DLU, and wherein the DLU shown in first information layer gets in non-joint motionsTo;

Figure 85 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises the visual representation of the orientation of the numerical data relevant to the orientation of DLU and DLU, and wherein shown in first information layerDLU is orientated in joint motions;

Figure 86 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, shown in it fromUser for adjust the input of the joint motions of DLU via the touch-screen of Figure 75;

Figure 87 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, shown in it forControl the schematic diagram of DLU and illustrate from user's the touch-screen manipulation schematic diagram for via Figure 75 and adjust DLUThe input of joint motions;

Figure 88 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, shown in it, respondsThe DLU in joint motions orientation in the first information layer of the user's input shown in Figure 86 and Figure 87;

Figure 89 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, shown in it fromUser for control the closed input of movable jaw via the touch-screen of Figure 75;

Figure 90 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, shown in it, respondsThe movable jaw of the DLU in clamping orientation in the first information layer of the user's input shown in Figure 89;

Figure 91 is the front view for the controller interface of the second Information Level of Figure 77;

Figure 92 is the front view that is superimposed upon the second Information Level of the Figure 77 on the first information layer of Figure 76, wherein the second informationLayer comprises controller interface and the progress bar of Figure 91;

Figure 93 is what illustrate for the communication system of the display of feedback controller and endoscope, surgical instruments and Figure 75Schematic diagram;

Figure 94 is according to the exploded view of the surgical instrument system that comprises shank and end effector of at least one embodiment,Described surgical instrument system comprises multiple indicators;

Figure 95 according to the part of the shank of the surgical instrument system that comprises multiple indicators of at least one embodiment is justView;

Figure 96 is according to the part section of the shank of the surgical instrument system that comprises trigger lock of at least one embodimentFigure, the trigger lock in released state shown in it;

Figure 97 is the part sectioned view of the shank of Figure 96, the trigger lock being in the lock state shown in it;

Figure 98 is the profile of the trigger lock of Figure 96, and trigger shown in it is locked in its released state;

Figure 99 is the profile of the trigger lock of Figure 96, and trigger shown in it is locked in its lock-out state;

Figure 99 A is the flow chart of the operation sequence of general introduction surgical instruments, and described operation sequence is used for evaluating surgical instruments and isNo be exposed to exceed the temperature of its threshold temperature and really user's notice of orientation of surgical instruments exceeded threshold temperatureMode;

Figure 100 is according to the surgical instrument system of the trigger lock being in the lock state comprising of at least one embodimentThe profile of shank;

Figure 101 is the section detail drawing of the shank of Figure 100, the trigger lock in its lock-out state shown in it;

Figure 102 is another section detail drawing of the shank of Figure 100, the trigger in its released state shown in itLock;

Figure 103 is the perspective view that is illustrated the trigger lock of the Figure 100 in its lock-out state;

Figure 104 is according to the surgical instrument system of the trigger lock being in the lock state comprising of at least one embodimentThe perspective cutaway view of shank;

Figure 105 is the perspective cutaway view that is illustrated the shank of the Figure 104 in released state;

Figure 106 is the part section left side view that is illustrated the shank of the Figure 104 in its lock-out state;

Figure 107 is the part section right side view that is illustrated the shank of the Figure 104 in its lock-out state;

Figure 108 is the part section left side view that is illustrated the shank of the Figure 104 in its released state;

Figure 109 is the part section right side view that is illustrated the shank of the Figure 104 in its released state;

Figure 110 illustrates to connect with the end effector that the controller of surgical instruments is processed from being attached to surgical instrumentsThe process chart of the step of the signal of receiving;

Figure 110 A illustrates the schematic diagram that can be provided to from end effector the parameter array of surgical instruments;

Figure 111 is the process chart that the step of end effector for using Figure 110 and surgical instruments is shown;

Figure 112 is according to the connectors between end effector and the axle that surgical instruments is shown of at least one embodimentSchematic diagram;

Figure 113 is the plane of the printed circuit board (PCB) of the connectors of Figure 112;

Figure 114 is according to the fragmentary, perspective view of the end effector of the surgical instruments of at least one embodiment;

Figure 115 is the fragmentary, perspective view of the axle of surgical instruments and the end effector of Figure 114;

Figure 116 is the profile that is attached to the end effector of Figure 114 of the axle of Figure 115;

Figure 117 is according to the profile of the connectors between the end effector of at least one embodiment and axle;

Figure 118 is according to the profile of the connectors between the end effector of at least one embodiment and axle;

Figure 119 is according to the profile of the connectors between the end effector of at least one embodiment and axle;

Figure 120 is the detail drawing of the connectors of Figure 119;

Figure 121 is according to the side-looking of the end effector that comprises anvil block and anvil block position indicator of at least one embodimentFigure, anvil block in an open position shown in it;

Figure 122 is the side view of the end effector of Figure 121, the anvil block in part closing position shown in it;

Figure 123 is another side view of the end effector of Figure 121, the anvil in part closing position shown in itSeat;

Figure 124 is another side view of the end effector of Figure 121, the anvil in part closing position shown in itSeat;

Figure 125 is the detail drawing of the anvil block position indicator of Figure 121, the anvil in the position shown in Figure 121 shown in itSeat;

Figure 126 is the detail drawing of the anvil block position indicator of Figure 121, the anvil in the position shown in Figure 122 shown in itSeat;

Figure 127 is the detail drawing of the anvil block position indicator of Figure 121, the anvil in the position shown in Figure 123 shown in itSeat;

Figure 128 is the detail drawing of the anvil block position indicator of Figure 121, the anvil in the position shown in Figure 124 shown in itSeat;

Figure 129 shows according to the cross sectional side view of the surgical instruments of some embodiment disclosed herein;

Figure 130 shows the power system for the surgical instruments of Figure 129 being provided to power, wherein power system and figureThe control system of 129 surgical instruments is communicated with;

Figure 131 shows the battery pack of the power system of the Figure 130 that is connected to charger seat;

Figure 132 shows the management circuit of the power system of Figure 130;

Figure 133 shows the schematic block diagram of the operating parameter of the power system that illustrates Figure 130;

Figure 134 shows according to the perspective view of the power source of the surgical instruments of various embodiment as herein described;

Figure 135 shows according to the perspective view of the power source of Figure 134 of the dismounting of various embodiment as herein described;

Figure 136 shows according to the power of comprising of various embodiment as herein described of complete Figure 134 that can breaking partThe circuit diagram of the circuit in source;

Figure 137 shows according to the electricity of Figure 136 wherein can breaking part having disconnected of various embodiment as herein describedThe circuit diagram on road;

Figure 138 show according to various embodiment as herein described for the protection of being stored in data in memory in caseThe block diagram of the system of unauthorized access;

Figure 139 shows the perspective view of the power source of the surgical instruments of the data access entrance that comprises covering;

Figure 140 shows the data access entrance of the Figure 139 in not covering configuration;

Figure 141 shows the perspective view of the power source of the surgical instruments that comprises internal data access entrance;

Figure 142 show according to various embodiment as herein described for the protection of being stored in data in memory in caseThe block diagram of the system of unauthorized access;

Figure 143 shows according to the perspective view of the power source of the surgical instruments of various embodiment as herein described;

Figure 144 shows the perspective view of the power source of the Figure 143 that is connected to surgical instruments;

Figure 145 shows according to the power source in Figure 143 of isomorphism type not of various embodiment as herein describedLED；

Figure 146 shows according to the side view of the surgical instruments that comprises shell of various embodiment as herein described;

Figure 147 shows the side view of the shell of Figure 146, and wherein external shell is removed to expose by fixed component and consolidatesSurely arrive the detachable block of shell;

Figure 148 shows the side view of the shell of Figure 147, and wherein detachable block removes from shell;

Figure 149 illustrates detectable impression, recess or the bar code marking in the surface that is limited to end effectorSchematic diagram;

Figure 150 is the schematic diagram of the exemplary bar codes that can use together with barcode reader;

Figure 151 is according to the partial side view of the axle of the end effector that comprises bar code of at least one embodiment;

Figure 152 is according to the part of the axle of the end effector of the surgical instruments that comprises bar code of at least one embodimentFront view;

Figure 153 is according to the partial perspective of the shank of the surgical instruments that comprises barcode reader of at least one embodimentFigure;

Figure 154 is the profile that the barcode reader of the Figure 153 that is wherein positioned with end effector is shown;

Figure 155 is according to the decomposition diagram of the end effector of the surgical instruments of at least one embodiment and axle;

Figure 156 is according to the decomposition diagram of the end effector of the surgical instruments of at least one embodiment and axle, whereinEnd effector comprises the part of the firing member locking together releasedly;

Figure 157 is the fragmentary, perspective view of the firing member part of Figure 156 of locking together by locking component;

Figure 158 is the firing member part of Figure 156 and the fragmentary, perspective view of locking component, one of firing member shown in itPart is removed to show the locking component that firing member part is locked together releasedly;

Figure 159 is the exploded view that discharges the firing member of Figure 156 of actuator, and described release actuator is configured toLocking component is moved to released state and by the release of firing member part;

Figure 160 is the partial exploded view that the release actuator of Figure 159 and corresponding axle discharge the connectors between actuator;

Figure 161 is the profile of the connectors of Figure 160;

Figure 162 is the decomposition diagram that comprises the assembly of motor, driving shaft and slip-clutch, described slip-clutchBe configured to optionally transmission rotation between motor and driving shaft;

Figure 163 is the profile of the assembly of Figure 162;

Figure 164 is the perspective view of the biased element of the slip-clutch of Figure 162;

Figure 165 is the profile of the assembly of Figure 162, the clutch unit of the slip-clutch mediating shown in itPart;

Figure 166 is the profile of the assembly of Figure 162, the clutch element of the Figure 165 in forward location shown in it;

Figure 167 is the profile of the assembly of Figure 162, the clutch element of the Figure 165 in reverse position shown in it;

Figure 168 is according to the perspective view of the motor of various embodiment of the present disclosure and gear assembly;

Figure 169 is according to the perspective of the motor of various embodiment of the present disclosure, gear assembly and audible feedback generatorFigure;

Figure 170 is according to the front view of the pick on the dish of the gear assembly of Figure 169 of various embodiment of the present disclosure, itsShown in the dish that is rotated in a clockwise direction and engage the pick of the clicker of the audible feedback generator of Figure 169;

Figure 171 is according to the front view of the pick on the dish of the gear assembly of Figure 169 of various embodiment of the present disclosure, itsShown in the counterclockwise direction rotation dish and engage the pick of clicker of the audible feedback generator of Figure 169;

Figure 172 sends out according to the motor of various embodiment of the present disclosure, the gear assembly with multiple dishes and audible feedbackThe perspective view of raw device;

Figure 173 is at percussion stroke end according to the audible feedback generator that passes through Figure 172 of various embodiment of the present disclosureNear the diagrammatic representation of the feedback producing end;

Figure 174 and Figure 175 are loading according to the audible feedback generator that passes through Figure 172 of various embodiment of the present disclosureNear the diagrammatic representation of the feedback producing the joint motions limit of unit;

Figure 176 is the schematic diagram illustrating for the algorithm of operate surgical instruments;

Figure 177 is another schematic diagram illustrating for the algorithm of operate surgical instruments;

Figure 178 is the schematic diagram illustrating for the algorithm of operate surgical instruments;

Figure 179 is the circuit that is configured to pilot cell voltage;

Figure 180 is configured to the scintillator circuit diagram that pilot cell is charged;

Figure 181 is according to the schematic diagram of the deagnostic test using together with surgical instruments of at least one embodiment;

Figure 182 is the signal of the power shutoff when electric discharge of battery and the electric weight of battery are shown lower than minimum charge levelFigure;

Figure 183 is the retainable operation of battery and/or the information table of performance of recording;

Figure 184 is the schematic diagram of Battery Diagnostic circuit;

Figure 185 is the hermetic motor using together with surgical instruments and the gear assembly according to various embodiment of the present disclosurePerspective view; And

Figure 186 is according to the decomposition of the hermetic motor of Figure 185 of various embodiment of the present disclosure and gear assembly, face,Profile.

Detailed description of the invention

The application's applicant also has following patent application, and described patent application and the application submit to and entirely on the same dayLiterary composition is incorporated herein by reference separately:

-name is called FIRINGMEMBERRETRACTIONDEVICESFORPOWEREDSURGICALThe U.S. Patent application of INSTRUMENTS, attorney END7293USNP/130016;

-name is called SECONDARYBATTERYARRANGEMENTSFORPOWEREDSURGICALThe U.S. Patent application of INSTRUMENTS, attorney END7294USNP/130017;

-name is called ERRORDETECTIONARRANGEMENTSFORSURGICALINSTRUMENTThe U.S. Patent application of ASSEMBLIES, attorney END7295USNP/130018;

It is special that-name is called U.S. of ATTACHMENTPORTIONSFORSURGICALINSTRUMENTASSEMBLIESProfit application, attorney END7296USNP/130019;

-name is called U.S. of TAMPERPROOFCIRCUITFORSURGICALINSTRUMENTBATTERYPACKState's patent application, attorney END7297USNP/130020;

-name is called the United States Patent (USP) Shen of CLOSUREINDICATORSYSTEMSFORSURGICALINSTRUMENTSPlease, attorney END7298USNP/130021;

-name is called the U.S. Patent application of TORQUEOPTIMIZATIONFORSURGICALINSTRUMENTS, generationReason people file number END7299USNP/130022;

-name is called SHROUDRETENTIONARRANGEMENTFORSTERILIZABLESURGICALThe U.S. Patent application of INSTRUMENTS, attorney END7300USNP/130023;

-name is called the U.S. of ENDEFFECTORDETECTIONSYSTEMSFORSURGICALINSTRUMENTSPatent application, attorney END7302USNP/130025;

-name is called FIRINGTRIGGERLOCKOUTARRANGEMENTSFORSURGICALINSTRUMENTS'sU.S. Patent application, attorney END7303USNP/130026;

-name is called the U.S. Patent application of InteractiveDisplays, attorney END7304USNP/130027; With

-name is called the United States Patent (USP) Shen of MOTOR-POWEREDARTICULATABLESURGICALINSTRUMENTSPlease, attorney END7305USNP/130028.

Some exemplary embodiment will be described now, to understand on the whole the knot of apparatus and method disclosed hereinStructure, function, manufacture and purposes principle. One or more examples of these embodiment are shown in the drawings. This area commonTechnical staff will be understood that, the apparatus and method that specifically describe in this article and be illustrated in accompanying drawing are nonrestrictive exemplaryEmbodiment, and the scope of multiple embodiment of the present invention is only defined by the claims. Enter in conjunction with an exemplary embodimentThe feature that row illustrates or describes can combine with the feature of other embodiment. These modification and version are intended toComprise within the scope of the present invention.

Term " comprises " and (with any form comprising, for example, " comprises (comprises) " and " comprise(comprising) "), " having " (with any form having, for example, " thering is (has) " and " thering is (having) "), " bagContaining " (with any form comprising, for example " comprise (includes) " and " comprising (including) " and " containing " (with containAny form having, for example, " contain (contains) " and " containing (containing) ") be open link-verb. Therefore, " bagDraw together ", surgery system, device or the equipment of " having ", " comprising " or " containing " one or more elements has these one or manyIndividual element, but be not limited to only have these one or more elements. Equally, " comprise ", " having ", " comprising " or " containing " oneOr the element of the system of multiple features, device or equipment has these one or more features, but be not limited to only have these oneIndividual or multiple features.

Term " nearside " and " distally " are to come with respect to the clinician of the shank part of manipulation of surgical apparatus in this articleUse. Term " nearside " refers to the most close clinician's part, and term " distally " refers to the portion away from clinicianPoint. It is also understood that for succinct and clear for the purpose of, can for example use by reference to the accompanying drawings " vertically ", " level ", "up" and "down" hereinAnd so on spatial terminology. But surgical operating instrument uses in many directions and position, and these terms non-limitingAnd/or absolute.

Provide various exemplary means and method to carry out abdominal cavity mirror and micro-wound surgical operation operation. But, this areaThose of ordinary skill will readily appreciate that, the whole bag of tricks disclosed herein and device can be used for many operations and applicationIn, for example comprise and combining with open surgery. Continue to consult this detailed description of the invention, the ordinary skill people in this areaMember will be further understood that, various apparatuses disclosed herein are by any way in insertosome, such as by nature cavity, pass throughBe formed at otch or puncturing hole etc. in tissue. The working portion of apparatus or end effector part can directly be inserted patient bodyInside maybe can insert by the access to plant with service aisle, the end effector of surgical instruments and slender axles can be by described worksMake passage and advance.

Fig. 1 shows powered surgical instrument 10, and it can be similar to for example Zemlok ' 763 and/or Zemlok in many aspects' disclosed surgical instruments in 344 (comprising various feature structures, parts and subassembly thereof), the full text of these patents is separately to drawBe incorporated to herein by mode. Surgical instruments 10 shown in Fig. 1 comprises shell 12, and described shell 12 has shank part 14 to be conducive toThe manipulation of apparatus and operation. Therefore, hand-held structure or can be otherwise manual can be contained in term used herein " shell "The structure of handling. For example, but automation shell device system (, the system of robot control) also can be contained in term " shell "Part, described automation shell device system is not intended to for hand-held, and can be by all parts of this system, partly,And/or actuator is otherwise handled and activates.

Form is that the slender axles assembly 16 of endoscope part stretches out and is configured to operationally attached from shell 12Receive surgical end-effector, described surgical end-effector is configured to carry out extremely in response to the firing action that it is appliedA few operation. This type of surgical end-effector for example can comprise straight cuts device, grasper or other devices, described itsHe can comprise a pair of jaw by device, and one of them jaw can optionally move or at some configurations with respect to another jawIn two jaws all can relative to each other move. In the mode of another example, surgical end-effector can comprise and can cutWith the device of suture tissue, for example, " loading unit " 20 as shown in Figures 2 and 3. Surgical end-effector (for example loads singleUnit 20) for example can be attached to releasedly the slender axles assembly 16 of powered surgical instrument 10, as described in more detail herein.

Fig. 2 and Fig. 3 show a kind of exemplary form of the loading unit 20 that can use together with surgical instruments 10. This type ofLoading unit 20 can be similar to disclosed loading list in the above-mentioned U.S. Patent Application Publication being incorporated herein by reference in fullThe name that unit and for example disclosure are incorporated herein by reference is called SURGICALSTAPLINGINSTRUMENTSThe U.S. Patent Application Publication US2012-of WITHROTATABLESTAPLEDEPLOYMENTARRANGEMENTSDisclosed loading unit in 0298719-A1.

As seen in Figure 2, loading unit 20 comprises anvil assembly 22, and described anvil assembly 22 is supported with respect to behaviourDo that ground supports the carrier 24 of nail bin 26 wherein and pivotable is advanced. Installation component 28 is connected to storehouse carrier 24 pivotly to formActuated articulation joints 27, described actuated articulation joints 27 allows carrier 24 around the pass transverse to longitudinal tool axis " LA-LA "Joint axis of movement " AA-AA " pivotable. Referring to Fig. 3, installation component 28 can comprise for example mounting portion, top 30 and bottom installation portionDivide 32. Each mounting portion 30,32 can be included in the threaded bore 34 in its each side, and the size of described threaded bore 34 is establishedCount into receiving bolt (not shown) so that the proximal end of carrier 24 is fixed to the upper. The pivot member 36 of a pair of centralized positioning canExtend between mounting portion, top and mounting portion, bottom by a pair of coupling member 38, described coupling member 38 engages shellThe distal end of part 40. Coupling member 38 can comprise interlocking portions of proximal 39 separately, and described interlocking portions of proximal 39 is constructedOne-tenth can be contained in the groove 42 in the proximal end that is formed at housing parts 40, with by installation component 30 and housing parts 40Remain on longitudinal fixed position.

As further visible in Fig. 3, the housing parts 40 of loading unit 20 can comprise and is configured to separately holdUpper case half portion 44 in external shell 50 and lower case half portion 46. The proximal end of shell halves 44 can comprise forThe junction piece 48 of the distal end of engage elongate shaft assembly 16 releasedly. Piece 48 can be for example and the distal end portion of slender axles assembly 16Portion forms " bayonet type " and connects. Various coupling configurations are described herein in greater detail. Shell halves 44,46 can be defined for and can slideHold the passage 47 of driving beam 60 that can axially-movable movingly. The size of second joint motion connector 70 can be set for slidablyBe positioned in the slit 72 being formed between shell halves 44,46. A pair of " explosion-proof " plate 74 can be positioned on contiguous and driving beamThe distal end of the housing parts 40 that 60 distal end is adjacent, to prevent driving beam 60 in the joint motions process of carrier 24Outwardly.

Drive beam 60 can comprise distally working head 62 and nearside bonding part 64. Driving beam 60 can be by single material piece or excellentSelection of land is made up of multiple stacking sheet materials. Bonding part 64 can comprise pair of engaging finger piece, the size of described engage fingerBe designed to structure a pair of corresponding maintenance slit forming with in mounting means engages drive member 66. Drive member 66 canComprise nearside aperture 67, described nearside aperture 67 is configured at the proximal end of loading unit 20 and surgical instruments 10The distal end of receiving trigger shaft when slender axles assembly engages. Distally working head 62 can have the formed thereon cutting part of organizingDivide 63. Distally working head 62 also can comprise pair of pin 65, and described pin 65 is configured to drive towards distally at distally working head 62While moving through nail bin 26, engage anvil assembly 22 so that it is pivoted to closing position, thereby tissue holder is held in to anvil block 22 and nail binBetween 26. On distally working head 62 organize cutting part 63 for the surgical staples (not shown) when being supported on nail bin 26 withKnowing that mode is driven into anvil block 22 forms and cuts the tissue of wearing clamping while contacting. For example, distally working head 62 is configured to energyEnough axially engage and advance the sliding part (not shown) being supported on movingly in nail bin 26. When drive member 66 is along distally sideDuring to driving sliding part, sliding part contacts the pusher (not shown) relevant with nail and makes pusher drive nail to leave storehouse 26To form and to engage with the anvil block 22 of loading unit 20.

As seen in Figure 1, surgical instruments 10 comprises the motor 100 that is configured to produce rotary-actuated action, instituteState rotary-actuated action and can be used for for example firing action being applied to loading unit 20, as discussed in more detail hereinafter.In at least one form, for example, motor 100 is configured to rotary-actuated action to be applied to and to be conventionally demarcated as 82 hitSend out component assembly. In one structure, for example, firing member assembly 82 comprises driving tube 102, and described driving tube 102 is rotatableGround supports in shell 12 and has the internal thread (not shown) being formed at wherein. The proximal thread part quilt of trigger shaft 104Support to be threadedly engaged with driving tube 102, make the rotation of driving tube 102 cause the axially-movable of trigger shaft 104. Trigger shaft104 can with loading unit 20 in the internal whorl handing-over of driving beam 60. The Zemlok ' 763 and the Zemlok that quote as above-mentioned' detail in 344, driving tube 102 for example, causes trigger shaft 104 along distally along the rotation of first direction (, counterclockwise)Direction advances drive member 60. Drive member 60 causes anvil block 22 towards nail in the interior initial propulsion along distal direction of loading unit 20Storehouse 26 pivotables. Anvil block 22 is activated by the pin 65 in drive member 60, described pin 65 in drive member 60 along distal direction" DD " makes anvil block 22 move to closing position in cam mode while initially driving. Trigger shaft 104 and final drive member 60Causing nail to be driven into the nail shaping lower surface on anvil block 22 through the additional distally translation of loading unit 20 forms and contacts.

As further visible in Fig. 1, surgical instruments 10 can comprise the joint motions system that is conventionally demarcated as 109. But,Surgical instruments 10 can comprise herein disclosed various other joint motions System Constructions in detail. In at least one form, jointKinematic system 109 can comprise articulation mechanism 110, and described articulation mechanism 110 comprises joint motions motor 112 and manualJoint motions button 114. Joint motions motor 112 can be by power joint motions switch 116 or by the manual joint of pivotable fortuneMoving button 114 activates. The actuating of joint motions motor 112 is for the joint motions gear 118 of rotary joint motion 110.The actuating of articulation mechanism 110 can cause end effector (for example, storehouse/anvil block part of loading unit 20) from its firstPut (wherein longitudinal tool axis " LA-LA " substantial registration of its axis and slender axles assembly 16) and move to upper/lower positions, itsThe axis of medial end portions actuator around joint motions axis " AA-AA " for example with respect to longitudinal tool axis of slender axles assembly" LA-LA " arranges at angle. About other discussions of the various aspects of articulation mechanism 110 can be present in before this in full withWay of reference is incorporated in Zemlok ' 763 herein. In addition, the name that whole disclosure is incorporated herein by reference is calledThe United States Patent (USP) 7,431,188 of SURGICALSTAPLINGAPPARATUSWITHPOWEREDARTICULATION is openThe motor power that can use in conjunction with surgical instruments 10 can joint motions end effector.

In various embodiments, surgical instruments can comprise at least one motor, and described at least one motor can be moving by percussionBe applied to loading unit 20 and/or joint motions action can be applied to joint motions system 109, as more detailed elsewhereDescribed in thin. Motor 100 can be for example by have Zemlok ' 763 in greater detail the power source 200 of type power is provided. ExampleFor example, as, power source 200 can comprise rechargeable battery (, lead base, Ni-based, lithium ion based etc.). Also can be susceptible to power source200 can comprise at least one disposable battery. Disposable battery can be for example approximately 9 volts to approximately 30 volts. But, can use other meritsRate source. Fig. 1 shows the example that power source 200 wherein comprises multiple battery units 202. The battery unit 202 usingQuantity can be depending on the current load requirements of apparatus 10.

In certain embodiments, surgical instruments 10 can comprise that supplemental power source is at least one of surgical instruments 10Motor provides power. For example, referring now to Figure 129, surgical instruments 10 can comprise power system 2000, described power system 2000Can be configured to provide the operation of energy for surgical instruments 10. As shown in Figure 129, power system 2000 can be arranged inFor example, in the shank part 14 of shell 12 and can comprise main power source 2002 and auxiliary or non-firm power source 2004. Main power source2002 can be configured to provide in the normal operation period the operation of energy for surgical instruments 10, and supplemental power source2004 can be configured to (for example, exist in the time that main power source 2002 can not provide the operation of energy for surgical instruments 10When main power source 2002 exhausts and/or disconnects with surgical instruments 10) at least provide energy for surgery device with limited capacityThe operation of tool 10. For example, supplemental power source 2002 can be configured to exhaust at main power source 2002 at during surgeryAnd/or provide energy so that surgical instruments 10 returns to default conditions in situation about disconnecting with surgical instruments 10.

Referring to Fig. 1, as described in more detail elsewhere, power source (for example power source 200) can provide power for surgeryThe operation of apparatus 10. For example, power source 200 can for example, provide power to cause driving tube 102 along first to motor (motor 100)The rotation of direction and finally cause the axial advance of trigger shaft 104, will drive beam 60 to drive towards distally through loading single thusUnit 20. Alternatively, power source 200 can provide power to cause driving tube 102 along contrary with first direction second to motor 100The rotation of direction and finally cause the axial retraction of trigger shaft 104, can make to drive beam 60 initial to it towards proximal movement thusAnd/or default location. Similarly, main power source 2002 can be configured to during the normal operating of surgical instruments 10 horseReaching 100 provides power to advance and/or retraction trigger shaft 104. In addition, supplemental power source 2004 can be configured in main meritRate source 2002 can not provide in the situation of power demand and (for example, exhaust and/or disconnect with surgical instruments 10 at main power source 2002Time) provide required power so that trigger shaft 104 retracts to default location.

To being above described further, as described in more detail elsewhere, surgical instruments 10 can be configured to recordWith the much information of storage during surgery about surgical instruments 10, for example, the joint fortune of end effector 20 (referring to Fig. 2)The position of actuating state, sensor reading, percussion number of times, tissue thickness and/or the trigger shaft 104 of moving angle, end effector 20Put. In some examples, this type of information can record and be stored in volatibility or provisional memory cell, for example, deposits at randomAccess to memory (RAM) unit, described volatibility or provisional memory cell can required power to keep canned data. OutsideDuring the normal operating of section's apparatus 10, main power source 2002 (being similar to elsewhere other power sources in greater detail) can provideRequired power is with the storage information in volatibility or the provisional memory cell of maintenance surgical instruments 10. In addition, auxiliary meritRate source 2004 can be in the situation that main power source 2002 can not provide power demand (for example, exhaust at main power source 2002 and/orWhile disconnection with surgical instruments 10) provide required power temporarily to keep institute's canned data.

In some aspects, surgical instruments 10 can comprise the control system with the disclosed type of Zemlok ' 763 and structure2005, this full patent texts is incorporated herein by reference. About the structure of this type of control system 2005 and other details of operationCan derive from this announcement. For example, control system 2005 can be configured to that (for example, vision or audio frequency are aobvious by user interfaceShow device) produce or provide information to user, for example warning or apparatus state. The signal that control system 2005 produces or defeatedEntering can be for example in response to other signals or the input that are provided by user, apparatus parts, or can be relevant to apparatus 10 oneThe function of individual or multiple measurement results. During the normal operating of surgical instruments 10, as described in more detail elsewhere, power source(for example main power source 2002 (referring to Figure 129)) can provide required power to carry out its functions with permission control system 2005, bagDraw together by user interface and user and undertaken alternately. In addition, supplemental power source 2004 can not provide at main power source 2002In the situation of power demand, (for example,, in the time that main power source 2002 exhausts and/or disconnect with surgical instruments 10) is at least with limitedCapacity provides required power to be undertaken temporarily mutual by user interface and user.

Referring now to Figure 130,, power system 2000 can comprise can be connected to main power source 2002 and supplemental power source 2004Management circuit 2006. Management circuit 2006 can comprise semiconductor, computer chip or memory, or can be withThey are optionally connected. Outside management circuit 2006 can be configured to analog or digital input or signal to send toThe all parts of section's apparatus 10 (includes but not limited to control system 2005, main power source 2002 and/or supplemental power source2004), or receive analog or digital input or the signal from all parts of surgical instruments 10. In all fields, powerManagement circuit 2006 can use software (described software can adopt one or more algorithms) come further modulating input signal withThe all parts of controlling and monitor surgical instruments 10, comprises main power source 2002 and/or supplemental power source 2004. This type of modulationInput signal can be the function of the criterion being measured and/or calculated by management circuit 2006, or in some cases, can be byAnother apparatus parts, user or the autonomous system of operationally communicating by letter with management circuit 2006 offer power tubeReason circuit 2006.

Refer again to Figure 129, main power source 2002 can comprise one or more battery units, and this depends on the electricity of apparatus 10Current load demand. In all fields, as shown in Figure 129, main power source 2002 can comprise battery pack 2008, described battery pack 2008Can comprise multiple battery units 2010 that for example can be connected in series each other. Battery pack 2008 can be interchangeable. In other words, electricityPond group 2008 can disconnect and shift out from surgical instruments 10, and can be replaced by another similar battery pack. In some aspects, mainPower source 2002 can comprise rechargeable battery (for example, lead base, Ni-based, lithium ion based etc.). Battery unit 2008 can be exampleAs 3 volts of lithium cells, for example CR123A battery unit, but for example in other embodiments, can use dissimilar batteryUnit, for example, have the battery unit of different voltage levvls and/or different chemical product. User can disconnect also from surgical instruments 10And shift out the battery pack 2008 exhausting or use up, and connect the battery pack 2008 of having charged to provide merit to surgical instruments 10Rate. The battery pack 2008 exhausting can be charged subsequently and recycle. Also can be susceptible to, main power source 2002 can comprise at least oneIndividual disposable battery. In all fields, disposable battery can be for example approximately 9 volts to approximately 30 volts. User can disconnect and shift outThe disposable battery group 2008 exhausting, and connect new disposable battery group 2008 to provide power to surgical instruments 10.

As mentioned above, battery pack 2008 can comprise rechargeable battery cells and can for example be arranged in removedly shellIn 12 shank part 14. In such cases, battery pack 2008 can utilize charger seat to charge. For example,, as Figure 131 instituteShow, charger seat 2012 can be connected to battery pack 2008 in the following manner: by battery pack 2008 from it shank part 14Position shift out and be connected to charger seat 2012. As shown in Figure 131, charger seat 2012 can comprise for to batteryThe power source 2014 of group 2008 chargings. The power source 2014 of charger seat 2012 can be for example battery (or multiple being connected in seriesBattery) or for example alternating current from power main is converted to galvanic AC/DC converter or for for to battery packAny other suitable power source of 2008 chargings. Charger seat 2012 also can comprise device indicating, and for example LED, LCD showDevices etc., to show the charged state of battery pack 2008.

In addition, as shown in Figure 131, charger seat 2012 for example can comprise one or more processor 2016, one or manyIndividual memory cell 2018 and i/o interface 2020,2022. Charger seat 2012 can pass through i/o interface 2020 and a power packages2008 are communicated with (via the i/o interface of power packages) downloads the data that are stored in the memory of power packages 2008 for example allowingTo the memory 2020 of charger seat 2012. In all cases, subsequently can be via the 2nd i/o interface 2022 by the data of downloadingDownload to another computer installation, for for example hospital system (carry out and relate to the operation of apparatus 10 in this hospital system),Outer section office, apparatus dealer, apparatus manufacturer etc. assess and analyze.

Charger seat 2012 also can comprise that voltameter 2024 is for measuring on the battery unit of whole battery pack 2008Electric weight. Voltameter 2024 can be communicated with processor 2016, makes processor 2016 can determine being in real time suitable for of battery pack 2008Property, for guaranteeing that battery carrys out work by expection mode.

Refer again to Figure 129, supplemental power source 2004 can comprise of can be arranged in shank part 14 for example or manyIndividual battery unit 2026. That battery unit 2026 can be is rechargeable (for example, lead base, Ni-based, lithium ion based etc.). For example,Battery unit 2026 can be 3 volts of lithium cells, for example, and CR123A battery unit. In addition, battery unit 2026 can be constructedOne-tenth can not recharge in the situation that apparatus 10 shifts out. For example, in the time that main power source 2002 is connected to apparatus 10, canUse main power source 2002 to charge to battery unit 2026.

Referring to Figure 132, show the exemplary embodiment of management circuit 2006. Inter alia, power managementCircuit 2006 can be configured to the electricity ginseng that monitoring is relevant to the operation of main power source 2002 and/or supplemental power source 2004Number. For example, management circuit 2006 can be configured to monitor in main power source 2002 and/or supplemental power source 2004Power level. As shown in Figure 132, management circuit 2006 can comprise voltameter 2028, and described voltameter 2028 can be constructedOne-tenth can be measured the electric weight in whole main power source 2002 and/or supplemental power source 2004. Management circuit 2006 also can be wrappedDraw together nonvolatile memory 2030 (for example, flash memory or ROM memory) and one or more processor 2032. Processor 2032 canBe connected to and writable control storage 2030. In addition, processor 2032 can be connected to voltameter 2028 to read voltameter 2028Reading and otherwise control voltameter 2028. In addition, processor 2032 can be controlled the defeated of management circuit 2006Go out device, for example LED.

Reader will know, voltameter 2024 and/or 2028 can be configured to measuring voltage, electric weight, resistance and/Or electric current. In some examples, voltameter 2024 and/or 2028 can comprise circuit for measuring capacity of battery, and described battery capacity is surveyedAmount circuit can be configured to measure the voltage status under predetermined load.

To being above described further, processor 2032 can be by relevant main power source 2002 and/or supplemental power source2004 information is stored in memory 2030. Described information can comprise (inter alia) available total electric weight, use timeNumber and/or performance. In addition, the information being stored in memory 2030 can comprise that management circuit 2006 can read and storesThe ID value of main power source 2002. The for example management circuit 2006 that can be this type of ID reads by RFID transponder 2034RFID. RFID transponder 2034 can read RFID from the power source that comprises RFID label. ID value can be read, be stored in memoryIn 2030 and by processor 2032 to be stored in memory 2030 in or be stored in management circuit 2006 relevantAcceptable ID value list in another memory of connection compares, for example relevant to the ID value reading removable to determineWhether unload/interchangeable main power source 2002 is authorized and/or suitable. In such cases, if processor 2032 determine withThe ID value that reads relevant detachable/interchangeable parts are uncommitted, management circuit 2006 can be configured toStop the use of apparatus 10, for example, be delivered to apparatus 10 by cut-off switch (not shown) with prevention power. Can be by processor2032 for assessment of with determining means whether authorized and/or suitable various parameters for example comprise date code, number of element types/Type, manufacturer, regional information and/or error code in the early time.

To being above described further, management circuit 2006 also can comprise i/o interface 2036 for anotherIndividual device (for example computer) is communicated with, thus allow to be stored in data in memory 2030 be downloaded to another device forFor example hospital system (carrying out the operation that relates to apparatus 10 in this hospital system), outer section office, apparatus dealer and/or apparatusManufacturer assesses and analyzes. I/o interface 2036 can be for example wired or wireless interface.

Referring to the block diagram shown in Figure 133, management circuit 2006 can be by power from main power source 2002 and auxiliary powerSource 2004 is optionally transferred to surgical instruments 10. For example, processor 2032 can be programmed to can be used at main power source 2002While providing power to apparatus 10, allow power to be transferred to apparatus 10 and can not be right at main power source 2002 from main power source 2002Apparatus 10 allows power to be transferred to apparatus 10 from supplemental power source 2004 when power is provided.

During the normal operating of apparatus 10, processor 2032 is detected and rear (the as above institute of mandate in main battery source 2002State) can allow main power source 2002 to provide power to apparatus 10. Main power source 2002 is sustainable provides power to apparatus 10, untilMain power source 2002 reaches or drops to lower than predetermined minimum charge level, for example, and when main power source 2002 disconnects and/or consumesTo the greatest extent time. Management circuit 2006 can be used for determining when main power source 2002 reaches or drop to lower than predetermined minimum electric weightLevel. For example, processor 2032 can be configured to monitor main merit with voltameter 2028 or another similar voltameterWhen the charge level in rate source 2002 and detection charge level reach or drop to lower than being stored in management circuit 2006Memory 2030 in predetermined minimum level. Now, processor 2032 can point out user to replace main power source 2002. MeritRate management circuit 2006 can comprise indicator, for example, LCD display, one or more LED, described indicator is activated to carryThe user who shows apparatus 10 replaces main power source 2002. In addition, processor 2032 can be configured to main merit detectedWhen the charge level in rate source 2002 has reached or has dropped to lower than predetermined minimum level by the energy supply of apparatus 10 from main power source2002 are switched to supplemental power source 2004. Reader will know, can provide additional feedback to user with auxiliary pointer.For example, indicator can be used for pointing out apparatus 10 to be just switched to supplemental power source 2004 from main power source 2002 to user, otherwiseAs the same.

To being above described further, processor 2032 can be programmed to be connected to surgical instruments at main power source 2002Allow main power source 2002 to charge to supplemental power source 2004 at 10 o'clock. In some examples, once supplemental power source 2004 ledPower source 2002 is charged to predetermined highest completely just can keep idle, and precondition is that main power source 2002 keeps energyEnough provide power to apparatus 10. In addition, management circuit 2006 can be used for determining when supplemental power source 2004 is fully filledElectricity. For example, processor 2032 can be configured to use voltameter 2028 to monitor the charge level of supplemental power source 2004, straightReach the predetermined maximum level in the memory 2030 that can be stored in management circuit 2006, now processor to charge level2032 can stop main power source 2002 charges to supplemental power source 2004. Management circuit 2006 can comprise indicator, for example,LCD display, one or more LED etc., described indicator can be activated to carry in the time that supplemental power source 2004 is fully chargedShow the user of apparatus 10.

Refer again to Figure 129, main power source 2002 can be contained in the chamber 2038 of shank part 14 of apparatus 10. ForReplace main power source 2002, the external shell of removable shank part 14 is to expose chamber 2038. In some examples, triggerOr switch can be associated with the external shell of shank part 14, the external shell that makes to attempt to remove shank part 14 can be processedDevice 2032 is interpreted as that trigger event is to be switched to supplemental power source 2004 from main power source 2002.

In the time utilizing new main power source 2002 to replace the main power source 2002 of surgical instruments 10, management circuit 2006Can check the mandate of new main power source 2002, as mentioned above, and confirm that after this mandate, management circuit 2006 can permitThe main power source 2002 of Xu Xin is to apparatus 10 through-put powers. In addition, main power source 2002 can charge to supplemental power source 2004, asThe above.

Surgical end-effector (for example loading unit 20 (Fig. 2 and Fig. 3)) is operationally connected to powered surgical instrument 10(Fig. 1) slender axles assembly 16. For example, referring now to Figure 38-58, surgical end-effector (for example disposable loading unit(DLU) 5502) can be attached to releasedly surgical instruments, for example, powered surgical instrument 10 (Fig. 1. In various embodiments,Surgical instruments can comprise axle 5520, and described axle 5520 can engage for example DLU5502. In various embodiments, lining ring (for example, canRotation lining ring 5580) can lock releasedly DLU5502 with respect to axle 5520. In addition, in various embodiments, lining ring 5580Rotation can be conducive to pull the trigger the attached of assembly and/or joint motions assembly and/or aim at, as described herein.

In various embodiments, DLU5502 can comprise distally attachment part 5504, and axle 5520 can comprise outer tube5554 and nearside attachment part 5522. In the time that DLU5502 is fixed to axle 5520 (Figure 39), the distally attachment part of DLU5502The nearside attachment part 5522 of 5504 receivability axles 5520. In addition the nearside that, rotatable lining ring 5580 can be positioned on axle 5520 is attachedConnect around part 5522, the distally attachment part 5504 of DLU5502 also be can be positioned in rotatable lining ring 5580. Can revolveTurn lining ring 5580 and can be fixed to axle 5502 and/or nearside attachment part 5504, and rotatably fixing in certain embodimentsTo the nearside attachment part 5504 of for example axle 5502. In certain embodiments, in the time that DLU5502 is fixed to axle 5520, axle 5520The distally attachment part of nearside attachment part receivability DLU5502. In addition, in certain embodiments, lining ring 5580 is rotatableBe fixed to DLU5502.

Still referring to Figure 38-58, when DLU5502 axle with respect to surgical instruments between non-attachment location and attachment locationWhen 5520 motion, DLU5502 can be along the longitudinal axis translation being limited by axle 5520. When DLU5502 transports from non-attachment locationWhile moving attachment location, the distally attachment part 5504 of DLU5502 can be inserted in the nearside attachment part 5522 of axle 5520. ExampleAs, in the time that DLU5502 moves between non-attachment location and attachment location, DLU5502 can be along direction A (Figure 39) translation.In certain embodiments, the groove between distally attachment part 5504 and nearside attachment part 5522-slit engage can along byThe longitudinal axis guiding DLU5502 that axle 5520 limits. Mainly, referring to Figure 42, distally attachment part 5504 can comprise guide rail 5514.In addition,, mainly referring to Figure 44, nearside attachment part 5522 can comprise guide groove 5534. The size of guide groove 5534 and structure can be designedBecome to insert the distally attachment part 5522 of axle 5520 in the nearside attachment part 5504 of DLU5502 and receive and lead when interiorRail 5514. For example, guide groove 5534 can comprise longitudinal slit, and guide rail 5514 can comprise for example longitudinal ridge. At some embodimentIn, guide groove 5534 and guide rail 5514 can stop DLU5502 with respect to the torsion of the longitudinal axis being limited by axle 5520 and/or revolveTurn.

Mainly, referring to Figure 38, distally attachment part 5504 can comprise the first alignment mark 5510 (for example, the first arrow), andAnd axle 5520 and/or lining ring 5580 can comprise the second alignment mark 5590 (for example, the second arrow). The first alignment mark 5510 HesThe second alignment mark 5590 to making guide rail 5514 and guide groove 5534 aim at, it is attached that this can be conducive to distally attachment part 5504Receive nearside attachment part 5522. As described herein, DLU5502 along the longitudinal path can be with respect to axle towards the translation of axle 55205520 lock DLU5502 releasedly. In this type of embodiment, can not need the rotation of LU5502 with respect to axle 5520, withWith respect to the attached DLU5502 of axle 5520. In fact, can be by between nearside attachment part 5522 and distally attachment part 5504The incompatible restriction of groove-slot joint and/or stop DLU5502 with respect to the rotation of axle 5520, as described herein. In various realitiesExecute in example, lining ring 5580 can rotate that DLU5502 is locked onto to axle releasedly with respect to LU5502 and/or axle 55205520. For example, as described herein, lining ring 5580 can rotate to the second orientation (Figure 54) and return subsequently from initial orientation (Figure 53)Get back to initial orientation (Figure 57) DLU5502 is locked onto to axle 5520.

Mainly, referring to Figure 42 and Figure 43, the portions of proximal 5504 of DLU5502 can comprise rotation key or rib 5506. Work as DLU5502 when move along direction A (Figure 39) between non-attachment location (Figure 38) and attachment location (Figure 39), and rotation key 5506 canAffect the rotation of lining ring 5580. For example, rotation key 5506 can make lining ring 5580 rotate from initial orientation along direction B (Figure 39)And/or be biased into the second orientation. In the time that lining ring 5580 is biased into the second orientation, it is attached that distally attachment part 5504 can be inserted nearsideIn part 5522. In addition, insert nearside attachment part 5522 completely when interior when distally attachment part 5504, rotation key 5506 can be permittedPermitted lining ring 5580 and rotated to initial orientation along direction C (Figure 39) from the second orientation. Direction C can be for example contrary with direction B. As thisDescribed in literary composition, in the time that lining ring 5580 turns back to initial orientation, it is attached that lining ring 5580 can lock distally with respect to nearside attachment part 5522Connect part 5504. Still, referring to Figure 42 and Figure 43, rotation key 5506 can comprise the rotation ramp 5508 that is positioned at its proximal end. RotationRamp 5508 can engages axle 5520 the element rotation of for example rotating lining ring 5580 with impact.

In various embodiments, rotation ramp 5508 can affect the rotation of the beating shaft 5540 being positioned in axle 5520. ExampleAs, mainly referring to Figure 47-50, beating shaft 5540 can comprise the beating shaft circulator that can extend radially outwardly from beating shaft 55405544. In the time that DLU5502 insertion axle 5520 is interior, the rotation ramp 5508 of rotation key 5506 can engage beating shaft circulator 5544.In various embodiments, the rotatable beating shaft circulator 5544 in rotation ramp 5508, described beating shaft circulator 5544 is rotatableBeating shaft 5540. For example, beating shaft 5540 and beating shaft circulator 5544 can be at the first orientation (Figure 53) and the second orientation (figure54) between, rotate along direction B (Figure 54). Still, referring to Figure 47-50, beating shaft 5540 can engage with rotatable lining ring 5580. ExampleAs, rotatable lining ring 5580 can comprise circulator groove 5584, the structure of described circulator groove 5584 and size can be designedBecome to receive and/or maintenance beating shaft circulator 5544. Beating shaft circulator 5544 can be rotated device groove 5584 and keep, and makesThe rotation that obtains beating shaft circulator 5544 causes rotating lining ring 5580 and rotates. In this type of embodiment, DLU5502 is inserted to axleIn 5520, can for example cause rotatable lining ring 5580 revolving along direction B by beating shaft circulator 5544 along the rotation of direction BTurn (Figure 54).

Mainly, referring to Figure 44 and Figure 45, nearside attachment part 5522 can comprise rotation key slit 5524, and described rotation key is narrowGroove 5524 can insert nearside attachment part 5522 in distally attachment part 5504 and receive rotation key 5506 when interior. At various embodimentIn, rotation key slit 5524 can comprise that gap recess 5526 is for receiving beating shaft circulator 5544. For example, rotation key 5506The rotation ramp 5508 at proximal end place can make beating shaft circulator 5544 rotate to the second orientation and to rotate to gap recessedIn mouth 5526 (Figure 54). In the time that DLU5502 insertion axle 5520 is interior, rotation key 5506 can continue to transport along rotation key slit 5524Moving. In addition, in the time that the distal end 5509 of rotation key 5506 moves through beating shaft circulator 5544, beating shaft circulator 5544Can counter-rotate the first orientation (Figure 58), this can correspondingly make rotatable lining ring 5580 reverse rotations to its initial orientation.

In various embodiments, rotatable lining ring 5580 can be with respect to axle 5520 and/or nearside attachment part 5522 bias voltagesBecome initial orientation. For example, spring 5592 can be biased into initial orientation by locking lining ring 5580. Spring 5592 can comprise can be with respect toThe proximal end 5594 that axle 5520 is fixed and the distal end 5596 that can be fixed with respect to lining ring 5580. For example, bulletThe proximal end 5594 of spring 5592 can remain in the nearside spring slit 5538 (Figure 51) of axle 5520, and spring 5592 is far awaySide end 5596 can remain in the distally spring slit 5588 (Figure 46) of for example rotatable lining ring 5580. At this type of embodimentIn, the rotation of lining ring 5580 can be with respect to the distal end 5596 of the proximal end of spring 5,592 5594 mobile springs 5592, thisCan produce twisting resistance. Therefore, lining ring 5580 can stop the rotation from initial orientation to the second orientation, and rotates to the when lining ringWhen two orientations, spring 5592 can be by lining ring 5580 reverses biased to initial orientation. Due to beating shaft circulator 5544 and lining ring5580 engage, and spring 5592 also can be biased into beating shaft 5540 its first orientation.

In various embodiments, rotatable lining ring 5580 can comprise the locking pawl that DLU5502 is locked onto to axle 55205582. Mainly, referring to Figure 46, locking pawl 5582 can extend radially inwardly from the inner rim of rotatable lining ring 5580. In various realitiesExecute in example, locking pawl 5582 may extend in the ratchet slit 5536 (Figure 44) in nearside attachment part 5522. Mainly referring toFigure 44, ratchet slit 5536 can form the recess in guide groove 5534. In various embodiments, ratchet slit 5536 can be from guide groove5534 extend, and can perpendicular to or be substantially perpendicular to for example guide groove 5534. In addition, when rotatable lining ring 5580 is with respect to axle5520 between initial orientation and the second orientation while rotating, and locking pawl 5582 can move along ratchet slit 5536.

In various embodiments, the distally attachment part 5504 that locking pawl 5582 can engage DLU5502 is with respect to axle5520 locking DLU5502. For example, refer again to Figure 42, distally attachment part 5504 can comprise guide rail 5514, described guide rail5514 can have the locking recess 5516 being defined in wherein. The structure of locking recess 5516 and size can be designed at DLU5502 insert nearside attachment part 5522 completely receives the locking pawl 5582 of rotatable lining ring 5580 when interior. For example, work as distallyAttachment part 5504 is inserted nearside attachment part 5522 when interior completely, the locking recess 5516 of distally attachment part 5504 can with closelyThe ratchet slit 5536 of side attachment part 5522 is aimed at. Therefore, locking pawl 5582 can be along in nearside attachment part 5522Ratchet slit 5536 slides and slides in the locking recess 5516 in the attachment part of distally. In addition, locking pawl 5582 canBe biased into locking recess 5516 and engage by torsionspring 5592. For example, leave rotation key at beating shaft circulator 5544After 5506 distal end 5509, beating shaft 5540 can reverse biased can pass through to the first orientation and rotatable lining ring 5580Torsionspring 5592 reverses biased are to initial orientation. In addition, in the time that lining ring 5580 counter-rotates initial orientation from the second orientation,Its locking pawl 5582 can be aimed at and engage with the locking recess 5516 in guide rail 5514.

In various embodiments, the rotation of lining ring 5580 can be conducive to pull the trigger the attached of assembly and/or aim at. For example, hitSending out axle 5540 can extend between proximal end 5546 and distal end 5542. Proximal end 5546 can have swivel joint, instituteState swivel joint and can allow the rotation of beating shaft 5540 between the first configuration and the second configuration. In addition, distal end 5542 canThere is the coupling for the element of attached DLU5502. The rotation of beating shaft 5540 can be conducive to the attached of cutting element. ExampleAs, in the time of the coupling rotation at distal end 5542 places of beating shaft 5540, coupling can engage and be connected to DLU5502In cutting element. In certain embodiments, coupling can comprise bayonet mount, and described bayonet mount can engage cutting in DLU5502Cut the corresponding bayonet socket receiver of element. Mainly, referring to Figure 40 and Figure 41, percussion assembly also can comprise for example around beating shaft 5540Be positioned at the sleeve pipe 5550 between proximal end 5546 and distal end 5542.

In various embodiments, when beating shaft 5540 is during in the interior rotation of axle 5520, beating shaft 5540 may rotate to and DLUBeating shaft slit 5518 in 5502 is aimed at. For example, in the time that DLU5502 inserts completely and is attached to axle 5520, beating shaft revolvesTurning device 5544 can aim at beating shaft slit 5518. But, in various embodiments, when only partial insertion axle 5520 of DLU5502When interior, beating shaft circulator 5544 can be rotated into and be aimed at beating shaft slit 5518 by rotation key 5506. In other words, hitSending out axle circulator 5544 can aim at beating shaft slit 5514 during in the first orientation at beating shaft 5540, and can be at beating shaft5540 while rotating to the second orientation and 5514 misalignment of beating shaft slit. In this type of embodiment, as DLU5502, only part is slottingEnter axle 5520 when interior and/or before DLU5502 locks onto axle 5520 releasedly by rotatable lining ring 5580, hitKe Bei distally, the percussion path attachment part 5504 of sending out axle circulator 5544 stops. The integration of beating shaft 5540 and lining ring 5580 canGuarantee that DLU5502 was attached to securely axle 5520 before beating shaft 5540 can pull the trigger and/or advance. For example, surgical instruments is notCan percussion, until the cutting element in DLU5502 be connected to beating shaft 5540 and/or until beating shaft 5540 for example existIn axle 5520, suitably aim at.

In certain embodiments, the rotation of lining ring 5580 can be conducive to the attached of joint motions assembly 5559 and/or aim at.Mainly, referring to Figure 40 and Figure 41, joint motions assembly 5559 can comprise proximal joint moving lever 5560, radioulnar joint moving lever5562 and joint motions connector 5566. In addition, axle 5520 can comprise proximal joint moving lever slit 5528, and DLU5502 can comprise for example radioulnar joint moving lever slit 5512. In certain embodiments, proximal joint moving lever 5560 can with closelySide joint motions bar slit 5528 is aimed at, and radioulnar joint moving lever 5562 can be right with radioulnar joint moving lever slit 5512Accurate. Referring now to Figure 46,, joint motions connector 5566 can be contained in rotatable lining ring 5580. For example, rotatable lining ring5580 can comprise joint motions connector slit 5586, and joint motions connector 5566 can be positioned at it movinglyIn.

In various embodiments, refer again to Figure 40 and Figure 41, proximal joint moving lever 5560 can have nearside recess5572, and radioulnar joint moving lever 5562 can have distally recess 5574. In addition, joint motions connector 5566 can comprise closelySide joint motions lug 5568 and radioulnar joint motion lug 5572. Proximal joint motion lug 5568 can remain on proximal jointIn the nearside recess 5572 of moving lever 5560. In certain embodiments, radioulnar joint motion lug 5570 can operationally connectClose the distally recess 5574 of radioulnar joint moving lever 5562. As described herein, rotatable lining ring 5580 can be initial configuration andBetween two configurations, rotate. In the time that lining ring 5580 rotates, being contained in joint motions connector 5566 wherein also can be with respect to by axleThe 5520 longitudinal axis rotations that limit. In various embodiments, in the time that joint motions connector 5566 rotates, joint motions connectThe proximal joint motion lug 5568 of device 5566 can remain positioned in the nearside recess 5572 of proximal joint moving lever 5560. ThisOutward, in the time that joint motions connector 5566 and lining ring 5580 rotate to initial orientation from the second orientation, joint motions connector5566 radioulnar joint motion lug 5570 movable one-tenth engage with the distally recess 5574 of radioulnar joint moving lever 5562. ExampleAs, when DLU5502 inserts axle 5508 when interior completely, the distally recess 5574 of radioulnar joint moving lever 5562 can with joint motionsThe radioulnar joint motion lug 5568 of connector 5566 is aimed at. In this type of embodiment, when rotatable lining ring 5580 counter-rotatesDuring to initial configuration, radioulnar joint motion lug 5568 slidably arrives in the distally recess 5574 of radioulnar joint moving lever 5562.In the time that radioulnar joint motion lug 5568 is positioned in distally recess 5574, joint motions assembly 5559 can be assembling completely.

Mainly, referring to Figure 45, in various embodiments, proximal joint moving lever slit 5528 can comprise the first gap 5530With the second gap 5532. The proximal joint motion lug 5568 of joint motions connector 5566 and radioulnar joint motion lug 5570Can extend to respectively in the first gap 5530 and the second gap 5532. In certain embodiments, in the time that lining ring 5580 rotates and/Or in the time that joint motions assembly 5559 for example carries out joint motions, the first gap 5530 and the second gap 5532 can provide spaceMove for proximal joint motion lug 5568 and radioulnar joint motion lug 5570.

Referring now to figure Figure 51-58,, for DLU5502 being connected to the axle 5520 of surgical instruments, user can make DLU5502 alignment mark 5510 is aimed at the alignment mark 5590 of axle 5520 and/or lining ring 5580 (Figure 51). Keeping fiducial markDuring the aligning of note 5510,5590, user can move DLU along the longitudinal axis being limited by axle 5520 with respect to axle 55205502. User can be along straight line or the path movement DLU5502 of straight line substantially, and in various embodiments, needn't phaseRotate DLU for for example axle 5520. Mainly, referring to Figure 53, DLU5502 can continue with respect to axle 5520 translations, and distally is attachedThe guide rail 5514 that connects part 5504 can be assembled in the guide groove 5534 (Figure 44) in the nearside attachment part 5522 of axle 5520. When farSide attachment part 5504 moves to nearside attachment part 5522 when interior, the bootable guide rail 5514 of guide groove 5534 and for example can keepingThe aligning of alignment mark 5510,5590. In other words, guide groove 5534 and guide rail 5514 can stop DLU5502 with respect to axle 5520The rotation of longitudinal axis. Mainly, referring to Figure 52, the proximal joint motion lug 5568 of joint motions connector 5522 is extensibleIn the first gap 5530 and can be positioned in the nearside recess 5572 of proximal joint moving lever 5562, and joint motions connectThe radioulnar joint motion lug 5570 that connects device 5522 is extensible through for example the second gap 5532.

Mainly referring to Figure 54, when distally attachment part 5504 is inserted nearside attachment part 5522 when interior, rotation key 5506Rotation key ramp 5508 can be in abutting connection with beating shaft circulator 5544. Rotation key ramp 5508 can guide beating shaft circulator 5544 alsoAnd/or person is directed in the gap recess 5526 extending from rotation key slit 5524. In addition, when beating shaft circulator 5544 movesWhen interior to gap recess 5526, beating shaft 5540 can rotate along direction B. Beating shaft 5540 can rotate to second from the first orientationOrientation. Cutting unit in the distal end 5542 that this type of rotation of beating shaft 5540 can be conducive to beating shaft 5540 and DLU5502Part attached. In addition, the rotation of beating shaft circulator 5544 can be by the percussion in beating shaft circulator 5544 and lining ring 5580Joint between axle circulator groove 5584 (Figure 46) makes lining ring 5580 rotate along direction B. Lining ring 5580 can be for example from initiallyOrientation rotates to the second orientation. In addition, in the time that lining ring 5580 rotates, locking pawl 5582 can be along the ratchet slit in axle 55205536 motions. In addition, the rotation of lining ring 5580 can make the distal end 5596 of spring 5592 rotate, because the distally of spring 5592End 5596 can remain in the distally spring slit 5588 (Figure 46) in lining ring 5580. Distal end 5596 is with respect to proximal endThe displacement of portion 5594 can produce and reverse back elastic force, described in reverse back elastic force and can for example lining ring 5580 be deflected into from the second orientation at the beginning ofBeginning orientation and for example beating shaft 5540 deflect into the first orientation from the second orientation.

Mainly referring to Figure 55, when lining ring 5580 is during towards the second orientation rotation, proximal joint motion lug 5568 can with nearsideNearside recess 5572 in joint motions bar 5560 keeps engaging. In addition, radioulnar joint motion lug 5570 is rotatable to makeRadioulnar joint motion lug 5570 is provided for the gap of the radioulnar joint moving lever 5562 of DLU5502. Referring to Figure 56, work as liningCircle 5580 and when being positioned at joint motions connector 5566 wherein and rotating to the second orientation, DLU5502 can insert axle completelyIn 5520. In various embodiments, in the time that joint motions connector 5566 rotates to the second orientation, radioulnar joint moving lever 5562Can leave the radioulnar joint motion lug 5570 of joint motions connector 5566. In addition, radioulnar joint motion lug 5570 canRotatably aim at the distally recess 5574 in joint motions connector 5566. Still referring to Figure 56, when DLU5502 completely slottingEnter axle 5520 when interior, trigger shaft circulator 5544 can leave the distal end 5509 of rotation key 5506.

Referring now to Figure 57,, in the time that the distal end 5509 of rotation key 5506 is passed through beating shaft circulator 5544, beating shaftCirculator 5544 can rotate along direction C. For example, beating shaft circulator 5544 can rotate to along direction C from the second orientationOne orientation. In addition, the rotation of beating shaft circulator 5544 can cause lining ring 5580 to rotate to initially from the second orientation along direction COrientation. In various embodiments, spring 5592 can be biased into trigger shaft 5540 its first orientation, and can be by inclined to one side lining ring 5580Be pressed onto its initial orientation. For example, beating shaft circulator 5544 can be positioned on the beating shaft circulator groove 5584 in lining ring 5580(Figure 46), in, make the rotation of beating shaft circulator 5544 that lining ring 5580 is rotated. Far away due to joint motions connector 5566The aligning of the distally recess 5574 of side joint motions lug 5570 and radioulnar joint moving lever 5562, joint motions connector 5566Can rotate along with the rotation of lining ring 5580, and radioulnar joint motion lug 5570 may rotate to distally recess 5574 and connectsClose. When radioulnar joint motion lug 5570 engages distally recess 5574, joint motions assembly 5559 can be have been assembled. ThisOutward, in the time that beating shaft circulator 5544 rotates along direction C, the distal end 5542 of beating shaft 5540 can be along direction C rotation, and this canBe conducive to the distal end 5542 that cutting element in DLU5502 is attached to beating shaft 5540.

Referring now to Figure 58,, it is attached that the rotation of lining ring 5580 also can make the locking pawl 5582 of lining ring 5580 rotate to distallyIn locking recess 5516 in the guide rail 5514 of part 5504. For example, when DLU5502 inserts axle 5520 when interior completely, lock recessedMouth 5516 can be aimed at ratchet slit 5536, makes locking pawl 5582 to rotate to locking recess by ratchet slit 5536In 5516. As described herein, after beating shaft circulator 5544 leaves the distal end 5509 of rotation key 5506, spring 5592Can bias voltage lining ring 5580 to rotate along direction C (Figure 57). Still referring to Figure 58, in the time that beating shaft circulator 5544 rotates along direction C,The movable one-tenth of beating shaft circulator 5544 is aimed at the beating shaft slit 5518 in DLU5502. Beating shaft circulator 5544 with hitSend out axle slit 5518 to allowing for example beating shaft 5540 to advance to pull the trigger DLU5502 towards distally.

As described herein, rotatable lining ring 5580 can lock DLU5502 releasedly with respect to axle 5520. In addition lining ring,5580 rotation can be conducive to the attached of for example joint motions assembly 5559 and/or aim at and beating shaft 5540 and DLUAttached and/or the aligning of the cutting element in 5502. In addition, the rotation of lining ring also can be from axle release DLU5502, disconnection jointCutting element in motion assembly 5559 and/or DLU5502 disconnects beating shaft 5540. For example, when lining ring 5580 again from the beginning ofWhen the orientation that begins rotates to the second orientation, locking pawl 5582 can depart from the locking recess 5516 in distally attachment part 5504. CauseThis, distally attachment part 5504 can for example exit from nearside attachment part 5522 along the longitudinal axis being limited by axle 5520. ?In various embodiment, DLU5502 can depart from from axle 5520, and without rotating DLU5502 with respect to axle 5520. But, lining ring5580 can rotate with respect to axle 5520, and this for example can make radioulnar joint moving lever 5562 be connected with the joint motions in lining ring 5580Device 5566 disconnects and can make beating shaft 5540 and the cutting element in DLU5502 disconnect.

Referring now to Figure 59-62,, disposable loading unit (DLU) or end effector 5602 can be attached to releasedlyThe axle 5620 of surgical instruments. In various embodiments, spring or multiple spring for example can be inclined to one side with respect to axle 5620 by DLU5602Be pressed into latched position. For example, DLU5602 can be attached to axle 5620 releasedly by bayonet mount, and spring is rotatableThereby DLU5602 is connected to axle 5620 by bayonet coupling by DLU5602. DLU5602 can comprise distally attachment part5604, and axle 5620 can comprise for example nearside attachment part 5622. In the time that DLU5602 is fixed to axle 5620, DLU5602'sThe nearside attachment part 5622 of distally attachment part 5604 receivability axles 5620. In other embodiments, when DLU5602 fixesDuring to axle 5620, the distally attachment part of the nearside attachment part receivability DLU5602 of axle 5620.

In various embodiments, the distally attachment part 5604 of DLU5602 can comprise ratchet 5606, described ratchet 5606Can extend radially outwardly from a part for distally attachment part 5604. In addition, ratchet 5606 can comprise inclined surface 5608. As thisDescribed in literary composition, insert nearside attachment part 5622 when interior when distally attachment part 5604, the inclined surface 5608 of ratchet 5606 can connectClose spring (for example spring 5636b) and can make spring 5636b distortion. In addition, ratchet 5606 can be by nearside attachment part 5622Keep so that DLU5602 is locked onto to axle 5622 releasedly. Mainly, referring to Figure 59, the nearside attachment part 5622 of axle 5620 canLimit cavity 5624. In various embodiments, the structure of cavity 5624 and size can be designed to receive the distally of DLU5602Attachment part 5604. In addition, spring 5636a, 5636b can be positioned in cavity 5624. For example, the first spring 5636a can locateIn the first side of cavity 5624, and the second spring 5636b can be positioned on the second side of cavity 5624. Spring 5636a, 5636bCan be symmetrical or asymmetric with respect to cavity 5624. In various embodiments, at least a portion of spring 5636a, 5636b is extensibleIn cavity 5624. For example, the shank 5637 of the second spring 5636b may extend in cavity 5624, and the second spring 5636Another shank 5637 can for example remain in nearside attachment part 5622.

Still, referring to Figure 59, nearside attachment part 5622 also can comprise locking slit 5638, and described locking slit 5638 for exampleCan be limited in cavity 5624 and/or can touch via cavity 5624. Structure and the size of locking slit 5638 can be establishedCount into and receive for example ratchet 5606. In various embodiments, locking slit 5638 can keep ratchet 5606 with respect to axle 5620Lock releasedly DLU5602. In addition, in various embodiments, nearside attachment part 5622 can comprise breech lock 5630. Breech lock5630 can be in not motion between position latching (Figure 59 and Figure 60) and position latching (Figure 61 and Figure 62). In various embodiments,Breech lock 5630 can be spring-loaded, and spring 5634 can be biased into position latching by breech lock 5630. For example, breech lock 5630 canComprise late spring 5634, described late spring 5634 can be biased into and/or be biased into position latching by breech lock 5630. Breech lock positionPut and can for example be positioned at the not distally of position latching. In certain embodiments, breech lock 5630 can comprise thumb grasping member and/or ridge5632 move to not position latching to be conducive to breech lock 5630 from position latching. For example, user can engage thumb grasping member5632 and towards nearside tractive breech lock 5630 with to breech lock 5630 releases.

In various embodiments, breech lock 5630 can operationally stop or stop at least in part locking slit 5638.For example, when breech lock 5630 is when position latching (Figure 61 and Figure 62), the arm 5635 of breech lock 5630 may extend into locking slitIn at least a portion of 5638. Breech lock 5630 can cover or at least in part cover locking slit 5638, and can stop and/orRestriction enters locking slit 5638. In certain embodiments, the arm 5635 of breech lock 5630 can stop ratchet 5606 to move and/or be slidingMove in locking slit 5638. In addition,, when breech lock 5630 is during in position latching, breech lock 5630 can combined spring 5636a,5636b. For example, referring to Figure 61 and Figure 62, breech lock 5630 can support spring 5636b, and the distortion of spring 5636b is limitedAnd/or stop. In addition, breech lock 5630 can support spring 5636b, makes cavity 5624 can not receive the distally of DLU5602 attachedPart 5604. For example, at least a portion of spring 5636b can stop cavity 5624, and this can stop distally attachment part 5604 completeFull insertion in nearside attachment part 5622. In certain embodiments, nearside attachment part 5622 can comprise multiple springs, described manyIndividual spring revolving force can be applied in distally attachment part 5604 so that distally attachment part 5604 with respect to nearside attachmentDivide 5622 rotations. For example, nearside attachment part 5622 can comprise a pair of spring or more than three springs. In other embodiments,Single spring in nearside attachment part 5622 can attempt to make distally attachment part 5604 to revolve with respect to nearside attachment part 5622Turn. Or alternatively, in various embodiments, the distally attachment part 5602 of DLU5602 can comprise for example at least one in additionIndividual spring, described at least one spring can make distally attachment part 5602 rotate with respect to nearside attachment part 5622.

In various embodiments, when breech lock 5630 is during in position latching (Figure 59 and Figure 60) not, the arm of breech lock 56305635 can not stop and/or less stop locking slit 5638. For example, ratchet 5606 can assemble through the breech lock of breech lock not5630 to be assembled in locking slit 5638. In addition, ratchet 5606 can pass the not breech lock 5630 of breech lock and be biased into locking slitIn 5638, as described herein. In addition, in various embodiments, when breech lock 5630 is during in position latching not, breech lock 5630 can take offFrom spring 5636a, 5636b. For example, breech lock 5630 is when breech lock, breech lock 5630 can not protect and/or restraining spring 5636a,The distortion of 5636b.

Mainly referring to Figure 59, when breech lock 5630 moves and remains on for example nearside and/or not when position latching, spring5636b can not latched 5630 supports. In this type of embodiment, DLU5602 can move along direction A, makes distally attachmentDivide 5604 to move with respect to nearside attachment part 5622. Mainly, referring to Figure 60, the ratchet 5606 of distally attachment part 5604 can connectClose spring 5636b, and can for example make spring 5636b compression and/or distortion. In certain embodiments, the inclination of ratchet 5606Can slide along spring 5636b in surface 5608, and the free shank 5637 of removable spring 5636b. The distortion of spring 5636bCan produce screen resilience, spring 5636b can be applied to screen resilience on ratchet 5606. Referring now to Figure 61,, screen resilience can be ledCause the rotation of ratchet 5606. For example, ratchet 5606 can rotate to the locking slit 5638 being defined in cavity 5624 along direction BIn. In various embodiments, in the time of user's latch 5630, late spring 5634 can make breech lock 5630 turn back to not breech lockPosition. In addition,, in the time that breech lock 5630 turns back to not position latching, the arm 5635 of breech lock 5630 can stop or partly stop lockingSlit 5638. In this type of embodiment, in the time that ratchet 5606 remains in locking slit 5638, the sour jujube of distally attachment part 5604Pawl 5606 can be locked releasedly with respect to nearside attachment part 5622. In addition, in certain embodiments, breech lock 5630 canKeep and/or support spring 5636b against ratchet 5606, until breech lock moves to not position latching again. At various embodimentIn, in order to discharge DLU5602 from axle 5620, user can make breech lock 5630 move to not position latching from position latching again,Make the rotatable locking slit 5638 that leaves of ratchet 5606. In this type of embodiment, the rotation of ratchet 5606 makes spring again5636b compression and/or distortion, until distally attachment part 5604 exits from nearside attachment part 5622.

To being above described further, surgical instruments can be configured to identification or at least attempt identification be installed toThe end effector of surgical instruments. In certain embodiments, as below further described in more detail, end effector can comprise electricityContact, described electric contact can engage the corresponding electric contact on the axle of surgical instruments in the time that end effector is installed to axle. At this type ofIn embodiment, the controller of surgical instruments can be set up wired connection with end effector, and controller and end effector itBetween signal communication can be undertaken by electric contact. As described in more detail below, end effector can comprise and to be stored thereonAt least one data, described at least one data can be by controller access with identification end effector. Described at least one dataCan comprise for example information of bit, more than one bit, a byte or a more than one byte. In some other enforcementIn example, end effector can comprise transmitter, and described transmitter can carry out communicating wireless signals with the controller of surgical instruments. ClassBe similar to mentioned abovely, end effector can comprise at least one data being stored thereon, and described at least one data can be sent outBe mapped to controller with identification end effector. In this type of embodiment, the controller of surgical instruments can comprise receiver or useReceiver, described receiver can receive the transmitting from end effector. This type of receiver can be positioned on for example surgical instrumentsIn axle and/or shank.

Reader will know, for example can be configured to launch wireless communication with the end effector of controller radio communicationNumber. In all cases, end effector can be configured to transmitting once or more than this signal once. In some situationUnder, end effector can be prompted to transmit and/or repeatedly transmit according to continuation mode in the required moment. OneIn a little situations, end effector can comprise switch, and described switch can be assembled into surgical instruments at the end effector of surgical instrumentsBefore, and/or afterwards, operated by the user of surgical instruments. In various embodiments, end effector Kai KebaoDraw together on/off or power switch, described switch can be closed or operate to start end effector. At at least one this type of embodimentIn, end effector can comprise at least one power source, for example battery, and described at least one power source can close at on/off switchWhile closing, being launched device uses to transmit. In the time that end effector starts, in all cases, the controller of end effectorCan be configured to produce signal and transmit by transmitter. In some cases, end effector can not launchedSignal, until end effector is activated. This class formation can for example be saved the power of battery. In certain embodiments, in endBefore actuator switch activated, surgical instruments can be arranged in its can be by the time from the operator scheme of the signal of end effector.In all cases, surgical instruments can, in for subsequent use or low-power operating mode, once wherein signal is received by controller, be controlledDevice processed just can be arranged in surgical instruments full power operation pattern. In certain embodiments, end effector switch can indication endPortion's actuator controller is to be transmitted into signal surgical instruments controller. This type of switch can comprise or can not comprise power switch,But this type of switch can activate with prompting end effector in the required moment and/or from follow-up required on property selected by the user groundMoment transmits continuously.

Turn to now Figure 114, end effector (for example end effector 9560) can comprise that can be used for starting end carries outOne or more electric contacts of device 9560, for example contact 9561. For example, turn to now Figure 112, the axle 9040 of surgical instruments can wrapDraw together contact carriage 9562, described contact carriage 9562 can be configured to make contact in the time that end effector 9560 is assembled into axle 9040Two or more short circuits or electrical connection in 9561. Bridge 9562 can be connected circuit, and described circuit comprises two contacts 9561, electricityPond 9564 and be limited at least one integrated circuit 9566 on printed circuit board (PCB) 9565. To being above described further, oneDawn circuit is switched on, and battery 9564 just can provide power and end effector 9560 to be activated to integrated circuit 9566. ?In various situations, the integrated circuit 9566 and the antenna 9567 that are limited on printed circuit board (PCB) 9565 can comprise control discussed aboveDevice and transmitter. In certain embodiments, axle 9040 can comprise biasing member, for example, spring 9563, described biasing member can quiltBe constructed to be permeable to bridge 9562 to be biased into electric contact 9561 and to contact. Before bridge 9562 connects electric contact 9561 and/or at endAfter portion's actuator 9560 has departed from axle 9040, circuit can be to be opened, and can not be provided to collection from the power of battery 9564The power that becomes circuit 9566 and/or be provided to integrated circuit 9566 can reduce, and end effector 9560 can be in not startingState. Due to mentioned above, in this type of embodiment, the assembling of end effector can be assembled into surgical instruments because of end effectorAnd be activated. In all cases, to being above described further, end effector and surgical instruments can be constructed and arrangeBecome to make the only complete and suitable assembling of end effector and surgical instruments will start end effector.

As mentioned above, referring now to Figure 111, end effector can be attached to surgical instruments (by shown in step 9600), quiltStart (by shown in step 9602) and assess (by shown in step 9604) by surgical instruments subsequently. Work as surgical instrumentsWhile just attempting the wireless signal of the end effector of assessing self-starting, to being above described further, surgical instruments can quiltWhether be completely constructed to be permeable to evaluation signal. In various embodiments, the asynchronous serial between end effector and surgical instrumentsWhether communication can be used for evaluating the signal being received by surgical instruments complete. For example, end effector can launch comprise start bit and/Or the signal of position of rest, for example, at Frame (, information byte) before, described position of rest is after Frame for described start bit.In such cases, start bit, data byte and position of rest for example can comprise 10 character frames or bit pattern. In this type of situationUnder, when the controller of surgical instruments can discrimination bit pattern start bit and when position of rest, controller can be supposed in start bit and stopThe data byte receiving between stop bit or data bit are correct and/or in other words complete. In all cases, start bitAnd/or position of rest can comprise next information byte be transmitted before and/or last information byte by again transmit before stoppingCycle.

To being described further, turn to now Figure 110, the bit pattern that the controller of surgical instruments can comparing data aboveOr whether some is correct and/or in other words complete to determine the data of its reception. In all cases, data can be passedDefeated, to make the controller can assessment data and data and the bit pattern template that expection receives data are compared. For example, thisClass template can be constructed and arranged to make visible data position (for example, leftmost side data bit) for example to comprise 1. If controllerCan identify visible data position and equal 1, referring to the step 9700 in Figure 110, controller can carry out xor operation to dataAnd data and the bit pattern template that can be used for controller are compared, as shown in step 9702. Xor operation is known,And for simplicity's sake, its detailed discussion is not provided in herein. If the bit pattern being received by surgical instruments coupling can be used forThe bit pattern template of controller, controller will identify end effector. In the time identifying end effector, controller canAccess for example can be by the storage information about end effector in the memory chip of controller access. If controller is determined instituteVisible data position in the bit pattern receiving is not equal to 1, refers again to step 9700, and controller can be carried out shifting function.Many shifting functions are known, for example, arithmetic shift, logical shift and/or cyclic shift, described shifting function can be used for removingGo to the abnormal data position receiving before required bit pattern. In all cases, guiding or the leftmost side 0 data bit can be removed,Referring now to the step 9704 in Figure 110,, and bit pattern can for example be shifted to the left, until guiding position is 1. Now, to upperLiterary composition is described further, and the bit pattern of displacement and bit pattern template can be compared to identify end effector. IfDisplacement not match bit pattern template of bit pattern, controller can be shifted to bit pattern again, until in bit pattern underBecome guiding position for one 1 and bit pattern and the bit pattern template of newly displacement can be compared. This type of displacement and compare operationCan be performed any suitable number of times, until end effector is identified and/or surgical instruments assert that end effector can not be byIdentification.

Reader will know, surgical instruments can comprise the information about any suitable numeral of end effector. Work as endWhen actuator has been identified by surgical instruments, to being above described further, the addressable relevant end effector of surgical instrumentsStorage information. For example, this type of storage information can for example be indicated to surgical instruments: 1) in order to complete percussion stroke, carry out endThe distance that firing member in device must advance, and/or 2) motor of the surgical instruments peak power that should apply to firing memberAmount or moment of torsion. This type of information or information set can be unique for each end effector, therefore identification in some wayEnd effector allows surgical instruments to operate according to required mode. If there is no this type of information, surgical instruments can notIdentification utilizes the required haul distance of end effector completely and/or can not suitably limit it and is applied to firing memberPower. In all cases, surgical instruments can be dependent on sensor, and how described sensor is configured to detect percussion strokeTime whether completed and/or be applied to the power of firing member excessive. Sensors with auxiliary electrode were can stop the motor of surgical instruments to surpassThe rate of mistake is provided to and damages the firing member of for example end effector.

To being above described further, some end effector can be more strong than other end effectors, because ofThis some end effector can tolerate from the motor of surgical instruments more energetically. Accordingly, other end effectors can be notToo strong, therefore can only can tolerate the less power from motor. For being determined, surgical instruments is applied to any specific endThe suitable power of actuator, to being above described further, surgical instruments must be identified the end execution that is attached to surgical instrumentsDevice. If end effector can not be identified end effector, surgical instruments can use operation sequence or the pattern of acquiescence. SilentIn the operator scheme of recognizing, the controller of surgical instruments can be applied to motor the Power Limitation of the firing member of end effectorAt minimum or acquiescence power. Minimum power can be selected as making the end effector regardless of used, and motor is not all byDamage end effector. In some cases, carry out for the most weak or least strong end that can use together with surgical instrumentsThe parameter of device can be used by default mode of operation, makes regardless of used end effector, and surgical instruments all will not surpassThe rate of mistake is provided to end effector. In all cases, the appearance of motor power surgical instruments can cause end effector to be carriedFor overpower. In other words, previously by manually driven surgical instrumentation and substantially can not be by this type of manually driven surgicalThe end effector that apparatus damages can be easy to be damaged by motor power surgical instruments. In addition, this type of previous end effector can be notComprise and will be driven by a motor the technology of surgical instruments identification, and due to default action program as herein described, this type of first front endPortion's actuator uses together with still can even driving surgical instruments with motor. That is to say, default action program also can be used otherDefault parameters. For example, default action program can be used the percussion haul distance of minimum or acquiescence. In all cases, acquiescence behaviourThe program of work can adopt the shortest route length of the end effector that can use together with surgical instruments. In such cases, no matterThe end effector using how, and firing member will not collide or clash into the distal end of end effector.

Reader will know, surgical instruments comprises the storage letter of the end effector about using together with surgical instrumentsBreath, the information that can be used for surgical instruments can be upgraded. For example,, if about the preferred operations ginseng of specific end effectorNumber is passed in time and is changed, and the information being stored in each surgical instruments can be upgraded. In addition, for example, when newlyEnd effector be developed when using together with surgical instruments, surgical instruments can upgrade. With regard to surgery deviceTool carries out more news not in time, and surgical instruments can not be identified end effector, and therefore can use institute hereinThe default action program of stating. In various embodiments, surgical instruments can not comprise the end about using together with surgical instrumentsThe storage information of portion's actuator or at least some end effector. In this type of embodiment, end effector can comprise and endStorage information or parameter that actuator is relevant. This type of parameter can be accessed by surgical instruments and/or can be sent to surgical instruments. ?In various situations, to being above described further, the assembling of end effector and surgical instruments can cause end effector to be sent outPenetrate the signal that can be received by surgical instruments. Be similar in addition mentioned abovely, end effector can be prompted to transmit. RespectivelyIn the situation of kind, this signal can be transmitted into surgical instruments by wired and/or wireless connections. In certain embodiments, surgical instrumentsCan point out end effector to transmit.

To being above described further, end effector can comprise and is stored in of relevant end effector whereinOr multiple parameters. This type of parameter can be stored in for example one or more memory devices and be set up. In all cases, this type of parameter canThe required retraction speed, firing member that comprises required percussion speed, the firing member of for example firing member by the distance of advancing orStroke, by the motor of surgical instruments be applied to the peak torque of firing member and/or at end effector in fact for transport in jointThe situation bottom actuator of dynamic formula end effector will carry out the maximum angle of joint motions. Hold some joint motions formula endRow device is disclosed in name and is called ARTICULATABLESURGICALINSTRUMENTCOMPRISINGAFIRINGDRIVE'sIn U.S. Patent application 13/803,097, whole disclosures of this patent application are incorporated herein by reference. Just relevantThe parameter of large joint movement angle, the articulating part that controller can utilize this parameter to carry out confinement end actuator is enteredThe angle of row joint motions. In some cases, maximum joint motions angle can be for example 45 degree, as indulging from surgical instruments axleRecord to axis. With regard to the parameter of the percussion speed about for example firing member and/or retraction speed, this parameter can be passed on exampleAs percentage or the mark of the maximal rate of the required speed for firing member and/or motor. For example,, when advancing firing memberTime, can pass on controller should make motor for example operate at 30% time of its maximal rate for pulling the trigger the value 3 of speed. In addition, exampleAs, when retraction is when firing member, can pass on controller should make motor for example in its maximal rate for the value 5 of retraction speed50% time operation. With regard to the parameter of the peak torque about for example motor, this parameter can be passed on the peak torque of for example motorPercentage or the mark of value and/or peak torque. In addition, with regard to the parameter of the haul distance about for example firing member, thisParameter can pass on firing member by hundred of the maximum length of stroke of the required separation distance being pushed into and/or bounce back and/or surgical instrumentsProportion by subtraction or mark. For example, value 60 can indicate percussion stroke to should be for example 60mm. In all cases, parameter value can anyly closeSuitable form transmits, and comprises for example binary format (comprising data bit and/or byte). The exemplary enforcement of parameter arrayBe illustrated in Figure 110 A.

In various embodiments, to being above described further, surgical instruments can be configured to according to specificallyOrder gets parms from end effector. For example, from the signal of end effector transmitting for example can comprise start bit, for firstThe first bit pattern of parameter (for example maximum joint motions angle), for example, for the second mould of the second parameter (pulling the trigger speed)Formula, for example, for the 3rd bit pattern of the 3rd parameter (retraction speed), for example, for of the 4th parameter (maximum motor torsional moment)Four bit patterns, for example, for the 5th bit pattern and position of rest of the 5th parameter (haul distance). But this is only an example. AppointThe part that the parameter of what suitable quantity can be used as signal transmits. In addition, can use any suitable quantity start bit and/Or position of rest. For example, start bit can be before each parameter bit pattern and/or position of rest can each parameter bit pattern itAfter. As mentioned above, the controller that the use of at least one start bit and/or at least one position of rest can be conducive to surgical instruments dividesWhether completely analyse from the signal of end effector. In certain embodiments, can not use start bit and/or position of rest. In addition,Can launch multiple signals from end effector, to the parameter of end effector is sent to surgical instruments.

In all cases, to being above described further, the controller of surgical instruments can utilize inspection and evaluateWhether its signal that whether signal is complete and/or it has received having received from end effector is what authorize,, carrys out self-identifying that isEnd effector. Inspection and can comprising for guaranteeing that data are by error free the value of storing, launching and/or receiving. It can lead toCrossing following mode produces: calculated example is as the binary value of data and utilize certain algorithm that binary value is combined.For example, the binary value of data can be added together, but can use various other algorithms. Relevant some end effector thereinParameter be stored in the embodiment of surgical instruments, as mentioned above, also can store each this type of end effector inspection and.In use, the addressable supplemental characteristic of the controller of surgical instruments and inspection and value, and by supplemental characteristic calculate inspection andValue (that is, calculating calculated inspection and value) afterwards, controller can by the inspection of calculating and value and the inspection of storing and be worth intoRow relatively. If the inspection of calculating and value equal inspection and the value of storage, controller can be supposed the memory from surgical instrumentsThe total data of retrieval is correct. Now, controller can carry out operate surgical instruments according to the data of uploading from memory subsequently.If the inspection of calculating and value are not equal to inspection and the value of storage, controller can be supposed at least one number in institute's retrieve dataAccording to being incorrect. In all cases, to being above described further, controller can be subsequently for example in default action programThe percussion trigger of lower operate surgical instruments, locking surgical instruments and/or otherwise event is sent to surgical instrumentsUser. In some cases, controller can be attempted uploading data and re-executing from the memory of surgical instruments againInspection and calculating and comparison that literary composition is described. If the inspection of the inspection of recalculating and value and storage and value coupling, controllerCan carry out operate surgical instruments according to the data of uploading from memory subsequently. If the inspection of the inspection of recalculating and value and storageUnequal with value, to being above described further, controller for example manipulate surgical device under default action program subsequentlyThe percussion trigger of tool, locking surgical instruments and/or otherwise event is sent to the user of surgical instruments.

Therein about the parameter of end effector is stored in the embodiment in the memory of end effector, as aboveDescribed, inspection and value also can be stored in the memory in end effector for example. In use, the controller of surgical instruments canThe inspection of access parameter data and storage and value. In all cases, to being above described further, end effector can be sent outPenetrate one or more signals, parameter and inspection and value are sent to surgical instruments by described one or more signals. Due to institute aboveState, the inspection of storage and value and parameter can together with launch, and for discussion object herein, received by surgical instrumentsSurgical instruments can be described as inspection and the value of reception. Once supplemental characteristic is received, be similar to mentioned abovely, controller just can be bySupplemental characteristic calculate inspection and value (, calculating calculated inspection and value) and by calculate inspection and value and reception inspectionTest and value compares. If the inspection of calculating and value equal the inspection and the value that receive, controller can be supposed from end and carries outWhole supplemental characteristics of device retrieval are correct. Now, controller can be grasped according to the data of uploading from end effector subsequentlyMake surgical instruments. If the inspection of calculating and value are not equal to inspection and the value of reception, controller can be supposed in institute's retrieve dataAt least one data be incorrect. In all cases, to being above described further, controller can for example exist subsequentlyThe percussion trigger of operate surgical instruments under default action program, locking surgical instruments and/or otherwise by event transmissionGive the user of surgical instruments. When supplemental characteristic is sent to from end effector by for example one or more wireless transmitting systemsWhen surgical instruments, this type of event can be more frequently. Under any circumstance, in some cases, controller can again attempt fromEnd effector uploads data and re-executes inspection mentioned above and calculating and comparison. If the inspection of recalculating andValue and the inspection receiving and value coupling, controller can carry out manipulate surgical device according to the data of uploading from end effector subsequentlyTool. If the inspection of the inspection of recalculating and value and reception and be worth unequal, to being above described further, controllerCan be subsequently for example percussion trigger of operate surgical instruments, locking surgical instruments and/or with its other party under default action programFormula sends event to the user of surgical instruments. In all cases, due to mentioned above, surgical instruments does not need to storeClose any information of end effector, in the time utilizing end effector described in information for operate surgical instruments. In this type of situationUnder, about can being stored in end completely, the data of the end effector parameter for confirming data integrity and inspection and value carry outOn device. Surgical instruments can comprise operation sequence, and described operation sequence only need to be from enough inputs of end effector to makeUse end effector. The particular operational program that is used for each end effector that can use together with surgical instruments can be and not need. Single operation program can be used together with each end effector. Thus, surgical instruments can not need to upgrade to compriseFor example, for adding the operation sequence of end effector and/or the update routine for existing end effector.

Except or replace as herein described for identifying the wireless communication system of the end effector that is attached to surgical instruments,Turn to now Figure 149-154, can comprise with holding in user's scanning and identification end according to the surgical instruments of at least one embodimentThe device of row device. Figure 153 shows the shank 11020 that comprises barcode reader 11022, described barcode reader 11022Can be configured to scanning and be positioned at Figure 149 and the Figure 150 on the end effector 11060 shown in Figure 151, Figure 152 and Figure 154Shown bar code. Be similar to other embodiment disclosed herein, end effector 11060 can comprise for example shaft portion, anvilSeat 11062 and/or nail bin 11064, wherein one or more parts of end effector 11060 can comprise the bar code on it.In certain embodiments, end effector 11060 can comprise anvil block 11062 and the middle removable portion of nail bin 11064 of being positioned atPart 11063, described removable member 11063 can be moved before or after end effector 11060 has been assembled into surgical instrumentsRemove. In Figure 151, bar code 11065 is illustrated as being positioned on the shaft portion of end effector 11060. In Figure 152, bar shapedCode 11065 is illustrated as being positioned on removable member 11063. In various embodiments, the shank 11020 of surgical instruments can compriseBe configured to read the barcode reader of the bar code on end effector, for example barcode reader 11024. ExampleAs, mainly referring to Figure 154, shank 11020 can comprise inner barcode reader part 11022, described inner bar code readsDevice part 11022 is configured to read the bar code 11065 on the axle that is limited to end effector 11060. At least onePlant in this type of situation, barcode reader part 11022 can comprise groove 11026, and size and the structure of described groove 11026 are designedThe axle that becomes to receive end effector 11060, wherein barcode reader 11024 can be arranged on the opening being defined in groove 11026In 11027 and/or it is installed relatively, make barcode reader 11024 readable bar code 11065. Reader will knowRoad, many barcode readers and bar code agreement are known, and can use any suitable bar code. In certain situationUnder, bar code can comprise for example bidirectional information, described bidirectional information allows bar code to read on two different directions. ?Under certain situation, bar code can use multiple Information Levels. In some cases, bar code agreement can comprise preface information, described inBe following information after preface information, described information is by identification end effector and/or otherwise information is providedGive surgical instruments to allow surgical instruments operation or to utilize particular operational program operation. In some cases, barcode readerCan launch one or more light beams, described one or more light beams can contact the multiple peaks and the paddy that form bar code. In some feelingsUnder condition, the paddy of bar code may extend into and/or is limited in the shaft housing of end effector. The light beam of transmitting can be reflected back it canBy the barcode reader of decipher. That is to say, groove 11026 is located and be arranged in to the barcode reader 11024 of shank 11020In, make transmitting and reflection beam limit or be at least substantially limited in barcode reader part 11022. Like this,Barcode reader 11024 can not can unexpectedly or by mistake scans the different end effectors that can be present in surgery external member,, be not about to the end effector of the end effector that is assembled into surgical instruments.

In all cases, to being above described further, can before being assembled into surgical instruments, end effector makeEnd effector is through the barcode reader of surgical instruments. In the embodiment of various alternatives, surgical instruments can comprise and can moveMoving barcode reader, described removable barcode reader is used in end effector and has been assembled into surgical instruments afterwardsThe bar code of scanning end effector. Under any circumstance, once end effector be identified, at least some cases,Controller is with regard to the addressable operation sequence that is configured to the end effector that uses identification. Aspect certain, bar code canComprise boot loader. In other cases, as herein elsewhere as described in, bar code can submit necessary information to controller orParameter is to be used general operating system. In some cases, can utilize sequence number to identify each end effector, make to appointEven if the end effector what two end effector can be same type also can have two different bar codes thereon. ?In this type of situation, controller can be configured to refusal and use the end effector previously having been scanned by surgical instruments. This type ofSystem can for example stop the end effector of at least part of consumption to be used again.

As mentioned above, end effector can be configured to by wired connection and/or wireless connections and surgical instrumentsCommunication. With regard to wired connection, turn to now Figure 115, the proximal end of end effector (for example end effector 9960 nearSide end 9969) can comprise multiple electric contacts 9968, described multiple electric contacts 9968 can be arranged to and be arranged on surgical instrumentsThe distal end 9942 of axle 9940 on and/or inner multiple electric contacts 9948 electric connections. Mainly referring to Figure 116, eachElectric contact 9968 can comprise the contact element 9967 being positioned at least in part in element cavity 9965. Each electric contact 9968 alsoCan comprise the middle biasing member of madial wall that is positioned at contact element 9967 and element cavity 9965, for example, spring 9966. BulletSpring 9966 can be configured to radially outward bias contact element. Contact element 9967 is from the stop part 9964 of its projection, instituteState stop part 9964 can be at least before end effector 9960 is installed to axle 9940 by spring 9966 be biased into movingly withAnother madial wall of element cavity 9965 engages. Interaction between the sidewall of stop part 9964 and element cavity 9965 canStop the outside motion of contact element 9967. In the time that end effector 9960 is installed to axle 9940, axle electric contact 9948 can resistThe biasing force being applied by spring 9966 inwardly pushes the contact element 9967 of electric contact 9968, as shown in Figure 116. In various feelingsUnder condition, circuit or communicating passage 9950 can be connected in every pair of contact 9948 and 9968. Although show three pairs of contacts, can use and appointContact and/or the communicating passage of what suitable quantity. In various embodiments, referring to Figure 117, axle contact 10048 can comprise separatelyMoveable element 10047 and biasing spring 10046, described biasing spring 10046 is configured to push moveable element10047 with the end effector contact 10068 against corresponding. In certain embodiments, turn to now Figure 118, end effectorOne or both in He Zhou contact, contact can comprise flexible portion. For example, end effector can comprise flexible contacts 10168,Described flexible contacts 10168 can axle contact 9948 corresponding to resilient engagement.

With regard to embodiment mentioned above, in all cases, end effector along the longitudinal axis is installed to axle.In such cases, mainly referring to Figure 115, recent side end effector contact 9968 will be first and side shaft contact 9948 electricity farthestContact. Reader will know, when these contacts form while engaging, end effector 9960 is not attached to axle 9940 yet completely. To the greatest extentManage this type of joint between these contacts can be interim, that is, and in end effector 9960 is placed in axle 9940 deeper itBefore, but the one or more signals from end effector 9960 can be obscured or mistranslate to surgical instruments controller. Carry out in endBefore device 9940 is settled completely, along with longitudinal array indulging of engagement shaft contact 9948 progressively of end effector contact 9968To array, can produce this type of and obscure. In various embodiments, the controller of surgical instruments can be configured to ignore by touchingThe signal of some transmission, side end actuator contact 9968 engages with nearest side shaft contact 9948 as of late. Turn to now Figure 119And Figure 120, a contact be to being different from another contact pair, make controller can identify this when contact has been matched andTherefore when can identify end effector is settled completely. For example, the end effector of surgical instruments and axle can comprise firstTo contact 10248a, 10268a, second couple of contact 10248b, 10268b, and the 3rd couple of contact 10248c, 10268c, Qi ZhongThree pairs of contacts can be different from pair of contact and second pair of contact. In the time that pair of contact 10248a, 10268a have matched, contactElement 10267a can inwardly be pushed, and makes the first pontes 10263a contact communication path of contact element 10267aThe second coupling part 10264a contact communication path of the first via path portion 9951a of 9950a and contact element 10267aThe second path part 9952a of 9950a. In this position of contact element 10267a, first via path portion 9951a and the second pathPart 9952a all can pass through contact element 10267a signal transmission. In the time that second couple of contact 10248b, 10268b have matched, touchPoint element 10267b can inwardly be pushed, and makes the first pontes 10263b contact communication path of contact element 10267bThe second coupling part 10264b contact communication path of the first via path portion 9951b of 9950b and contact element 10267bThe second path part 9952b of 9950b. In this position of contact element 10267b, first via path portion 9951b and the second pathPart 9952b all can pass through contact element 10267b signal transmission. In the time that the 3rd couple of contact 10248c, 10268c have matched, touchPoint element 10267c can inwardly be pushed, and makes the first pontes 10263c of contact element 10467c not contact communication pathThe first via path portion 9951c of 9950c, the second coupling part 10264c of contact element 10267c does not contact communication pathThe second path part 9952c of 9950c and contact first via path portion 9951c. In this position of contact element 10267a, theOne path part 9951c can pass through contact element 10267c signal transmission. Due to mentioned above, when end effector is pacified completelyWhile putting, first, second, and third group can have specific connection structure by its corresponding channel path, and controller can be by structureWhether cause can this structure engaging completely suitable. For example, in the time that end effector initially inserts in axle, the 3rd contact10264c can initially contact the first axle contact 10248a. In this position, only two path parts (, 9951a and 9952a) canSignal is sent to controller from end effector, and controller can be configured to detect the pressure drop between interconnection thus,Described pressure drop be different from when end effector settled completely and make five path parts (, 9951a, 9952a, 9951b,9952b and 9951c) pressure drop that produces can transmit signal time. Similarly, end effector can insert in axle further, straightContact the second axle contact 10248b and the second contact element 10267b contacts the first axle contact to the 3rd contact element 10267c10248a. In this position, only four path parts (, 9951a, 9952a, 9951b and 9952b) can be by signal from endActuator is sent to controller, and controller can be configured to detect the pressure drop between interconnection thus, described pressure drop differenceMade five path parts (, 9951a, 9952a, 9951b, 9952b and 9951c) in settling completely when end effectorThe pressure drop producing can transmit signal time.

In some cases, in the time that end effector is assembled into the slender axles of surgical instruments, operator can engagement end portion holdThe drive system of row device and/or joint motions system are to be conducive to closure, percussion and/or the joint fortune of for example end effectorMoving. End effector can comprise the first jaw, the second jaw and one or more sensor, described one or more sensor quiltsBe constructed to be permeable to detect the position of the first jaw with respect to the second jaw. Referring now to Figure 121-124,, end effector 10360Can comprise the first jaw or anvil block 10362 and the second jaw or nail bin 10364, wherein anvil block 10362 can towards with away from nail bin10364 motions. Conventionally, end effector 10360 inserts in patient body by trochar, and herein, end effector 10360 canBe not easy to observe, even be also like this under endoscope auxiliary. Therefore, the user of surgical instruments can not easily commentValency anvil block 10362 is with respect to the position of the second jaw 10364. In order to be conducive to the use of end effector, as mentioned above, endActuator 10360 can comprise the sensor for detection of the position of anvil block 10362. In all cases, sensors with auxiliary electrode were can quiltBe constructed to be permeable to detect the gap between anvil block 10362 and nail bin 10364. Some sensor can be configured to detect anvil block10362 position of rotation with respect to nail bin 10364. Sensor is disclosed in the name of submitting on March 13rd, 2013 and is called STAPLEThe U.S. Patent application sequence of CARTRIDGETISSUETHICKNESSSENSORSYSTEM 13/800,025 and 2013 3The name of submitting to by the moon 13 is called the United States Patent (USP) Shen of STAPLECARTRIDGETISSUETHICKNESSSENSORSYSTEMIn please sequence 13/800,067. The name of submitting on March 13rd, 2013 is called STAPLECARTRIDGETISSUETHICKNESSThe name of the U.S. Patent application sequence submission on March 13rd, 13/800,025 and 2013 of SENSORSYSTEM is called STAPLEThe whole public affairs of the U.S. Patent application sequence 13/800,067 of CARTRIDGETISSUETHICKNESSSENSORSYSTEMOpening content is incorporated herein by reference. Regardless of used sensor, the position of anvil block 10362 can pass by displayGive the user of surgical instruments. This class display can be positioned at end effector 10360 and/or axle (for example axle of surgical instruments10340) on. In the time that display is positioned on end effector, display can utilize for example endoscope to observe. In this type of situationUnder, display can be positioned on end effector so that its not quilt cover bobbin cover, described trochar allows end effector to enterEnter surgery external member. In other words, display can be oriented to make it to be positioned at respect to the distal end of trochar during useDistally. In the time that display is positioned on axle, display can be positioned on axle so that its not quilt cover bobbin cover. In other words, showDevice can be oriented to make it to be positioned at nearside with respect to the proximal end of trochar during use. Referring to shown in Figure 121-124Embodiment, display 10390 is positioned on axle 10340.

Continue referring to Figure 121, the anvil block 10362 of end effector 10360 is shown and is in a fully open position. At anvil blockThis position of 10362, the firing member 10330 of end effector 10360 is in proximal position and do not advance towards distally. AsTo be described in more detail hereinafter, firing member 10330 advances so that anvil block 10362 moves towards nail bin 10364 towards distally. FigureThe position of the firing member 10330 shown in 121 can represent not percussion, the recent side position of firing member 10300. Work as anvil block10362 in the time of its fully open position, and mainly referring to Figure 125, anvil block display 10390 can not be lit. Reader will knowRoad, anvil block display 10390 illustrates the position of anvil block 10362 in can one in some diverse locations. Anvil block display10390 can show five possible positions of anvil block 10362 by chance; But, can be susceptible to other embodiment, described embodiment canComprise and use more than five indicators or be less than the anvil block display of five indicators. Along with anvil block 10362 is from its open positionMove to its closing position, display 10390 can utilize indicator 10391-10395 that the position of anvil block 10362 is shown continuously.Indicator 10391 shows the anvil block 10362 in slight closing position. Indicator 10392,10393 and 10394 shows placeIn the anvil block 10362 of part closing position. Indicator 10395 shows the anvil block 10362 in complete closure or parallel position.In the time of Figure 121 relatively and Figure 122, reader will know, firing member 10330 has advanced towards distally with closed anvil at least in partSeat 10362. When anvil block 10362 is during in position shown in Figure 122, anvil block position sensor can detect the new position of anvil block 10362Put and the indicator 10391 of anvil block display 10390 can be lit, as shown in Figure 126. In the time comparing Figure 122 and Figure 123,Firing member 10330 has advanced towards distally with closed but incomplete closed anvil block 10362 further. When anvil block 10362 in, anvil block position sensor can detect reposition and the indicator 10393 of anvil block 10362 can be by point when shown in Figure 123 the positionBright, as shown in Figure 127. In the time of further relatively Figure 122 and Figure 123, reader will know, anvil block 10362 has for example been rotatedAnd if approximately 10 degree anvil blocks 10362 have for example been rotated only approximately 5 degree, the indicator 10392 of anvil block display 10390 is byBe lit. In the time comparing Figure 123 and Figure 124, firing member 10330 advances with complete closed anvil block 10362 towards distally. Work as anvilSeat 10362 is in the time of position shown in Figure 124, and anvil block position sensor can detect reposition and the indicator of anvil block 1036210395 can be lit, as shown in Figure 128. In the time of further relatively Figure 123 and Figure 124, reader will know, anvil block 10362Only approximately 5 degree, the instruction of anvil block display 10390 are for example rotated and if be rotated for example approximately 10 degree anvil blocks 10362Device 10394 will be lit.

To being above described further, end effector and/or surgical instruments can comprise can be configured to controlThe controller of anvil block display 10390. For example, when end effector comprises anvil block display 10390, controller can be positioned on endIn portion's actuator. When the axle of surgical instruments comprises any other part bag of anvil block display 10390 and/or surgical instrumentsWhile drawing together anvil block display 10390, surgical instruments can comprise controller. In other cases, in end effector and surgical instrumentsOne can comprise anvil block display 10390, and another one in end effector and surgical instruments can comprise controller. In officeIn what situation, anvil block position sensor can carry out signal with controller and communicate by letter. Controller can be configured to decipher and carry out autobiographyOne or more signals of sensor are to determine the position of anvil block 10362. Controller can be communicated by letter with anvil block display 10390, so thatLight indicator 10391-10395, as mentioned above. In all cases, each indicator 10391-10395 can for example comprise and sending outOptical diode. In such cases, each light emitting diode can be arranged to and the output channel electricity of the microprocessor of controllerBe communicated with, make controller optionally light light emitting diode, and this be independent of other light emitting diodes. In various situationsUnder, controller can the data based on from anvil block sensor be assessed the position of anvil block 10362 continuously, and utilizes these data to connectUpgrade the indicator being lit continuously. For example, when anvil block 10362 is positive closed or while opening, controller can be followed the tracks of anvil block 10362Position and by indicator 10391-10395, this information is shown to rapidly to the user of surgical instruments. This type of situation canProvide the real-time or near Real-time Feedback about the position of anvil block 10362 to user. In other cases, controller can be waited for aobviousShow the position of anvil block 10362, until anvil block 10362 for example stop motion or at least substantially stop motion certain hour section itAfter. Reader will know, indicator 10391-10395 can represent the discrete positions of anvil block 10362; But possible situation is anvilSeat 10362 can for example only pass instantaneously each in these discrete positions in the time that it is closed. In all cases, controllerDefinite which indicator algorithm can be utilized so that will be lighted. For example, controller can be applied algorithm, and which instruction described algorithm determinesDevice more accurately represents the position of anvil block 10362, though anvil block 10362 can be not with can be represented by indicator for displaying device 10390Any one aligning in discrete positions. In all cases, when being positioned at, anvil block 10362 represented by two adjacent indicatorsIn the middle of two discrete positions time, controller can be lighted two adjacent indicators in indicator for displaying device 10390.

In all cases, to being above described further, indicator 10391-10395 can comprise light-emitting diodes separatelyPipe, the described light emitting diode transmitting light of same color or the light of at least substantially the same color. In other cases, indicatorOne or more colors that are different from another indicator 10391-10395 of launching in 10391-10395. For example, instructionIt is yellow that device 10391 can be configured to transmitting, and indicator 10392-10395 can be configured to for example green of transmitting.Reader will know, referring to Figure 122, when anvil block 10362 is during in part closing position shown in Figure 122, is positioned at anvil block10362 and storehouse 10364 between tissue T can not clamped fully by anvil block 10362, and when with this position of anvil block 10362When relevant indicator 10391 is lit yellow, the user of surgical instruments can be alerted with at mobile end effector 10360And/or continue to keep careful before percussion process. In some cases, each in indicator 10361-10365 separately canBe configured to transmitting more than a kind of color. For example, each indicator 10361-10365 can comprise be configured to transmittingGreen and red light emitting diode. In such cases, indicator 10361-10365 can be in this position of instruction anvil block 10362Transmitting green while putting as mentioned above, and alternatively, can be sent out in the time of end effector 10360 and/or surgical instruments existence mistakePenetrate redness.

As mentioned above, the anvil block of end effector can move with respect to nail bin between open position and closing position, andAnd surgical instrument system can be configured to detect the motion of anvil block and send the motion of anvil block to user. NamelySay, can be susceptible to wherein nail bin can be with respect to the embodiment of anvil block motion. In at least one this type of embodiment, anvil block can be solidFixed or can not pivotable. When fixing or can not pivotable time, anvil block can extend rigidly from a part for end effector framework;But anvil block can be with respect to the end effector of surgical instruments from this part and the nail bin of the end effector framework of its extensionAnother part or axle carry out joint motions. No matter whether end effector can carry out joint motions, in this type of embodiment,Nail bin can be with respect to anvil block pivotable. The system and method for the motion for detection of anvil block as herein described is applicable to detecting nailThe motion in storehouse. In addition, as herein described for the system and method for motion that shows anvil block applicable to showing the motion of nail bin.

In all cases, operator can be desirably in the percussion drive member that bounces back during stroke. Be disclosed in Zemlok ' 763In surgical instruments adopt retraction assemblies, described retraction assemblies comprises the manual actuation machinery interface in conjunction with driving tube, described in driveMoving pipe carries out ratchet and moves to start by making to be arranged on retraction lever on shank. If during pulling the trigger power source interrupt orPerson's motor or control system lost efficacy, and this class formation it is said and allows bounce back trigger shaft and the loading unit that finally bounces back of surgeon to driveMoving member. But this type of retraction assemblies can be difficult to effective operation, this is because following true: motor and motor gear case existDuring ratchet motion (startup), keep engaging. Therefore, the retraction assemblies of this device must be able to form enough moments of torsion with rotationGear in gear-box and motor drive shaft, thus allow driving tube manually to be rotated. The generation of this type of power can be by overstressBe arranged on retraction assemblies parts, thereby can cause the significant trouble of retraction assemblies. Surgical instruments 10 shown in Fig. 1-2 8 canThere is unique and novel retraction assemblies structure, can avoid thus this problem and other problems.

For example, surgical instruments 10 can comprise retraction assemblies 120, and described retraction assemblies 120 comprises having top section 126 HesThe retraction base 124 of base section 128. In various forms, retraction assemblies 120 is by driven wheel 130 and retraction gear 132Mechanically join with driving tube 102. Referring to Fig. 5. Driven wheel 130 is non-rotatably attached to driving tube 102, makes driving gearThe rotation of wheel 130 applies rotation to driving tube 102. Driven wheel 130 and retraction gear 132 can comprise that bevel gear etc. is to allow itBetween intermeshing joint, as shown in Figure 5. Retraction gear 132 can be connected to the first axle 134 (Fig. 4 and Fig. 5), described inThe first axle 134 is substantially perpendicular to the retraction top section 126 of base 124 and base section 128 and is extending between the two.Axle 134 can be supported for advancing around the rotation of axle axis " SA-SA ", and described axle axis " SA-SA " substantiallyPerpendicular to the longitudinal axis " LA-LA " of surgical instruments 10. Referring to Fig. 5. In various forms, retraction gear 132 can have and itThe first attached spur gear 136. The first spur gear 136 and the second spur gear 138 join, and described the second spur gear 138 can operateBe supported in the second axle 137, described the second axle 137 also with the mode of perpendicular be arranged on retraction base 124Top section 126 and base section 128 between and can be around the second axle axis being limited by it " SA '-SA ' " rotation. TheTwo spur gears 138 are supported for engaging joint with the 3rd spur gear 140, and described the 3rd spur gear 140 is arranged on first heartOn axle 134. The 3rd spur gear 140 is attached to the first clutch part 144 of one-way clutch assembly 142. Clutch pack 142Also comprise the second clutch part 146 in the first axle 134 that can be rotatably set in of first clutch part 144 tops.Spring (not shown) can be arranged between first clutch part 144 and second clutch part 146, thus by first clutchPart 144 and second clutch part 146 remain on " non-interlocking " orientation of projection, as shown in Figure 5.

Should be appreciated that in the time that driving tube 102 rotates, driven wheel 130 will be to the first spur gear 136, the second spur gear 138Apply rotation with the 3rd spur gear 140 and to first clutch part 144 and corresponding axle 134,137. Due to second fromClosing device part 146 can rotate and can be biased into by the spring structure (not shown) being arranged between them around axle 134Do not engage with first clutch part 144, the rotation of first clutch part 144 is not switched to second clutch part 146.As seen in fig. 5, first clutch part 144 and second clutch part 146 comprise multiple interlockable teeth 148, described multipleInterlockable teeth 148 has flat mutual latching surface and tilt sliding surface separately. As will be described in more detail hereinafter, second clutchPart 146 can be biased into first clutch part 144 and be engaged joint by retraction lever 150. The slidingsurface of tooth 148 allows mutuallyLatching surface contacts with each other, and makes the rotation of second clutch part 146 cause first clutch part 144 to be rotated. The first clutchThe rotation of device part 144 equally also causes joining gear rotation, thereby finally driving tube 102 is applied around longitudinal tool axisThe spinning movement of LA-LA.

Referring now to Fig. 6,, retraction lever 150 can comprise elongate shaft portion part 152, and described elongate shaft portion part 152 comprisesCam portion 154. Cam portion 154 can comprise opening, and described opening can hold unidirectional needle roller clutch (not shown), described listSupported to coordinate with the accessory (not shown) machinery that can be attached to the first axle 134 to needle roller clutch, thus allow retractionLever 150 rotates around the first axle 134. Zemlok ' 763 has also described the behaviour of this type of unidirectional needle roller clutch and accessory memberWork and its full text are incorporated herein by reference. In various forms, retraction lever 150 comprises on it, having separately cam tableOne or more cam members 156 of face 158. In the first orientation, retraction lever 150 enters along the lever pit 14 of shell 12Row arranges, as shown in Figure 1. Be arranged on spring between first clutch part 144 and second clutch part 146 for bias voltageRetraction lever 150 is with the top section 126 against retraction base 124. As visible in Fig. 6, cam member 156 is arranged on retractionIn corresponding cam slot or pit 160 in the top section 126 of base 124. Retraction lever 150 is protected by return spring 162Be held in the first orientation, described return spring 162 is arranged on the top section 126 of retraction base 124 and the cam of retraction lever 150Between part 154. Cam member 156 and cam slot 160 also stop the rotation of the lever 150 that bounces back.

In use, in the time that retraction lever 150 shifts out the lever pit 14 (Fig. 1) in shell 12, cam member 156 is with rightThe cam slot 160 of answering joins to resist the spring being positioned between first clutch part 144 and second clutch part 146Biasing force along the cam portion 154 of bias voltage retraction lever 150 always downwards. This type of moves downward Compress Spring and incites somebody to actionFirst clutch part 144 and second clutch part 146 are forced into interlocking and engage. Cam portion 154 in the counterclockwise directionRotary-actuated needle roller clutch, described needle roller clutch and accessory and the first axle 134 join. Causing continuously of retraction lever 150Move clutch pack 142 is rotated, described clutch pack 142 makes spur gear 136,138,140 and retraction gear 132 thenRotate with driven wheel 130. This makes driving tube 102 rotate around longitudinal tool axis " LA-LA " then. Due to trigger shaft 104Be threadedly engaged with driving tube 102, driving tube 102 rotation in a manner described causes trigger shaft 104 bounce back (proximal shaft is to advancing)In driving tube 102.

In operation, motor 100 can be configured to make driving tube 102 along the direction (example contrary with retraction directionAs, along clockwise direction) rotate around longitudinal tool axis " LA-LA ". This type of rotation of driving tube 102 causes trigger shaft104 axially move along distal direction " DD ". This propelling of the drive member 60 of trigger shaft 104 and loading unit 20 is at thisIn literary composition, can be described as " percussion " action. As seen in fig. 5, for example, gear assembly 170 for realize required driving torque amount withDrive trigger shaft 104 along distal direction " DD ", thereby activate loading unit 20. Gear assembly 170 can comprise and is connected to motor 100Gearbox-case 172. For example, gearbox-case 172 can pass through screw rod 103 or other machanical fasteners and/or securing member structureMake and be connected to motor case 101. Gear assembly 170 and motor 100 can be referred to as " driver element ", are conventionally demarcated as 186.

Gearbox-case 172 is rotatably supported in motor retainer part 190, described motor retainer part 190That be formed as one or by shell 12 otherwise non-rotatably support. This class formation allows driver element 186 outsideIn shell 12, rotate around longitudinal tool axis " LA-LA ", but stop its axially-movable in shell 12. Motor 100 can be for exampleBy having Zemlok ' 763, power source 200 and/or the power system 2000 (Figure 129) of type provide merit in greater detailRate.

In order to be conducive to that electric current is provided to driver element 180 and is more specifically provided to motor 100, spendable onlySpecial contact configuration 210. For example, contact configuration 210 can comprise the annular negative pole motor contact being supported on motor case 101212 and annular anodal motor contact 114, as seen in Figure 4. Fixing cathode contact 216 can be supported in shell 12 to useIn with the sliding-contact of negative pole motor contact 112. Similarly, when driver element 180 is during in the interior rotation of shell 12, fixing positive poleContact 218 can be supported for the sliding-contact with anodal motor contact 214. Fixing cathode contact 216 and cathode contact218 can comprise that flexure spring shape contact is to be conducive to assembling and the adjustment of driver element 186 in shell 12. Fixing negative pole touchesPoint 216 can be electrically coupled to power source 200 by negative wire 220, and fixing cathode contact 218 can pass through positive wire222 are electrically coupled to power source 200. This type of contact configuration allows electrical power to be provided to motor 100 from power source 200, has simultaneouslyBe beneficial to driver element 186 rotation around longitudinal tool axis " LA-LA " in shank shell.

Referring to Fig. 5, gear assembly 170 can comprise the planetary gear structure that is operationally connected to motor drive shaft 107. In oneIn structure, for example, ring gear 173 can be formed on the inner surface of gearbox-case 172. Main central gear 171 can be connected toMotor drive shaft 107. Main central gear 171 can be supported with multiple the first planet teeth that are supported on the first row gear rack 174Wheel 175 engagements engage, and make them also engage joint with ring gear 173. The first central gear 176 can be formed in other words conj.or perhapsBe attached on the first row gear rack 174, and can be supported be supported on multiple second on the second pinion frame 177Planetary gear 178 engagements engage. The second planetary gear 178 also can be supported to engage joint with ring gear 173. Second sunGear 179 can be formed at or perhaps be attached on the second pinion frame 177, and can be supported with multiple third planetsGear 181 engagements engage. Third planet gear 181 can be supported on third planet tooth rest 180 to engage with ring gear 173Engage. The 3rd central gear 183 can be formed at or perhaps be attached on third planet tooth rest 180 and with multiple fourth lines187 engagements of star gear engage, and described multiple fourth planet gears 187 can be attached to output shaft unit 184, described output shaft unit184 are rotatably supported in gearbox-case 172 by bearing 185. Fourth planet gear 187 also can be supported with annularGear 173 engagements engage.

Fig. 7 shows for driver element 186 being rotatably supported on to the one structure in shell 12. As in the figureVisible, the motor of motor retainer 190 is installed hub 192 can comprise the gearbox-case section 196 being rotatably supported in wherein. ?In a kind of structure, for example, gear assembly 170 is rotatably supported in gearbox-case section 196 by bearing 185. Similarly,Motor 100 is rotatably supported in motor mounting casing part 13 by bearing 198. Also can use can by driver element 186Be supported on rotatably the additive method in shell 12.

Output shaft unit 184 is operationally connected to the clutch with the disclosed type of Zemlok ' 763 and structure230 (Fig. 5), this full patent texts is incorporated herein by reference. About the structure of this type of clutch 230 and other details of operationCan derive from this announcement. But in the embodiment of alternative, clutch 230 can be replaced by axle-axle coupling or cannula configuration, instituteState axle-axle coupling or cannula configuration and be directly connected to driving tube 102 for being conducive to output shaft unit 184.

When be disclosed in surgical instruments in Zemlok ' 763 can axially-movable driving beam be stuck or the merit of apparatusWhen rate is lost, user has to, by retraction assemblies, driving beam is retracted to initial position backward to be conducive to loading unitRemove. But effectively retraction is difficult, because retraction system has to produce required enough torque capacities with reversion toothMultiple gear configurations in wheel assembly. Therefore, this type of retraction system can extremely be difficult to effectively operate.

At least one surgical instruments embodiment disclosed herein adopts unique and novel releasable driver element lockFixed system (being conventionally demarcated as 240) is with head it off. As will be described in more detail hereinafter, for example, when releasable drivingUnit locking system 240 is in the time of " locking " position, and driver element 186 is stopped in the interior rotation of shank shell 12. When surgery deviceWhen tool is " fired ", driver element 186 remains on latched position, passes through gear train with the favourable motor torsional moment from motor 100Part 170 is finally delivered to driving tube 102. In the time expecting to start retraction assemblies 120, driver element locking system 240 is moved to" release " position, to allow driver element 186 freely rotation in shell 12, thus without producing enough retraction moments of torsionGear configurations in counter gear assembly 170. In the operating period of retraction assemblies 120, gear assembly 170 can keep operationallyBe connected between motor 100 and driving tube 102. In this type of embodiment, although gear assembly 170 keeps being operationally connected toMotor 100 and driving tube 102, but rotating freely of driver element 186 can reduce when the gear configurations driving tube 102 that reverses to bounce backTime drive gear assemblies 170 required moment of torsion. The reduction of this required torque can improve the validity of retraction system.

As visible in Fig. 8, for example, the 3rd spur gear 140 of retraction assemblies 120 can comprise release cam 141, described solutionLock cam 141 is configured to the locking pawl assembly 250 of activated drive unit locking system 240. Locking pawl groupA kind of form of part 250 is shown in Fig. 9-11. As visible in Figure 10, for example, locking pawl assembly 250 can comprise pawlMember 252, described pawl member 252 has the locking recess 254 being formed at wherein. The size of locking recess 254 can be establishedCount into a series of isolated the first locking wedge shape part 256 around of outer periphery of allowing to be formed at gearbox-case 172 fromIn freely pass. Referring to for example Figure 12 and Figure 13. Pawl locking wedge shape part 258 is formed on locking pawl 252 to useIn engaging with any one locking in the first locking wedge shape part 256, as will be described in more detail hereinafter. As in addition Fig. 8-Visible in 11, locking pawl assembly 250 also can comprise pawl guide rod 260, and described pawl guide rod 260 can be slidedBe received in motor installs in the passage 194 in hub 192 movingly. Pawl spring 262 axle journals are connected on pawl guide rod 260And being positioned at pawl member 252 and motor installs between hub 192 with by the cam engagement part 264 of pawl member 252Be biased into the 3rd spur gear 140 and engage.

Now with reference to Fig. 8, Figure 13 and Figure 14, operation retraction assemblies 120 and driver element locking system 240 are describedOne method. Figure 13 shows the driver element locking system 240 in latched position. As visible in the figure, pawl structurePart 252 is biased into distally latched position by pawl spring 262. When in this latched position, on pawl member 252Pawl locking wedge shape part 258 engages with the corresponding one locking in the locking of first on gearbox-case 172 wedge shape part 256.When in this position, retraction assemblies 120 is not also activated and gear assembly 170 is stopped in shell 12 and rotates. By pressingLower master power switch 80 (Fig. 1) causes the rotation of driving tube 102 to the operation of motor 100 and finally causes trigger shaft 104Axial advance, will drive beam 60 to drive through loading unit 20 towards distally thus.

If in the tissue that for example drives beam 60 to be stuck in to be clamped in loading unit 20 or the power of motor 100 loseLose or because certain other reasons motor 100 can not reverse the rotation of driving tube 102 with the trigger shaft 104 that finally bounces back, faceBed doctor can be with manually bounce back trigger shaft 104 and drive beam 60 of retraction assemblies 120. Fig. 8 shows in not activating positionThe retraction assemblies 120 of putting (for example, when driver element locking system 240 in latched position time). In order to start manual retrieving mistakeJourney, clinician's tractive retraction lever 150 with leave lever pit 14 in shank shell 12 (along " R " direction---referring to figure6). Cam portion 154 the revolving in retraction base 124 that retraction lever 150 causes bouncing back lever 150 along the motion of " R " directionsTurn. The cam that retraction lever 150 causes release cam 141 to engage pawl member 252 along this type of initial rotation of " R " direction connectsClose part 264 so that pawl member 252 is biased into unlocked position, allow thus driver element 186 in shank shell 12 fromRotated by ground. The cam slot 160 of retraction in base is set up and has enough length with the lever 150 that is conducive to bounce backThis rotation of cam portion 154 is advanced and without the initial disengaging of clutch pack 142. Therefore, cam slot 160 can be longer thanBe positioned at the cam slot in previous retraction base structure, to be conducive to causing driving tube 102 to rotate applying actuation motionThe release of drive unit assembly 186 before. For example, at least one structure, cam slot 160 can be elongated, to haveBe beneficial to the lever 150 that makes to bounce back and rotate approximately 15 degree. In the time that clinician continues along " R " direction rotation retraction lever 150, cam connectsClosing part 264 will straddle on the 3rd spur gear 140 along the neighboring of release cam 141. Retraction lever 150 is along " R " directionContinuation rotation cause the engaged at end of cam member 156 on cam portion 154 and its respective cams slit 160, with alongDownward direction bias voltage cam portion 154. This moves downward compression set in first clutch part 144 and second clutch partSpring between 146, the joint so that the tooth 148 on it is engaged with each other. Cam portion 154 continuation rotation in the counterclockwise direction canActivate needle roller clutch, described needle roller clutch and accessory and the handing-over of the first axle. The continuous actuating of retraction lever 150 makes clutchDevice assembly 142 rotates, and described clutch pack 142 makes spur gear 136,138,140 and retraction gear 132 and driving gear thenWheel 130 rotations. This then rotarilys actuate pipe 102 and drives trigger shaft 104.

Retraction lever 150 can activated predetermined amount of travel, until retraction lever 150 a part of latch housing 12 onePart. Then, turn back to its primary importance by return spring 162 lever 150 that makes to bounce back. This action rising cam portion 152,Allow thus second clutch part 146 also to move upward and depart from first clutch part 144. Needle roller clutch can dischargeAccessory, allows retraction lever 150 to turn back to primary importance and do not affect the motion of driving tube 102 thus. Once retraction lever 150Turn back to primary importance, driver element 186 just remains on latched position again. Ratchet motion or the rotation of retraction lever 150 canRepeat repeatedly, until trigger shaft 104 has turned back to desired location.

Due to gearbox-case 172 freely rotation during the applying of this spinning movement, therefore than operation previouslyThe moment of torsion that retraction assemblies is required, the required torque capacity of gear rotariling actuate in pipe 102 and gear assembly 170 significantly reduces. ThisClass formation is also advantageously used in during gear assembly 170 keeps driving to be connected to motor drive shaft 107 and stops retraction assemblies instituteThe torsional forces producing is delivered to motor drive shaft 107. In other words,, in the operating period of retraction assemblies 120, gear assembly 170 can be protectedHold driving and be connected between motor drive shaft 107 and driving tube 102. This class formation is different from following retraction structure, described retraction structureMake and be for example disclosed in the United States Patent (USP) 7,959,050 being incorporated herein by reference in full, but in starting period of retraction systemBetween cause hop physics depart from or physical discontinuity.

Figure 15-18 show another that is substantially similar to above-mentioned surgical instruments 10 except difference described belowSurgical instruments 310. As visible in Figure 16, apparatus 310 comprises gear assembly 470, and described gear assembly 470 for example comprises can be byMode mentioned above is connected to the gearbox-case 472 of motor 100. Gear case assembly 470 and motor 100 can be referred to as and " driveMoving cell ", be conventionally demarcated as 486. Except difference hereinafter described, gear assembly 470 can be identical with gear assembly 170.

In at least one structure, gearbox-case 472 be non-rotatably supported in motor retainer part 190 orCan be integrally formed therewith, described motor retainer part 190 be formed as one in other words conj.or perhaps in shell 12 with described hereinMode non-rotatably attached. Because driver element 486 in this structure does not rotate, it can directly be connected to power with lineSource. For example, motor 100 can provide power according to the mode described in Zemlok ' 763 or other suitable modes. As at Figure 16In visible, gear assembly 470 can comprise the planetary gear structure that is operationally connected to motor drive shaft 107. In one structure, exampleAs, stationary annular gear 473 can be formed on the inner surface of gearbox-case 472. Main central gear 471 can be attached to motor drive shaft107. Main central gear 471 can be supported to nibble with multiple the first planetary gears 475 that are supported on the first row gear rack 474Splice grafting closes. The first planetary gear 475 also can engage joint with ring gear 473. The first central gear 476 can be formed at the first rowOn gear rack 474 and with multiple the second planetary gears 478 that are supported on the second pinion frame 477, engage joint. TheTwo planetary gears 478 also can be supported to engage joint with stationary annular gear 473. Secondary sun wheel 479 can be formed at orPerson is attached on the second pinion frame 477, and can be supported be supported on multiple on third planet tooth rest 480Three planetary gear 481 engagements engage. Third planet gear 481 engages joint with stationary annular gear 473. The 3rd central gear483 can be formed at or perhaps be attached on third planet tooth rest 480. The 3rd central gear 483 can be supported with multiple487 engagements of fourth planet gear engage, and described multiple fourth planet gears 487 can be attached to output shaft unit 484, described outputAxle unit 484 is rotatably supported in gearbox-case 472 by bearing 185. Described multiple fourth planet gear 487 can be withLockable ring gear 485 engagements engage, and described lockable ring gear 485 is rotatably installed in gearbox-caseIn 472. Gear 471,473,475,476,478,479,481 and 483 can be referred to as gear train assembly 460 in this article.

Lockable ring gear 485 is rotatably installed in the annular housing in motor retainer part 190 (Figure 16)In 490. The size of cavity 490 is designed to allow lockable ring gear 485 therein around longitudinal tool axis " LA-LA " rotate freely. Lockable ring gear 485 can be arranged in circular passage 490 and subsequently by plug member 492Keep fixing, described plug member 492 is pressed against or perhaps remains in circular passage 490.

Surgical instruments 310 also can comprise driver element locking system 540, and described driver element locking system 540 comprises canThe displacement ring assemblies 542 of motion. In at least one form, displacement ring assemblies 542 for example can comprise displacement ring 543, described in movePosition ring 543 has at least one and multiple locking components of for example selling 544 forms preferably. Pin 544 is outstanding from displacement ring 543And be configured to optionally lock and engage with lockable ring gear 485. Each in stop pin 544 can be slidedBe received in the respective channel 546 in plug member 492 movingly. Displacement ring 542 is supported for by being attached to clutchThe reversion connector 550 of fixture 560 carrys out axially-movable. As visible in Figure 15, clutch fixture 560 can comprise spring perch,Described spring perch clamps around a part for the neighboring of the 3rd spur gear 140. Clutch fixture 560 tool thereonThere is the lug 562 that is attached to shift unit bar 564. Shift unit bar 564 can be slightly flexible and is connected to pivotly displacementRing 542. Between the normal operating period (, in the time that motor 100 is just driving trigger shaft 104), stop pin 544 and lockable annular toothWheel 475 lockings engage, and to stop lockable ring gear 475 to rotate, make rotation torque be passed to output shaft unit 484And be finally delivered to driving tube 102.

In the time that clinician expects to bounce back trigger shaft 104 by retraction assemblies 120, the lever 150 that makes to bounce back is from Figure 15 instituteThe original position of showing is along " R " direction rotation. In the time that retraction lever 150 rotates, clutch fixture 560 and the 3rd spur gear 140 1Play rotation, thereby make shift unit bar 564 along the mobile displacement ring 542 of distal direction " DD ". When displacement ring 542 is along distal directionWhen " DD " motion, stop pin 544 does not move into and engages with lockable ring gear 485 lockings, to allow lockable annularGear 485 rotates with respect to gearbox-case 472. Clinician's lever 150 ratchets that continue to make to bounce back move to shown in Figure 18End position. In for example at least one is constructed, retraction lever 150 need to only rotate approximately 15 degree, to make stop pin 544 de-From lockable ring gear 485. After clinician discharges retraction lever 150, return spring 162 will make the lever that bounces back150 turn back to original position and clinician can repeat this process, until trigger shaft 104 retracts to the position of expectation. Due toLockable ring gear 485 is freely rotation in bearing case 472, therefore revolving of driving tube 102 and output shaft unit 484Turn and will not be subject to the resistance of other gear configurations in gear assembly 470. Thus, than keeping and gear train in retraction processThe retraction structure that gear configurations in part operationally engages, the required ratchet motion torque capacity of retraction trigger shaft 104 is subtractedLittle. In addition,, although required moment of torsion is reduced, trigger shaft 104 can keep operationally engaging with gear assembly 470. ChangeWord says, trigger shaft 104 can keep being operationally connected to motor 100. When displacement ring 542 contact motors are installed in hub 192When bearing 185, stop pin 544 lockings engage lockable ring gear 485. The axle of hub 192 is installed at displacement loop contacts motorHold 185 or other parts after, clutch fixture 560 can be configured to slide with respect to the 3rd spur gear 140. Therefore,Driver element locking system 540 for being conducive at least one of driver element during retraction action is applied to driving tube 102The rotation of part in shank shell, to reduce the required retraction torque capacity of trigger shaft 104 that bounces back.

Surgical instruments 610 in Figure 19 is substantially the same with surgical instruments 310, and different is that clutch fixture 560 is attachedTo the 3rd spur gear 140 to make to remove the reversion connector 550 for surgical instruments 310. As visible in Figure 18, exampleAs, shift unit bar 564 is directly connected to displacement ring 542. Retraction bar thick stick 150 ratchet motion in the manner described above causes displacement ring542 motion and cause engaging and disengaging of stop pin 544 and lockable ring gear 485.

Figure 20 and 21 shows another surgical instruments substantially the same with surgical instruments 610 except following difference610 '. In this structure, for example, at least two " blade type " locking spring 620 and ring gear locking component 622 are supported on toothOn the gearbox-case 472 ' of wheel assembly 470 '. As visible in Figure 20, each locking spring 620 and corresponding locking componentIn 622 slits 624 that are supported in gearbox-case 472 '. In this structure, be attached to the stop pin 544 ' quilt of displacement ring 542Be constructed to be permeable to contact and inwardly press corresponding locking spring 620, so that corresponding ring gear locking component 622 is pushedBecome with lockable ring gear 485 lockings and engage. When this position (being shown in Figure 20), lockable ring gear485 are prevented from respect to gearbox-case 472 ' rotation. In the time that shift unit bar 564 encircles 542 along the displacement of distal direction " DD " tractive,Stop pin 544 ' departs from the locking spring 620 of its correspondence, and this allows spring 620 deflections to original position, to allow ring gearLocking component 622 departs from lockable ring gear 485, allows thus it with respect to gearbox-case 472 ' rotation. Therefore, whenWhen retraction assemblies 120 starts, lockable ring gear 485 freely rotates with respect to gearbox-case 472 ', thereby reducesThe retraction torque capacity that causes trigger shaft 104 to bounce back required along proximal direction " PD ".

If Figure 22-24 show during operation operationally the distal part of the trigger shaft of attached surgical instruments orMiscellaneous part is stuck or for advancing the operand power of trigger shaft assembly to interrupt for manual retrieving surgery optionallyAnother retraction assemblies structure of the distal part of the trigger shaft of apparatus 710. Except difference hereinafter described, surgical instruments710 design and operation on can be similar to above-described and/or Zemlok ' 763 in disclosed surgical instruments, this full patent textsBe incorporated herein by reference.

As visible in Figure 22-24, surgical instruments 710 comprises the shell 712 that operationally supports trigger shaft assembly 720.Shell 712 can for example operationally support motor and gear assembly (not shown), for spinning movement is applied to driving tube,Thereby can cause trigger shaft assembly 720 to carry out axially-movable according to variety of way as herein described. In at least one structure, hitSend out bar assembly 720 can comprise the nearside firing member that operationally joins according to variety of way disclosed herein and driving tube orBar part 722. In other surgical instruments structures, nearside trigger shaft part 722 can drive structure and system to operate with otherGround handing-over, described other drive structure and system to be configured to axial action to be applied to nearside trigger shaft part 722.

As further visible in Figure 22-24, trigger shaft assembly 720 also can comprise distally firing member or bar part 724,What described distally firing member or bar part 724 were operationally connected to loading unit 20 according to variety of way as herein described canThe proximal end of the driving beam 60 of axially-movable. The retraction assemblies 730 of retraction link assembly 732 forms is connected in closely pivotlyBetween side trigger shaft part 722 and distally trigger shaft part 724. In the structure illustrating, retraction link assembly 732 comprises actuatingDevice connector 734, described actuator connector 734 has the connector shank part that is pinned to nearside trigger shaft part 722736. Retraction link assembly 732 also comprises that the distally retraction that is pinned to actuator connector 734 and distally trigger shaft part 724 connectsFitting 738, as shown in the figure. In illustrative embodiment, shell 712 comprises the joint motions housing parts 714 extending towards distally,The described joint motions housing parts 714 extending towards distally also can comprise the shaft housing section 716 of extending towards distally. When retraction connecting rodWhen assembly 732 axially moves along distal direction and proximal direction in response to the axially-movable of trigger shaft assembly 720, shaft housing section716 can be used for axially supporting retraction link assembly 732. In order to be conducive to bounce back link assembly 732 with respect to shaft housing section 716Axially-movable, actuator connector 734 extends through the slit 718 being formed in shaft housing section 716, as shown in the figure.

Figure 22 shows and pulls the trigger previous trigger shaft assembly 720 and the position of retraction assemblies 730. Figure 23 shows along distallyTrigger shaft assembly 720 after direction " DD " percussion and the position of retraction assemblies 730. If in percussion process, clinicianWish driving beam 60 to retract to backward original position, clinician can only hold the connector handle of actuator connector 734Portion's part 736 and edge " R " direction are carried out pivotable, as shown in figure 24, and thus along nearside " PD " direction tractive distally trigger shaft portionPoints 724 and drive beam 60. As shown in Figure 22 and Figure 23, in percussion process, the proximal end 725 of distally trigger shaft part 724Can be conventionally and the axially distance of spaced apart being demarcated as " RD " of the distal end 735 of nearside trigger shaft part 734. For example,, logicalDuring over-drive unit percussion and normal retraction trigger shaft assembly 720, distance " RD " can remain unchanged. But, work as clinicianWhile starting retraction assemblies, the distal end 735 of the proximal end 725 of distally trigger shaft part 724 and nearside trigger shaft part 734Between distance (distance " RD ' ") will be less than apart from " RD ". In addition, as visible in Figure 22, drive the distally working head of beam 60Between the end position of 62 original position and distally working head 62, the distance of (, after complete percussion stroke) is by distance" FD " represents. If needed, distance " RD " can be enough large, to allow distally trigger shaft part 724 to bounce back (, fullyMove to the distal end 735 near nearside trigger shaft part 722), thus make working head 62 turn back to it from end positionOriginal position. In other words, distally trigger shaft part 724 can bounce back and at least be equal to or greater than the retraction distance of percussion distance " FD "From. In this class formation, for example, if working head 65 is stuck in or is otherwise parked in its end position, retraction assembliesStartup can bounce back completely drive beam 60 so that distally working head 62 is got back to its original position, wherein distally working head 62 can be permittedBeing permitted anvil block 22 pivotally opens and discharges tissue.

Figure 25-28 show the optionally trigger shaft assembly 720 ' of the alternative of manual retrieving. Percussion as shown in the figureBar assembly 720 ' comprises the nearside trigger shaft part that can operationally join according to variety of way disclosed herein and driving tube722 '. In other surgical instruments structures, nearside trigger shaft part 722 ' can drive structure and system operationally to hand over otherConnect, described other drive structure and system to be configured to control action to be applied to nearside trigger shaft part 722 '. PercussionBar assembly 720 ' also can comprise distally trigger shaft part 724 ', and described distally trigger shaft part 724 ' is hollow at least in partAnd according to variety of way as herein described be operationally connected to loading unit 20 can axially-movable the end of driving beam 60Portion. For example, distally trigger shaft part 724 ' can have passage 725 therein, and the size of described passage 725 is designed to allow far awaySide trigger shaft part 724 ' is axially slided retraction apart from " RDD " in nearside trigger shaft part 722 '. Retraction distance can equalOr be greater than percussion distance " FD ", thereby allow retraction assemblies 730 by driving beam 60 enough distances that bounces back, to make its working head62 move to original position " SP " from end position " EP ". Referring to Figure 25. Retraction assemblies 730 ' can comprise retraction breech lock 732 '. ReturnContracting breech lock 732 ' can comprise can position latching (Figure 25 and Figure 26) and not between position latching (Figure 27 and Figure 28) motionBreech lock shank 735. When in position latching, the retraction attached distally of breech lock 732 ' trigger shaft part 724 ', so that it is prevented fromIn nearside trigger shaft part 722 ' and distally trigger shaft part 724 ', slide axially. When in this orientation, nearside trigger shaftPart 722 ' is moved substantially as a whole. Therefore,, when in the time that breech lock is orientated, trigger shaft assembly 720 ' can be along distal direction" DD " percussion is to its end position " EP ", as shown in figure 26. If drive beam 60 to be stuck or apparatus during percussion strokeInterruption in power or loss (or due to other reasons), clinician can be only move to not breech lock by retraction breech lock shank 735Position (Figure 27) and subsequently along manually tractive retraction breech lock 732 ' of proximal direction " PD ", as shown in figure 28.

Various retraction system disclosed herein and structure can solve previous retraction and construct some defect usually running into, instituteState previous retraction and be configured to the motor power drive member that retraction is used by surgical end-effector. For example, disclosed hereinVarious retractions structure can be conducive to the driving structure that retraction action is manually applied to drive member and/or is associated, andConventionally the resistance being provided by the gear/transmission structure being associated with motor can be provided, allow gear/transmission structure to keep simultaneously" drive ground " or be physically connected to motor.

Therefore, at least one example comprises the surgical instruments can with firing member assembly, and described firing member assembly canComprise and being supported for along distal direction and the optionally part of axially-movable of proximal direction. Described apparatus also can comprise bagDraw together driver element, described driver element comprises the motor with motor drive shaft. Gear assembly can drive be connected to motor drive shaft andComprise output shaft assembly, described output shaft assembly is configured to and firing member assembly handing-over, makes when motor drive shaft is along theThis part of one direction of rotation when rotation firing member assembly is axially driven along distal direction and when motor drive shaft edgeWhen the second direction of rotation rotation, this part of firing member is axially driven along proximal direction. Surgical instruments also can compriseRetraction assemblies, the handing-over of described retraction assemblies and firing member assembly in the time that motor is stopped using by other spinning movements along secondDirection of rotation is manually applied to firing member assembly. Surgical instruments also can comprise locking device, described locking device and retractionThe handing-over of assembly and driver element, stops moving other rotations for keeping driving at gear assembly during being connected to motor drive shaftBe delivered to motor drive shaft.

According to another example, surgical instruments can comprise the driver element for generation of firing action and retraction action. InstituteState apparatus and also can comprise surgical end-effector, described surgical end-effector is configured in response to hitting that it is appliedStart to do and retraction action at least one carry out at least one surgical function. Surgical instruments also can comprise firing member groupPart, described firing member assembly can comprise nearside firing member part, described nearside firing member part and driver element can be graspedDo ground handing-over and be configured to operationally receive rotary-actuated motion from it. Firing member assembly also can comprise distallyFiring member part, described distally firing member part is supported on the distally of nearside firing member part and is configured to energyIt is enough that by firing action, action is transferred to surgical end-effector with retraction. Retraction assemblies is operationally connected to nearside firing memberPart and distally firing member part. Retraction assemblies can in unactuated position, (wherein retraction assemblies can and be returned firing actionContracting action is delivered to distally firing member part from nearside firing member part) and actuated position (wherein distally firing member portionPoint axially move with respect to nearside firing member part) between optionally motion.

Another surgical instruments example can comprise shank shell, and described shank shell comprises operationally connect with it thinLong axis component. Slender axles assembly can support trigger shaft that can axially-movable therein. Loading unit is operationally connected to elongatedAxle and be configured to join with trigger shaft. Driving tube is rotatably supported in shank shell and can grasps with trigger shaftDo ground handing-over. Surgical instruments also can comprise the motor with motor drive shaft. Motor is operationally supported in shank shell and canOperatively be connected to power source. Gear assembly can drive and be connected to motor drive shaft and comprise output shaft assembly, described output shaftAssembly is configured to and driving tube handing-over, makes in the time that motor drive shaft rotates along the first direction of rotation driving tube along distal directionDrive trigger shaft and when motor drive shaft along second direction of rotation rotate time driving tube drive trigger shaft along proximal direction. Retraction assembliesCan be with driving tube handing-over for manually it be applied to other spinning movements along the second direction of rotation in the time that motor is stopped using. LockingDevice can with the handing-over of retraction assemblies and gear assembly, stop for keeping driving at motor sub-assembly during being connected to motor drive shaftOther spinning movements are delivered to motor drive shaft.

Refer again to Fig. 1-3, in various embodiments, the motor 100 of surgical instruments 10 is operationally connected to percussion unitPart (for example pulling the trigger element 60), and can during percussion stroke, drive percussion element 60 through end effector or DLU20.For example, during percussion stroke, percussion element 60 can cut and organize and/or will follow closely percussion in tissue. Battery can be by electricityStream is provided to for example motor 100, and be provided to the electric current of motor 100 can be relevant to the moment of torsion being produced by motor 100. In addition,The moment of torsion being produced by motor 100 can be relevant to the percussion force being applied by percussion element 60. Voltage on motor can with for example motor100 angular speed is relevant, described angular speed can with the velocity correlation of percussion element 60. Referring now to Figure 63,, motor can limit and turn roundSquare-voltage curve 5802. In various embodiments, moment of torsion-voltage curve 5802 can have peak torque under optimization voltage VT₁. For example higher than and/or voltage lower than optimization voltage V under, the moment of torsion being produced by motor can be less than peak torque T₁. ExampleAs, under the voltage of 1/2V, moment of torsion-voltage curve 5802 can have and is for example less than T₁Torque T₂。

In various embodiments, carry out with motor the control system that signal communicates by letter and electric current can be provided to motor from battery.In certain embodiments, control system can comprise for example speed management control, and described speed management control can be controlled percussion elementSpeed. Control system can comprise for example variable resistance circuit and/or voltage regulator circuit, described variable resistance circuit and/orVoltage regulator circuit can be controlled the voltage on electric current and/or the motor that is provided to motor. In this type of embodiment, control system canControl moment of torsion and/or the angular speed of motor, and therefore can control percussion force and/or the speed of the percussion element that is connected to motorDegree. For example, the voltage on the adjustable motor of voltage regulator circuit is with the speed of impact percussion element. Referring to Figure 63, if voltageRegulating circuit for example drops to 1/2V by voltage from desired voltage V, and moment of torsion can drop to and be less than peak torque T₁T₂And speed canFor example be adjusted into speed S₂。

In various embodiments, control system can comprise pulse-width modulation circuit, and control system can be proposed current impulseBe fed to motor. Mainly, referring to Figure 64 (a)-65 (b), electric current can constant voltage pulsation. In various embodiments, the duty of pulseCan affect the percussion speed of percussion element 5804 than (, at interval of or duration of the pulse in cycle). When dutycycle higherTime (Figure 64 (a)), each pulse can be the long part at interval and therefore motor can be for example with fast speed S₁Drive percussionElement 5804. In the time that dutycycle is lower (Figure 64 (b)), each pulse can be the shorter part at interval and therefore motor can be for exampleWith compared with jogging speed S₃Drive percussion element 5804. In various embodiments, pulse-width modulation circuit can be at the optimization voltage V of motor(Figure 63) get off current impulse is provided to motor. In this type of embodiment, can be in the feelings that do not reduce the moment of torsion being produced by motorCondition gets off to control the speed of percussion element 5804. For example, motor can for example operate to produce peak torque under optimization voltage VT₁, and can make to pull the trigger speed (for example speed S of element 5804 to reduce by changing the width of potential pulse₃) and/or appointWhat suitable speed drive is through end effector.

In various embodiments, battery can have volt-ampere limit or power threshold. In other words, battery time per unit canThe energy of limited quantity is provided. The power threshold of battery can be relevant to battery and/or circuit design. For example, battery and/or circuitThermoae limit (for example, thermal capacity and/or wire insulation) can affect power threshold. In addition, the power threshold of battery can limit and carryBe fed to the magnitude of current of motor. In various embodiments, utilize the motor of speed management control (for example, pulsewidth modulation) not needThe maximum volt-ampere of battery. For example,, when battery provides current impulse to utilize required speed and under maximum or optimization voltageWhen large or optimization torque drive is pulled the trigger element, residual current can be not used in and drive percussion element. In this type of embodiment, residueElectric current can be used for producing additional torque. Referring to Figure 66 (a)-66 (c), motor can comprise for example additional or ancillary coil group and surplusAftercurrent can be optionally directed to interpole coil group to produce additional torque. In this type of embodiment, motor can for example existCompared with producing compared with high pulling torque under low velocity. In various embodiments, for example volt-ampere limit based on battery of control system is come maximumChange the residual current that is provided to ancillary coil group. In addition, in certain embodiments, control system can pulled the trigger at least one of strokeDuring part, optimize the moment of torsion being produced by motor.

Still referring to Figure 66 (a)-66 (c), battery 6002 can by current selective be provided to motor 6004. Motor 6004 canComprise for example set of main coils 6006 and ancillary coil group 6008. The control of communicating by letter with motor 6004 signals in various embodiments,System 6020 can by current selective be directed to set of main coils 6006 and/or ancillary coil group 6008. For example, control system6020 can be provided to electric current set of main coils 6006 during the first mode of operation, and can electric current be carried in the second operating periodBe fed to for example set of main coils 6006 and ancillary coil group 6008. In various embodiments, switch (for example switch 6010) can beatenBetween open position and closing position motion with by current selective be provided to for example ancillary coil group 6008. At various embodimentIn, coil groups 6006,6008 can be started individually. In addition, control system 6020 can comprise pulse-width modulation circuit 6022, andBattery 6002 can be provided to current impulse at least one in coil groups 6006,6008 for example. In various embodiments, main lineCircle group 6006 can be connected to the first circuit 6030 (Figure 66 (a)), and the second coil groups can be connected to and is independent of the first circuit6030 second circuit 6032 (Figure 66 (a)). In other embodiments, set of main coils 6006 and ancillary coil group 6008 can be by clothBe set to for example (Figure 66 (b)) in parallel or series connection (Figure 66 (c)). In certain embodiments, motor 6004 can comprise for example at least oneIndividual additional set of main coils and/or at least one additional ancillary coil group.

In various embodiments, motor can produce the first torque capacity during the first mode of operation, and in the second operationDuring state, produce the second torque capacity. The second torque capacity can for example be greater than the first torque capacity. In addition, during the second mode of operation byThe low locking of percussion element between the percussion departure date can be organized and/or limit to the additional torque that ancillary coil group 6006 produces. For example,Referring to Figure 67, motor can during the first mode of operation, drive towards distally percussion element and can be during the second mode of operation courtNearside drives percussion element. In various embodiments, than advancing percussion element, motor can produce in the time of retraction percussion elementLarger moment of torsion. In this type of embodiment, can improve the retraction of percussion element. If percussion element is stuck, for example, it is right to organizeIn percussion element and Yan Taihou and/or too hard and can not cut and/or sew up, for example can be with the additional torque percussion that bounces backElement. Still referring to Figure 66, the moment of torsion being produced by motor can be the startup stage of " soft " of percussion stroke little by little increases during 5902And/or can during " soft " stop stage 5904,5906 of percussion stroke, little by little reduce. For example,, when advancing percussion unitWhen part, motor can increase progressively or lentamente percussion speed in the time that percussion stroke starts, and can complete and hit at percussion elementWhen the forward direction part of distribution journey, reduce progressively or lentamente percussion speed. In addition, in various embodiments, motor can be at retractionWhen percussion element, produce immediately immediately or substantially peak torque and/or speed. Motor can for example use interpole coil group 6008(Figure 65 (a)-(c)) maximizes the moment of torsion producing in the time that retraction starts.

Referring to Figure 68, control system can control percussion element with the test section 5912 at percussion stroke during with compared with jogging speedMotion. For example, in the time advancing percussion element, percussion element is initially to move compared with jogging speed, to guarantee the selection of end effectorAnd/or layout is applicable to target tissue. In addition, as described in more detail herein, surgeon can engages actuator, for example switch or pressButton, with the open and close of for example driven motor and startup end effector jaw, motion and/or the loading of percussion elementThe joint motions of unit. When make actuator engage in motor drive actions beginning, (for example, Figure 68 is indicated for firing test sectionTest section 5912) can allow surgeon's " test " surgery action, with guarantee expection and/or suitably surgery action byStart. For example, in certain embodiments, the first button can start the joint motions that drive along the motor of first direction, and theTwo buttons can start the joint motions that drive along the motor of second direction. In the time of surgical instruments rotation and/or " inversion " orientation, theOne and the position of the second button can or become " oppositely " from normal place rotation, as the angle from operator. If theOne direction is the joint motions direction of expection, can expect to guarantee that loading unit carries out joint along first direction during test sectionMotion, that is, in fact the first button activated. Similarly, if second direction is the joint motions direction of expection, can expectGuarantee that loading unit carries out joint motions along second direction during test section, that is, the second button activated. At some embodimentIn, the test section during the initial part of surgery action can be clinician provides the time to be opened in unexpected surgery actionIn moving situation, change and/or the action of amendment surgery. As described in more detail herein, pulse-width modulation circuit (for example pulsewidth modulation electricityRoad 6022) can realize the test section during the initial part of surgery action.

As mentioned above, motor controller can be configured to utilize pulse-width modulation operation motor 6004. In various situationsUnder, motor controller can for example be used for set of main coils 6006 and ancillary coil group 6008 by identical pulsewidth modulation. In other feelingsUnder condition, motor controller can be by the first pulse-width signal for set of main coils 6006, and by second or distinct pulse widths modulationSignal is for ancillary coil group 6008. In some cases, motor controller can by pulse-width signal for coil groups 6006,One in 6008, but be not used in another one. In addition, instruction content as herein described is applicable to having more than two coil groupsMotor. For example, motor controller can utilize multiple pulse-width signals to operate multiple coil groups.

In various embodiments, motor can be for example brush d.c. motor or Brushless DC motor. In certain embodiments,Motor can be stepper motor, for example, mixes stepper motor. Stepper motor can provide rotation to control, and it is unnecessary making encoder. The removal of encoder can for example reduce cost and/or the complexity of motor. Referring to Figure 69 and Figure 70, motor can be simplifies stepEnter motor. For example, motor can comprise four electromagnetic poles opening around peripheral intervals. Referring now to Figure 71-74 (c),, motor can beMix stepper motor. Mix stepper motor and can comprise for example permanent magnet and electromagnet.

The existing surgical instruments structure being disclosed in for example Zemlok ' 763 and Zemlok ' 344 uses two separate motors.Motor is for for example driving element is advanced through loading unit towards distally, this cause closure, the tissue of anvil block cutting,And nail is from being supported on the percussion of the nail bin loading unit. Another motor is used for making loading unit around actuated articulation jointsCarry out joint motions. Relevant other details of carrying out joint motions for loading unit is constructed are also disclosed in United States Patent (USP) 7,In 431,188, the whole disclosure of this patent is incorporated herein by reference. In such device, use two motors to increaseAdd complexity and increase the overall cost of surgical instruments. For example, this class formation can make the retraction system that can lose efficacy during useThe quantity of other mechanisms of unifying doubles. Surgical instruments 810 shown in Figure 29-31 uses single-motor, described motor alternativeGround is used for pulling the trigger surgical end-effector and makes surgical end-effector carry out joint motions, and described surgical end-effector canCarry out at least one operation in response to the firing action that it is applied.

In at least one form, for example, surgical instruments 810 can use institute in the various surgical instruments of describing in detail hereinWith multiple same parts. For example, surgical instruments 810 comprises the shell 12 that wherein operationally supports motor 100, described motor100 are configured to produce rotary-actuated motion. Motor 100 is operationally connected to gear assembly 820, described gear assembly820 have the driving coupler assembly 840 that can selectively locate being connected with it, and described driving coupler assembly 840 will beHereinafter be explained in more detail. Surgical instruments 810 also can comprise the joint motions system that is conventionally demarcated as 859, described passJoint kinematic system and slender axles assembly operationally join for joint motions action is applied to surgical end-effector. ?In a kind of form, for example, joint motions system 859 can comprise the joint motions actuating mechanism that is conventionally demarcated as 860, described jointMotion actuation mechanism except difference hereinafter described, can be substantially similar to Zemlok ' 763 and/or Zemlok ' 344 and/orUnited States Patent (USP) 7,431, disclosed joint motions actuating mechanism in 188. For example, shell 12 can comprise be wherein provided with rotatableThe cylindrical portions 90 of member 92. Rotating parts 92 can join to be conducive to slender axles assembly with the proximal end of slender axles assemblyWith respect to the rotation of shell 12. Operationally support joint motion button and as United States Patent (USP) 7,431 of rotating parts 92,188Disclosed slip-clutch structure. The main joint motion gear 94 of this structure is represented by the dotted line in Figure 29 and Figure 30. Main jointMotion gear 94 can pass through as above-mentioned United States Patent (USP) 7,431, and the slip-clutch described in 188 is connected to main shaft 95, makes winnerThe rotation of joint motions gear 94 will cause the corresponding rotation of main shaft 95. As wherein described in more detail, joint motions button can be used asJoint motions position indicator. Main shaft 95 operationally joins with J-channel component 96, described J-channel component 96 and joint fortuneThe proximal end handing-over of part assembly 97 is dynamically connected. In one form, joint motions connector assembly 97 can comprise and load listThe proximal joint motion connector 98 of joint motions connector 70 (Fig. 3) handing-over in unit 20.

Articulation mechanism 860 also can comprise joint motions drivetrain structure 870, described joint motions drivetrain structure870 operationally join with main joint motion gear 94 and driving coupler assembly 840. As visible in Figure 29 and Figure 30, closeJoint motion drivetrain structure 870 can comprise joint motions driving shaft 872, and described joint motions driving shaft 872 is attached to and drives connectionConnect the efferent of device assembly 840, as will be below described in more detail. The first joint motions driven wheel 873 is attached to joint fortuneMoving driving shaft and the central gear seat ring 875 transmitting on gear 874 with second joint motion engage joint, described second jointMotion is transmitted gear 874 and is rotatably supported in rotating parts 92. Therefore, revolving of the first joint motions driven wheel 873Transduction causes the rotation that gear 874 is transmitted in the second center knuckle motion. As further visible in Figure 29 and Figure 30, " the 3rd " jointKinematic axis gear 877 is installed on it second joint kinematic axis 876 with " the 4th " joint motions worm gear 878. The 3rd jointKinematic axis gear 877 transmits gear 875 with the second center knuckle motion and engages joint, makes the first joint motions driven wheel873 rotation finally causes the rotation of the 3rd joint motions shaft gear 877 and second joint kinematic axis 876. The 4th joint motionsWorm gear 878 engages joint with main joint motion gear 94, makes the rotation of the 4th joint motions worm gear 878 cause main joint motionThe rotation of driven wheel 94 and finally cause joint motions actions to be applied to joint motions connector assembly 97. As will underLiterary composition is described in more detail, and when driving coupler assembly 840 in the time that joint motions control is orientated, joint motions driving shaft 872 is by horseReaching 100 is rotated.

As visible in Figure 31, motor 100 is operationally connected to gear assembly 820. Gear assembly 820 can comprise connectionTo the gearbox-case 822 of motor 100. For example, gearbox-case 822 can be by screw rod 103 or other machanical fasteners and/orSecuring member structure is connected to motor case 101. Gear assembly 820 can comprise the planet tooth that is operationally connected to motor drive shaft 107Wheel construction 821. In one structure, for example, ring gear 823 can be formed on the inner surface of gearbox-case 822. The main sunGear 821 is connected to motor drive shaft 107. Main central gear 821 be supported on multiple the first planets on the first row gear rack 824Gear 825 engagements engage, and make them also engage joint with ring gear 823. The first central gear 826 is formed in other words conj.or perhapsBe attached on the first row gear rack 824, and with multiple the second planetary gears that are supported on the second pinion frame 827828 engagements engage. The second planetary gear 828 is also supported to engage joint with ring gear 823. Secondary sun wheel 829 shapesBe formed in or perhaps be attached on the second pinion frame 827, and engage joint with multiple third planet gears 831. The 3rdPlanetary gear 831 is supported on third planet tooth rest 830 and is supported to engage joint with ring gear 823. The 3rdCentral gear 833 be formed at or perhaps be attached to axle extension 832 on third planet tooth rest 830 and be attached to connectionMultiple fourth planet gears 835 engagements that connect device gear engage, and described coupling gear comprises that being rotatably supported on axle extendsFourth planet tooth rest 834 in portion 832. In addition, thrust bearing 836 can be connected between fourth planet tooth rest 834 by axle journalAxle extension 832 on. Fourth planet gear 835 engages joint with output shaft unit 850, and described output shaft unit 850 is by toothRoller box shell 822 rotatably supports. The second thrust bearing 836 can be supported on fourth planet gear and output shaft unit 850 itBetween, as visible in Figure 30. Fourth planet gear 835 is supported to engage joint with internal gear seat ring 854.

In illustrative embodiment, output shaft unit 850 is operationally connected to has the disclosed class of Zemlok ' 763The clutch 230 of type and structure, this full patent texts is incorporated herein by reference. About structure and the behaviour of this type of clutch 230Other details of doing can derive from this announcement. But in the embodiment of alternative, clutch 230 can be by axle-axle coupling or sleeve pipeStructure is replaced, and described axle-axle coupling or cannula configuration are used for being conducive to output shaft unit 850 and are directly connected to driving tube 102.

Refer again to Figure 31, main joint motion driven wheel 837 is attached to joint motions driving shaft 872 and and fourth lineExternal teeth torus 838 engagements on gear rack 834 engage. In various forms, drive coupler assembly 840 also can comprise connectionConnect device selector member 842, described coupling selector member 842 is connected to gearbox-case 822 or shell 812 movinglyOther parts supported movingly by it in other words conj.or perhaps. In at least one structure, coupling selector member 842 can be with theOne driving shaft retainer part 844 forms together with the first articulating shaft retainer part 846. The first driving shaft retainer portionDivide 844 to comprise the region such as channel form, coarse shape, the regions such as described channel form, coarse shape are configured to not connect movinglyClose the second driving shaft retainer part 845 on output shaft unit 850. Similarly, the first articulating shaft retainer part 846Comprise the region such as channel form, coarse shape, the regions such as described channel form, coarse shape are configured to not engage movingly the 4thSecond joint kinematic axis retainer part 847 on pinion frame 834.

Can understand with reference to Figure 29 and Figure 30 the operation of coupler assembly 840. As visible in Figure 29, coupling selectorMember 842 is pivoted to joint motions position, wherein on the first articulating shaft retainer part 846 and output shaft unit 850Second joint kinematic axis retainer part 847 not movingly engage. When in this position, output shaft unit 850 is hinderedOnly rotate around longitudinal axes L A-LA. Therefore,, when in this position, the operation of motor 100 will cause the 3rd central gear833 rotation, described the 3rd central gear 833 engages joint with fourth planet gear 835. The rotation of fourth planet gear 835By the rotation of the fourth planet tooth rest 834 that causes rotating freely. This type of rotation of fourth planet tooth rest 834 also will causeBe connected to the rotation of the main joint motion gear 837 of joint motions driving shaft 872. The rotation of joint motions driving shaft 872 will be ledCausing the first joint motions driven wheel 873 rotates and drives second joint motion to transmit gear 874. Second joint motion is transmittedThe rotation of gear 874 causes the 3rd joint motions to transmit the rotation of gear and the 4th joint motions worm gear 878. The 4th joint motionsThe rotation of worm gear 878 will drive main joint motion gear 94, and this will cause joint motions action to be applied to joint motions connectionPart 97,70, thus the rotation of loading unit 20 around actuated articulation joints finally caused. Motor drive shaft 107 is along the first rotationThe rotation of direction is by the joint motions that cause loading unit along the first joint motions direction, and motor drive shaft 107 is along contraryThe rotation of direction of rotation is by the joint that causes loading unit edge with the second joint direction of motion of the first joint motions opposite directionMotion.

Next referring to Figure 30, coupling selector member 842 is pivoted to and drives or firing position, wherein first drivesAxle retainer part 844 and not movable joint of the second driving shaft retainer part 845 on fourth planet tooth rest 834.When in this position, fourth planet tooth rest 834 is prevented from rotating around longitudinal axis " LA-LA ". Therefore, when in this positionWhile putting, the operation of motor 100 will cause the rotation of the 3rd central gear 833. The 3rd central gear 833 be supported on fourth planetFourth planet gear 835 engagements on tooth rest 834 engage. Because fourth planet tooth rest 834 is protected because of the first articulating shaftHold not movable the connecing between the second joint kinematic axis retainer part 847 on device part 846 and fourth planet tooth rest 834Close and be prevented from rotation, the rotation of fourth planet gear 835 will cause the rotation of output shaft unit 850. Output shaft unit 850 canBe connected to driving tube 102 by clutch pack 230 or by direct connection. Therefore, the rotation of output shaft unit 850 causesThe rotation of driving tube 102. As mentioned above, the rotation of driving tube 102 causes the axially-movable of trigger shaft (not being shown in Figure 31). HorseReach driving shaft 107 and along the rotation of the first direction of rotation, the distally that causes trigger shaft is advanced, and motor drive shaft 107 is along contraryThe rotation of direction will cause the proximal movement of trigger shaft. In various embodiments, closure (for example, the anvil of loading unit 20 jawsHolder assembly 22 is with respect to the pivotable of carrier 24) can make joint motions system and/or the trigger system of motor 100 and surgical instruments 10Connect and/or separate. For example, anvil assembly 22 can make motor 100 and joint motions system (example with respect to the closure of carrier 24As, with joint motions driving shaft 872) separate, and motor 100 can be connected to trigger system (for example, output shaft unit850). In addition, anvil assembly 22 can make motor 100 separate with trigger system with respect to opening of carrier 24, and can be by motor100 are connected to joint motions system. In this type of embodiment, in the time that loading unit 20 is opened, motor 100 can affect loading unit20 joint motions, and in the time that loading unit 20 is closed, motor 100 can affect the percussion of trigger shaft. Surgical instruments 10 can compriseFor example sensor and/or selector. In certain embodiments, sensor can detect the closure of loading unit 20 jaws. In addition pass,Sensor can for example, carry out signal with selector (coupling selector member 842) and communicate by letter. When anvil assembly 22 is for example with respect to carryingBody 24 is opened and/or when closed, and selector can make motor 100 and joint motions system and/or trigger system connects and/or divideFrom. Than adopting multiple motors so that end effector carries out the elder generation of joint motions and percussion end actuator driven memberFront powered surgical instrument, adopts the various powered surgical instruments of various driving coupler configuration disclosed herein can represent hugeImprove.

For example, at least one surgical instruments comprises the slender axles assembly that limits longitudinal tool axis. Surgical end-effectorOperationally be connected to slender axles assembly for its selective joint motions relatively. Surgical end-effector can be configured toCan carry out at least one operation in response to the firing action that it is applied. Joint motions system can with slender axles assemblyOperationally join for joint motions action is applied to surgical end-effector. Firing member assembly can with slender axles groupPart operationally joins for firing action is applied to surgical end-effector. Surgical instruments also can comprise and be configured to energyEnough produce the motor of rotary-actuated motion. Drive coupler assembly to join with motor and joint motions system, make when drivingCoupler assembly is in the time of the first configuration, and the operation of motor will cause actuation motion to be applied to joint motions system, lead thusCause the joint motions of surgical end-effector with respect to longitudinal tool axis, and when driving coupler assembly in the second configurationTime, the operation of motor will cause actuation motion to be applied to firing member assembly, cause thus firing member assembly by least oneIndividual firing action is applied to surgical end-effector.

Another surgical instruments example can comprise shank, and described shank has the longitudinal work of restriction that is operationally connected to itThe slender axles assembly of tool axis. Loading unit is operationally connected to slender axles assembly and is configured in response to itThe firing action applying cuts off and suture tissue. Loading unit can be configured to around actuated articulation joints with respect to verticalOptionally carry out joint motions to tool axis. Surgical instruments also can comprise joint motions system, described joint motions systemComprise joint motions connector assembly, described joint motions connector assembly is supported and is configured to by slender axles assemblyOperationally join with the actuated articulation joints part in one in slender axles assembly and loading unit. Joint motions activate machineStructure can be supported and be joined it is applied to joint motions actuation motion with joint motions connector assembly by shank. Surgical instrumentsAlso can comprise firing member assembly, described firing member assembly and loading unit operationally join it is applied to percussion movingDo. Motor can operationally support and be configured to produce rotary-actuated motion by shank. Driving coupler assembly canWith motor and the handing-over of joint motions actuating mechanism, make in the time driving coupler assembly in the first configuration, the operation of motor willCause actuation motion to be applied to joint motions system, cause thus the joint fortune of loading unit with respect to longitudinal tool axisMoving, and in the time driving coupler assembly in the second configuration, the operation of motor will cause actuation motion to be applied to percussion structurePart assembly, causes firing member assembly that at least one firing action is applied to loading unit thus.

Another surgical instruments example can comprise the slender axles assembly that limits longitudinal tool axis. Surgical end-effector canOperatively be connected to slender axles assembly for its selective joint motions relatively. Surgical end-effector can be configured to energyEnough carry out at least one operation in response to the firing action that it is applied. Joint motions system can with slender axles assemblyOperatively join for joint motions action is applied to surgical end-effector. Firing member assembly can with slender axles assemblyOperationally join for firing action is applied to surgical end-effector. Motor can be configured to produce rotation and causeMoving motion. Surgical instruments also can comprise with lower device, and described device is for being optionally applied to pass by output action from motorEach in joint kinematic system and firing member assembly.

Drive in surgical instruments at some motor, motor can offer tactile feedback the operator of surgical instruments. For example,The rotation of motor can for example produce vibration action or noise according to direction and/or the speed of motor rotation. But, various motorsCan produce minimum noise, and therefore surgical tactile feedback can be restricted and/or can not cured by surgeryPhysiology solution. For example, various amendments in motor and/or Transmission Design and/or improve and can reduce by motor and/or Transmission Design and produceRaw sense of touch noise. In this type of embodiment, can be the gear of advantageously revising motor and/or being operationally connected to motorAssembly, to produce artificial or deliberate tactile feedback and/or other sensory feedback. In certain embodiments, surgical instruments can be byFeedback sends surgeon to, and without making surgeon shift sight from operating position. For example, motor and/or gear can produceRaw sense of touch and/or audio feedback are to communicate by letter with surgeon. In this type of embodiment, operator is without watching display screen for example to comeFind out mode of operation or the situation of surgical instruments. As described in more detail herein, surgical instruments can transmit for example rotation side of motorTo, described direction of rotation can be corresponding to the joint motions direction of the percussion direction of for example firing member and/or loading unit. Except thisOutside or alternatively, surgical instruments can be for example during percussion stroke, transmit the speed of firing member and/or position and/orCan for example transmit speed and/or the degree of the joint motions of loading unit.

In various embodiments, as described in more detail herein, motor is operationally connected to percussion assembly and/or joint fortuneMoving assembly. Referring to Figure 168, motor 7010 for example can drive motor drive shaft 7014 that can engaging gear assembly 7020. In various enforcementIn example, key, for example key 7016 on motor drive shaft 7014, a part that can engaging gear assembly 7020. In certain embodiments, toothWheel assembly 7020 can comprise and for example coil 7022,7024, and described dish 7022,7024 can be formed at by key and motor drive shaft 7014When joint, rotate together with motor drive shaft 7014 or take turns and turn. For example, the first dish 7022 can comprise groove (not shown). In addition, from horseReach the first key (not shown) that axle 7014 extends and can engage the groove in the first dish 7022, make the first dish 7022 at motor drive shaftWhen 7014 clockwise (CW) rotation, turn clockwise and be rotated counterclockwise in the time that motor drive shaft 7014 counterclockwise (CCW) rotates. ?In at least one embodiment, first key can keep and the first dish 7022 in the whole operating period of surgical instruments and/or its motorIn groove engagement.

In certain embodiments, the first dish 7022 can be balance with respect to its rotation along motor drive shaft 7014. StillReferring to Figure 168, piece (for example piece 7026) can extend and the barycenter of the first dish 7022 can be moved into and depart from from the first dish 7022The rotation of the first dish 7022. For example, piece 7026 can prolong away from motor drive shaft 7014 and/or away from the neighboring of the first dish 7022Stretch. In other words, piece 7026 can be upset the balance of the first dish 7022, causes the rotation of the first dish 7022 unbalance, and therefore existsThe first dish 7022 produces centrifugal force while rotation together with motor drive shaft 7014. Therefore, the rotation of the first dish 7022 and piece 7026 can be producedRaw tactile feedback, for example, the vibration of surgical instruments shell and/or shank or shake. Tactile feedback can be corresponding to surgical instrumentsMode of operation or situation. In addition the tactile feedback being produced by the rotation of the first dish 7022 and piece 7026, can be dependent on motor drive shaft7014 rotary speed. In this type of embodiment, percussion speed and/or joint motions speed also can for example be sent to surgery doctorRaw. For example, first dish 7022 can in the time that motor drive shaft 7014 rotates quickly, produce have the tactile feedback of upper frequency andWhen rotating more slowly, motor drive shaft 7014 produces the tactile feedback with lower frequency.

Be similar to the first dish 7022, in certain embodiments, the second dish 7024 can be with respect to it revolving along motor drive shaft 7014Shaft axis is balance. Still referring to Figure 168, but piece (for example, piece 7028) can extend and can make its matter from the second dish 7024Heart skew. For example, piece 7028 can extend away from motor drive shaft 7014 and/or away from the neighboring of the second dish 7024. In other words, piece7028 can upset the balance of the second dish 7024, cause the rotation of the second dish 7024 unbalance, and therefore the second dish 7024 and horseReach and when axle 7014 rotates together, produce centrifugal force. Therefore, the rotation of the second dish 7024 and piece 7028 can produce tactile feedback, exampleAs, the vibration of surgical instruments shell and/or shank or shake. Tactile feedback can be corresponding to the mode of operation of surgical instruments or feelingsCondition. In addition the tactile feedback being produced by the rotation of the second dish 7024 and piece 7028, can be dependent on the rotary speed of motor drive shaft 7014.In this type of embodiment, percussion speed and/or joint motions speed also can for example be sent to surgeon. At various embodimentIn, the first dish 7022 and/or the second dish 7024 can comprise the extra block that is for example similar to piece 7026 and/or 7028, described additionalPiece can for example contribute to the haptic response of surgical instruments shell and/or shank further. In addition, in certain embodiments, horseOperationally the additional and/or different dishes of engaging gear assembly 7120 are additional and/or different optionally to produce to reach axle 7014Tactile feedback.

Still, referring to Figure 168, the second dish 7024 can comprise inner rim 7026. In various embodiments, the second key 7016 can be fromMotor drive shaft 7014 extends, and can operationally engage the second dish 7024 by inner rim 7030. Inner rim 7030 can comprise exampleAs the multiple curved surfaces 7034 between multiple flat surfaces 7032 and adjacent flat surface 7032. Every pair of flat surfaces 7032 HesCurved surfaces 7034 can limit groove, and described groove can be configured to receive the second key 7016. In certain embodiments, work as key7016 when rotate along first direction, and key 7016 can and be fixed and/or remain on the second dish 7024 in abutting connection with flat surfaces 7032Groove in. In this class formation, the second dish 7024 can rotate along first direction together with motor drive shaft 7014. In addition, at someIn embodiment, in the time that key 7016 rotates along the second direction contrary with first direction, the rotatable curved surfaces that passes through of key 70167034 and can be fixed and/or remain in the groove in inner rim 7030. In other words, key 7016 can be with respect to the second dish7024 rotations. In this class formation, motor drive shaft 7014 can rotate along second direction with respect to the second dish 7024. Therefore, work as motorWhen axle 7014 rotates along first direction, key 7016 can only engage the second dish 7024 and cause the second dish 7024 to rotate. At someIn embodiment, first direction can rotate corresponding to CW, and in other embodiments, first direction can rotate corresponding to CCW.

As described herein, because the joint of the second dish 7024 can be depending on the direction of rotation of motor drive shaft 7014, therefore secondDish 7024 can be only (for example, drives firing member at motor 7010 along a direction at motor drive shaft 7014 during along a direction rotationAnd/or during along a direction rotation loading unit) rotation. For example, the second dish 7024 can be only for example in motor 7010 retraction percussionsMember or rotate while turning clockwise loading unit. This type of selective joint of the second dish 7024 can affect by surgical instruments and produceTactile feedback. In other words, can the selective joint based on the second dish 7024 produce difference and/or larger sense of touch anti-Feedback. For example, second coil in 7024 embodiment that only rotate to rotate while bouncing back firing member at motor 7010 therein, thanDuring the propelling of firing member, during bouncing back, can produce larger tactile feedback. During bouncing back, the second dish 7024 also can haveHelp the generation of tactile feedback, this can cause the higher or larger summation of feedback force. In this type of embodiment, by the first dish7022, the larger tactile feedback that the second dish 7024 produces can indicate firing member just to return by motor 7010 to surgeonContracting. In various embodiments, according to mentioned above, when motor drive shaft 7014 during along a direction rotation only the first dish 7022 can revolveTurn, and two dishes 7022,7024 are all rotatable in the time that motor drive shaft 7014 rotates in opposite direction. Thus, when motor drive shaft 7014While rotation along different directions, dish 7022,7024 can produce different feedbacks.

Referring now to Figure 169,, in certain embodiments, motor 7010 can drive motor drive shaft that can engaging gear assembly 71207014. In various embodiments, key, for example key 7016 on motor drive shaft 7014, can engaging gear assembly 7120. Be similar to gearAssembly 7020, gear assembly 7120 can comprise multiple dishes, for example, the first dish 7122 and the second dish 7124. The first dish 7122 and theTwo dishes 7124 can be formed at by key and rotate together with motor drive shaft 7014 or wheel in the time that motor drive shaft 7014 optionally engagesTurn. For example, the first dish 7122 can comprise groove (not shown). In addition the first key (not shown) extending from motor drive shaft 7014, canThe groove that engages the first dish 7122 rotates the first dish 7122 together with motor drive shaft 7014. In certain embodiments, usingDuring this time, first key can not depart from from the groove of the first dish 7122. The second dish 7124 can comprise for example inner rim 7130, and it is similarIn the inner rim 7030 of the second dish 7024. Inner rim 7130 can comprise multiple flat surfaces 7132 and multiple curved surfaces 7134.As herein, with respect to as described in Figure 168, key 7016 can optionally engage and depart from the according to the direction of rotation of motor drive shaft 7014The inner rim 7130 of two dishes 7124. For example, in the time that motor drive shaft 7014 rotates along first direction, key 7016 can engage the second dish7124, cause thus the second dish 7124 to rotate together with motor drive shaft 7014. In addition, when motor drive shaft 7014 rotates along second directionTime, key 7016 can keep departing from the second dish, makes the key 7016 can be with respect to the interior rotation of periphery 7130 therein of the second dish 7024.

In various embodiments, the first dish 7122 can comprise at least one pick 7126, and the second dish 7124 also can wrapDraw together at least one pick 7128. In the time of dish 7122,7124 rotation, pick 7126,7128 can clash into audio frequency feedback generator 7140Element. For example, pick 7126,7128 can clash into the clicker 7142,7144 of audio frequency feedback generator 7140. At various embodimentIn, in the time that the first dish 7122 rotates, first coils 7122 pick 7126 and can clash into and deflection the first clicker 7142, and when theIn 2 7124 whens rotation second of dish, coiled 7124 pick 7128 and can clash into and deflection the second clicker 7144. Clicker 7142,7144Shock and deflection can cause clicker 7142,7144 resonance and produce audible signal. In other words, the first and second dishes 7122Rotation can produce audible feedback. In addition, the rotary speed of rotating disc 7122,7124 and/or from the first dish 7122 and second dishThe quantity of 7124 picks that extend and structure can affect the frequency of audible signal. In this type of embodiment, the speed of motor and hittingSend out the correspondence percussion speed of element and/or the joint motions speed of loading unit and can for example be transmitted to surgeon.

Mainly, referring to Figure 170 and Figure 171, in various embodiments, the geometry of pick 7126,7128 can affect by soundFrequently the audible signal that feedback generator 7140 produces. For example, pick 7126,7128 can comprise separately non-decay surface 7150 and declineSubtract surface 7152. Non-decay surface 7152 can comprise that for example flat surfaces and decay surface 7152 can comprise for example arc tableFace. In various embodiments, the non-decay surperficial 7150 of pick 7126 is therein positioned at the attenuation meter of pick 7126 when rotatedIn situation before face 7152 (Figure 170), the resonance of clicker 7142 can by 7152 decay of decay surface, the rear end of pick 7126 and/Or stop. For example, the arched geometry on decay surface 7152 can contact the clicker 7126 of deflection, to stop and/or to limit and ringThe vibration of sheet 7126 or resonance. On the contrary, the decay surface 7152 of pick 7126 is positioned at pick 7126 when rotated thereinIn situation before non-decay surface 7150 (Figure 171), the resonance of clicker 7142 can be by the non-decay surface of pick 71267150 decay. For example, the flat geometry on non-decay surface 7150 can be avoided and/or the connecing of restriction and deflection clicker 7126Touch, the resonance of clicker 7126 is allowed to and/or not too restricted. In other words, dish 7122,1724 and relevant pick7126,7128 direction of rotation can affect the audio feedback being produced by surgical instruments. Therefore, can be between the operating period of surgical instrumentsNotify the operator to surgical instruments by its mode of operation, and without making surgeon shift sight from surgical site. For example, soundFrequently signal can be attenuated and can in the time that firing member advances, not be attenuated in the time that firing member bounces back. In other embodiments,Audio signal can be attenuated and can in the time that firing member bounces back, not be attenuated in the time that firing member advances. In addition, real at someExecute in example, for example, the audible signal of decay can be corresponding along the joint motions of a direction with loading unit, and unbatedAudible signal can be corresponding along the joint motions of another direction with loading unit. In various embodiments, at least one audio frequencyFeedback generator can be used alone and/or can use in conjunction with at least one haptic feedback system. In addition, at some embodimentIn, at least one haptic feedback system can be used alone and/or can use in conjunction with at least one audible feedback generator. Audio frequencyFeedback and tactile feedback can send different modes of operation to surgeon and/or can be by for example about same operation shapeThe dual feedback of state offers surgeon.

In various embodiments, surgical instruments can percussion element approach and/or arrive percussion when end of travel and/orLoading unit produces feedback when approaching and/or arriving the joint motions limit. In various embodiments, this feedback can be different from and/Or the feedback producing during being additional to whole percussion stroke and/or when loading unit carries out joint motions. Therefore, surgical instrumentsCan for example pull the trigger to user notice that stroke has approached and/or completed and/or can notify loading unit to operatorApproach the joint motions limit and/or reached the joint motions limit.

Referring now to Figure 172,, motor 7010 and motor drive shaft 7014 can operationally engage with gear assembly 7120, as aboveDescribed in more detail. In addition, the dish 7122,7124 of gear assembly 7120 can contact audible feedback generator 7240, and described audio frequency is anti-Feedback generator 7240 can be similar to for example audible feedback generator 7140. For example, the pick 7126,7128 on dish 7122,7124The clicker 7242,7244 of deflection audible feedback generator 7240, causes thus clicker 7242,7244 resonance and produces the sense of hearingFeedback. In addition, audible feedback generator 7240 can move or translation with respect to gear assembly 7120. As described in more detail below,Audible feedback generator 7240 optionally moves into the clicker 7242,7244 of coiling on 7122,7124 and engages and/or do not connectClose optionally to produce audible signal. In other embodiments, motor, gear assembly and/or its dish are movable, make dishPick optionally moves into and engages and/or do not engage optionally to produce sense of hearing letter with the clicker of audible feedback generatorNumber.

In various embodiments, when firing member is in the time that percussion is moved during stroke, audible feedback generator 7240 can beTranslation in surgical instruments. For example, in percussion stroke beginning, audible feedback generator 7240 can with dish 7122,7124 pick7126,7128 misalignment. In addition, when firing member is towards distal movement and/or approach percussion when end of travel, audible feedbackGenerator 7240 is moveable to and/or moves into the pick 7126,7128 that coils 7122,7124 and aims at. In this type of embodiment,Audible feedback generator 7240 can produce audio feedback in the time that firing member approaches and/or arrive percussion end of travel. Referring to figure173, for example, feedback generator can produce in the position range in approaching and/or arrive percussion end of travel at firing memberFeedback case is as to send the position of firing member to surgeon. In this type of embodiment, surgical instruments can be by percussion strokeEnd sends operator to. For example, refer again to Figure 172, in the time that firing member approaches the distal end of percussion stroke, at least oneIndividual pick 7126,7128 can be aimed at at least one clicker 7242,7244. Now, surgical instruments can produce feedback pulling the triggerThe position of member sends surgeon to. When one in each pick 7126,7128 and clicker 7242,7242 on time, canSend larger and/or different feedbacks to surgeon. In addition, in the time that firing member bounces back, at least one pick 7126,7128 can be again and clicker 7242,7244 misalignment, makes to send that reduce and/or different feedbacks to surgeon. CauseThis, when feedback generator motion is during through percussion stroke, the position that feedback generator can be based on firing member is anti-by what changeFeedback sends operator to. In addition, gear assembly 7120 can comprise that movable one-tenth engages with audible feedback generator 7240 and/or notEngage additional disk and/or pick, and/or audible feedback generator 7240 can comprise movable one-tenth engage with pick with/Or asynthetic additional clicker. In various embodiments, audible feedback generator can be by the alternative of firing member and/or extra orderPut and send surgeon to. For example, audible feedback generator can along percussion and/or retraction path length mid point and/orIncremented point place transmits audio feedback.

Referring now to Figure 174 and Figure 175,, also can be with movable feedback generator by the joint motions of loading unitThe limit sends surgeon to. For example, the audible feedback generator 7240 shown in Figure 172 for example can be along with the joint of loading unitMove and translation. For example, when loading unit is during in non-joint motions configuration, audible feedback generator 7240 can with dish 7122,7124 pick 7126,7128 misalignment. In addition,, in the time that loading unit carries out joint motions, audible feedback generator 7240 canMove to and/or move into the pick 7126,7128 that coils 7122,7124 and aim at. In this type of embodiment, audible feedback occursDevice 7240 can produce audio feedback in the time that loading unit approaches and/or arrive the joint motions limit. For example, refer again to Figure 174And Figure 175, feedback generator can produce at firing member anti-in the position range in approaching and/or arrive percussion end of travelFeedback is to send the position of firing member to surgeon. In this type of embodiment, surgical instruments can pass the joint motions limitGive operator. For example, refer again to Figure 172, for example, when loading unit approaches its joint motions limit (, approaching 45 degree)Time, at least one pick 7126,7128 can be aimed at at least one clicker 7242,7244. Now, surgical instruments can produce feedbackTo send the position of firing member to surgeon. In the time that loading unit is more approaching and/or arrive the joint motions limit, eachPick 7126,7128 can be aimed at in clicker 7242,7244, and can be by larger and/or different feedback transmissionGive surgeon. In addition, when loading unit carries out joint motions when turning back to non-joint motions, neutral position, at least onePick 7126,7128 can be again and clicker 7242,7244 misalignment, outside making that reduce and/or different feedbacks send toThe doctor of section. Therefore, when feedback generator motion is during through percussion stroke, the configuration that feedback generator can be based on loading unit byThe feedback changing sends operator to.

In various embodiments, can be and advantageously protect some parts of surgical instruments in case fluid contact. For example, makeWith during with the contacting and can damage surgical instruments unintentionally of body fluid, and can limit and/or shorten the life cycle of surgical instruments. ThisCan be and advantageously protect some parts of surgical instruments in case the fluid contact during sterilizing outward. For example, with sterilizing and/orThe contact unintentionally of cleaning fluid can damage surgical instruments, and can hinder and/or limit the reusability of surgical instruments. ?In various embodiment, some parts of surgical instruments can be sealed and/or protection in case fluid contact. For example,, in surgical instrumentsSalable the protection in epoxy resin in case fluid of electronic device. The moving component of surgical instruments (for example, motor and/Or the part of gear assembly) also can be sealed and/or protection in case fluid contact. This type of sealing can for example adapt to various motion portionThe rotation of part. In addition, in various embodiments, this type of sealing also can be conducive to heat transmission, makes during surgery instrumentationThe heat producing is dissipated more effectively.

Referring now to Figure 185 and Figure 186,, in certain embodiments, motor 7510 and/or gear assembly 7520 can be sealedAnd/or protection is in case the fluid between the operating period and/or during sterilization treatment. Motor 7510 can be similar to for example motor 100, andGear assembly 7520 can be similar to for example gear assembly 170. For example, in order to seal and protect motor 7510, motor case (rubberSleeve pipe) can be positioned on around the motor 7510 in the shell 12 (Fig. 1) of surgical instruments 10 (Fig. 1). This type of gum sleeve can limitThe heat transmission of motor 7510, and motor 7510 can be easy to overheated. In other embodiments, refer again to Figure 185 and Figure 186,Motor case can comprise and for example can be positioned on motor 7510 clam shell covering 7516 around. In various embodiments, clam shell coversCover piece 7516 can comprise for example articulating and/or at least two parts that are fastened togather. Clam shell covering 7516 can be permittedPermitted the rotation of motor 7510 and/or motor drive shaft. In addition, in certain embodiments, clam shell covering 7516 can be conducive to wherein protectThe heat transmission of the motor 7510 of holding. The contact configuration 7512 (Figure 186) that is similar to contact configuration 210 for example can be used for electric current to carryBe fed to motor 7510. Contact configuration 7512 can comprise for example anodal annular contact 7514a and negative pole annular contact 7514b (figure186), the annular contact 7514a of described positive pole and negative pole annular contact 7514b are for example operably connected to by clam shell covering7516 fixing cathode contact 7518a and the cathode contact 7518b (Figure 186) that keep. In addition, clam shell covering 7516 can compriseLip ring or packing ring 7519, described lip ring or packing ring 7519 can be for example in abutting connection with the peripheries of motor 7510 and by horseReach 7510 and contact configuration 7512 be sealed in clam shell covering 7516. In certain embodiments, clam shell covering 7516 can wrapDraw together metal material, described metal material can for example be conducive to the heat transmission of motor 7510 and can prevent the overheated of motor 7410And/or damage.

Still referring to Figure 185 and Figure 186, gear assembly 7520 also can be sealed and/or protection in case use and/or the sterilizing phaseBetween fluid. For example, packing ring 7522 can be positioned between motor 7510 and the shell of gear assembly 7520, makes motor 7510 HesGear assembly 7520 forms fluid-tight sealing. In addition, Sealed casing pipe 7530 can carry out around the shell of gear assembly 7520Location. Sealed casing pipe 7530 can comprise edge 7536, and described edge 7536 can be in abutting connection with clam shell covering 7516 and/or motor 7510So that fluid-tight sealing to be provided between them. Sealed casing pipe 7530 also can comprise the opening 7532 for output shaft 7524.For example, the output shaft 7524 of gear assembly 7520 is extensible through opening 7532, and fin 7534 may extend into output shaft7524 to provide fluid-tight sealing to allow the rotation of output shaft 7524 in opening 7532 simultaneously. In various embodiments,Sealed casing pipe 7530 and/or its edge 7536, packing ring and/or fin 7534 can comprise rubber and/or another kind of suitable materialFor forming fluid-tight sealing. In various embodiments, mounting bracket or motor retainer 7540 (are similar to retainer190) for example the gear assembly of sealing 7520 and motor 7510 can be remained in the shell 12 (Fig. 1) of surgical instruments 10 (Fig. 1).

Figure 32-37 show another surgical instruments 910, and it can comprise the many of other surgical instruments disclosed hereinFeature. In at least one form, surgical instruments 910 can comprise the joint motions actuating mechanism that is conventionally demarcated as 860, described passJoint motion actuation mechanism can be substantially similar to Zemlok ' 763, Zemlok ' 344 and/or U.S. except difference hereinafter describedDisclosed articulation mechanism in state's patent 7,431,188. In other structures, surgical instruments can comprise as described hereinVarious forms of other joint motions actuating mechanisms. As visible in Figure 32, apparatus 910 comprises shell 12, and described shell 12 canComprise the cylindrical shape mounting portion 90 that rotating parts 92 is installed on it. The nearside of rotating parts 92 and slender axles assembly 16End joins to be conducive to the rotation of slender axles assembly 16 with respect to shell 12. This class formation allows surgeon to make slender axles groupPart 16 and the loading unit 20 (or other forms of surgical end-effector) that is connected to it are around longitudinal tool axis " LA-LA "Optionally rotation. Rotating parts 92 can be arranged in cylindrical portions 90 non-removablely or it can be designed to and itOptionally separate.

As disclosed herein, according to the type of adopted surgical end-effector and/or structure, can expect electric current to carryBe fed to end effector. For example, end effector can start with needs electricity sensor, lamp, actuator etc. But,In this class formation, surgical end-effector can be severely limited around the ability of longitudinal tool axis " LA-LA " rotation,Because the conductor system that power is transported to surgical end-effector or loading unit from electric power source by slender axles can be reeledAnd be subject to badly damaged---especially rotate turn more than one in the situation that at slender axles. Various surgery disclosed hereinApparatus can use the conductor management system that is conventionally demarcated as 930, and described conductor management system can be avoided the problems referred to above.

Refer again to Figure 32, surgical instruments 910 can provide power by electric power source 200. Electric power source can for example haveZemlok ' 763 type in greater detail. For example, electric power source 200 can comprise rechargeable battery (for example, lead base, Ni-based,Lithium ion based etc.). Also can be susceptible to, electric power source 200 can comprise at least one disposable battery. At at least one structureIn, for example, disposable battery can be approximately 9 volts to approximately 30 volts. Figure 32 shows wherein electric power source 200 and comprises multiple battery unitsAn example of 202. The quantity of battery unit used can be depending on the current load requirements of apparatus 910. Also can be susceptible to electric workRate source can comprise the alternating current source can be used in surgery external member. For example, can use external power line will exchange with plug (not shown)The outlet of electricity from surgery external member is transported to various parts, conductor, the sensing in surgical instruments shell and/or end effectorDevice, switch, circuit etc. In other application, surgical instruments 910 can be from for example robot attached with it or perhaps that be connectedSystem obtains power.

As further visible in Figure 32, conductor management system 930 can comprise leading body member and line 932, described leadingBody member and line 932 connect in other words conj.or perhaps handing-over for from its received power with electric power source 200. Leading body member 932Receive spiral, the spool being supported in rotating parts 92 and/or the conductor assembly 934 of can reeling. In one structure, for example,Spiral conductor assembly 934 can be formed or perhaps comprised tape conductor 936 by tape conductor 936, and described tape conductor 936 is with exampleMode as shown in Figure 36 and 37 is wound into spiral form. For example, spiral conductor assembly 934 can be by screw winding conductor systemBecome, described screw winding conductor can have and similarly attribute of screw winding spring (for example, torsionspring). In a kind of formIn, for example, conductor 936 can be wound into turning continuously or circle as shown in Figure 36 and 37. In various structures, conductor 936 can be rolled upAround a whole circle or how whole circle. For example, the conductor 936 shown in Figure 36 and 37 is configured to more than four whole circles.

In various forms, conductor 936 has first end 938, and described first end 938 can for example be fixed to shell 12Cylindrical portions 90. In addition, conductor 936 also has the second end 940, and described the second end 940 is attached to rotating parts 92Supported for therewith rotating and advance by it in other words conj.or perhaps. Therefore, when rotating parts 92 is around cylindrical portions 90 alongWhen one rotatable direction rotation, screw winding conductor 936 is wound into tightr form. On the contrary, when rotating parts 92 is alongWhen two rotatable direction rotations, the tight ness rating of screw winding conductor 936 can reduce. The removable twelve Earthly Branches of rotating parts 92 thereinIn support these configurations in cylindrical portions 90, the first end 938 of screw winding conductor 936 is supported on cylindrical portion removedlyDivide in the slit or other installation cavitys 942 in 90. Referring to for example Figure 36 and Figure 37. In addition, leading body member 932 can be by connectingConnect device assembly 933 and be removably connected to spiral conductor assembly 934. Particularly, dismountable connector assembly 933 can be used for byLeading body member 932 is connected to the first end 938 of screw winding conductor 936, to be conducive to rotating parts 92 from cylindrical portionPoints 90 remove. Other structures that rotatable portion 92 is not intended to remove from cylindrical portions therein, screw winding conductor 936First end 938 can be attached to cylindrical portions 90 and permanently attached (example of leading body member 932 non-removablelyAs, welding) to the first end of screw winding conductor 936.

The second end 940 of screw winding conductor 936 can pass through adhesive, mechanical retainer, snap features structure etc. noBe attached to removedly rotating parts 92. In the structure of alternative, the second end 940 of screw winding conductor 936 canRemove and be supported in the slit or other mounting characteristic structures being provided in rotating parts 92, to be conducive to from rotatable portionDivide 92 dismounting screw winding conductors 936. As visible in Figure 32 and Figure 33, asessory shaft conductor component 944 is attached to spiral cableThe second end 940 of assembly 934. Asessory shaft conductor component 944 can be supported in rotating parts 92 and extend through hollowSlender axles assembly 16. For example, asessory shaft conductor component 944 can extend to its distal end through slender axles assembly 16, with attachedReceive the handing-over such as its other conductors, sensor, power part, described other conductors, sensor, power part etc. and surgery endPortion's actuator, loading unit etc. are connected. Therefore,, in the time that clinician rotates rotating parts 92 with respect to shell 12, spiral is ledBody assembly 934, and more specifically, screw winding conductor 936 will be wound into spiral slightly more closely, be conducive to merit simultaneouslyRate is applied to surgical end-effector, loading unit etc. from power source 200. If clinician with respect to shell 12 along phase negative sideTo rotation rotating parts 92, screw winding cable 936 will be separated coiling slightly, still be conducive to power from power source simultaneously200 are applied to various parts, the sensor on surgical end-effector, loading unit etc.

As further visible in Figure 34 and Figure 35, conductor management system 930 also can comprise the rotation that is conventionally demarcated as 950Limiter assembly. In at least one structure, for example, rotational limit stop assembly 950 comprises limiter member 952, described restrictionDevice member 952 is attached to movingly rotating parts 92 and is configured to be threadedly engaged with on the cylinder 90 of shell 12Threaded portion 99. Limiter 952 can comprise a pair of relative projection 954, and described projection 954 is positioned at and is formed on rotating parts 92Each side of longitudinal fin part 958, as shown in figure 33. When rotation in the cylindrical portions 90 of rotating parts 92 at shell 12Time, this class formation allows limiter 952 axially motion in rotating parts 92. The opposed end 960 of limiter member 952Be configured to be threadedly engaged with the threaded portion 99 of cylinder 90. The nearside stop wall 962 extending internally of rotating parts 92For limiting, in the time that rotating parts 92 rotates on cylinder 90, limiter 942 can axle with the distally stop wall 964 extending internallyTo the travel distance of advancing " TD ".

Figure 33 shows the limiter in the roughly centre position between nearside stop wall 952 and distally stop wall 954952. When in this position, rotating parts 92 will cause limiter edge with respect to cylindrical portions 90 along the rotation of first directionAxially advancing of distal direction " DD ", until limiter 952 contacts distally stop wall 964, as shown in figure 34. Equally, rotatableMember 92 causes limiter 952 along axially the advancing of proximal direction " PD " with respect to cylindrical portions 90 rotation in opposite direction,Until the nearside stop wall 962 of its contact rotating parts 92. This structure limits rotating parts 92 thus can be around cylindrical portionDivide 90 number of times that rotate completely, to avoid the accidental damage of spiral conductor assembly 934. For example, limiter assembly 950 can allow to faceBed doctor makes slender axles assembly, and more specifically rotating parts 92 rotates at least one around cylindrical portions 90 along either directionWhole circle but be no more than for example three whole circles. But, the number of turns, or more specifically, the rotation of rotating parts 92 on cylinder 90 advancedAmount can regulate by the size that regulates travel distance " TD ".

Figure 33 shows the limiter 952 in " neutrality " or " central authorities " position, and wherein limiter is arranged on distally between two partiesBetween stop wall 954 and nearside stop wall 952. In at least one form, when slender axles assembly 16 and rotating parts 92 placesIn the time of corresponding neutral position, biasing member 980 can be used for limiter 952 to be biased on neutral position. As clinician coupleRotatable portion 92 applies while rotatablely moving, and slender axles assembly 16 will rotate in the above described manner. But, when interrupting rotatable structurePart 92 and slender axles assembly 16 apply while rotatablely moving, and biasing member 980 will make limiter 952 turn back to neutral position.

For example, at least one surgical instruments can comprise shell, and described shell can comprise rotating parts, described rotatable structurePart is supported on the mounting portion of shell, on rotating range around its rotation. Limit the elongated of longitudinal tool axisShaft assembly is operationally connected to rotating parts, for therewith advancing around longitudinal tool axis rotation. Surgery deviceTool also can comprise electric power source and comprise conductor management system. Conductor management system can comprise spool conductor assembly, described volumeAxle conductor assembly can be supported in rotating parts and can comprise the first end conductor and the second end conductor, and described first leadsEnd of body is fixed to the mounting portion of shell, and described the second end conductor is fixed to rotating parts for therewith revolvingTurn in scope and rotate. Conductor management system also can comprise leading body, and described leading body can support in the enclosure and be configured toPower can be transferred to spool conductor assembly from electric power source. Spindle guide body can be connected to spool conductor assembly for by electric workRate is transferred to the distal end of slender axles assembly.

Another surgical instruments example can comprise shell, and described shell can comprise rotating parts, described rotating partsBe supported on the mounting portion of shell. Surgical instruments also can comprise slender axles assembly, and described slender axles assembly limits longitudinal instrumentAxis and be operationally connected to rotating parts, for therewith advancing around longitudinal tool axis rotation. SurgeryApparatus also can comprise electric power source and the dress from electric power source through-put power for the conductor by extending through slender axles assemblyPut. Surgical instruments also can comprise the device for limiting, described for the device that limits for by rotating parts around installationThe rotation amount of travel of part is restricted to and comprises around at least one whole circle of mounting portion and the rotation that is no more than three whole circles and advancingScope.

As described herein, end effector can be attached to surgical instruments. As described herein in addition, surgical instruments can comprise and hittingSend out drive unit, described percussion drive unit is configured to the end effector percussion nail from comprising nail bin. Turn to nowExemplary embodiment shown in Figure 94, for example, surgical instruments 9000 can comprise shank 9010, described shank 9010 comprise shell,Grip 9012, percussion actuator 9014 and location motor in the enclosure. Surgical instruments 9000 also can comprise and have percussionThe axle 9040 of bar 9020, described trigger shaft 9020 can advance towards distally by motor and/or bounce back towards nearside. In some situationUnder, end effector can comprise the distal part that can carry out around actuated articulation joints joint motions with respect to portions of proximal. ?In other situations, end effector can not have actuated articulation joints. Surgical instruments also can comprise and be configured to make endAt least a portion of actuator is carried out the joint motions drive unit of joint motions. Refer again to the exemplary enforcement shown in Figure 94Example, for example, surgical instruments 9000 can comprise the distally that can be configured to around actuated articulation joints drive end actuatorThe joint motions actuator 9070 of part. Not being by chance can for end effector shown in Figure 94 (, end effector 9060)The end effector of joint motions; But end effector that can joint motions can use together with surgical instruments 9000. AsThe end effector of the non-joint motions of fruit, for example end effector 9060 uses joint motions together with surgical instruments 9000The operation of actuator 9070 can not affect the operation of end effector 9060.

To being above described further, end effector can comprise the drivetrain corresponding to the drive system of surgical instrumentsSystem. For example, end effector 9060 can comprise firing member, and described firing member can be assembled into surgery at end effector 9060When apparatus, operationally engage with the trigger shaft 9020 of surgical instruments 9000. Similarly, end effector can comprise joint motionsDriver, described joint motions driver can be in the time that end effector be assembled into surgical instruments and the joint motions bar of surgical instrumentsOperationally engage. In addition, end effector 9060 for example can comprise nearside coupling part 9069, described nearside coupling part9069 distally that can be installed to the axle 9040 of surgical instruments 9000 in the time that end effector 9060 is attached to surgical instruments 9000 connectConnect part 9042. In all cases, before end effector can correctly be used, can need the connection of end effectorPartly, the correct assembling of drive system and joint motions system and surgical instruments.

Refer again to Figure 94, shank 9010 can comprise percussion trigger 9014, and described percussion trigger 9014 is by surgeryWhen activating, the user of apparatus 9000 can be configured to operate the motor in shank 9010. In all cases, shank9010 can comprise the controller that can be configured to the actuating that detects percussion trigger 9014. In some cases, percussion is touchedThe actuating of hair device 9014 can closed carry out with controller the circuit that signal is communicated by letter. In such cases, controller can be configured toCan operate subsequently motor to advance trigger shaft 9020 towards distally and to make the jaw 9062 of end effector 9060 towards jaw9064 motions. In some cases, shank 9010 can comprise at least one sensor, and described sensor can detect and be applied to percussionThe angle that the power of trigger 9014 and/or percussion trigger 9014 move. One or more sensors can carry out letter with controllerSignal communication, its middle controller can be configured to based on carry out governor motor from one or more input signals of sensorSpeed. Shank 9010 can comprise safety switch 9015, and described safety switch 9015 can will be in response to from hitting at controllerThe input of sending out trigger 9014 operates motor and is depressed before. In all cases, safety switch 9015 can enter with controllerRow signal communication, the use that its middle controller can electronic locking motor, until safety switch 9015 is depressed. Shank 9010 also canComprise retraction actuator 9074, described retraction actuator 9074 can cause motor to operate in opposite direction in the time activating, to bounce backThe company of percussion 9020 and permission jaw 9062 move away from jaw 9064. In all cases, the actuating of retraction actuator 9074Can closed carry out with controller the circuit that signal is communicated by letter. In some cases, safety switch 9015 can will ring at controllerYing Yu was depressed before its anti-phase reverse operation motor from the input of retraction actuator 9074.

Before the use of surgical instruments 9000 and/or during, some of surgical instruments 9000 and/or surgical instruments 9000System can lose efficacy, invalid and/or defectiveness. In some cases, this type of defect and/or solve its mode can be for surgery deviceThe user of tool is not apparent, thereby can cause user's failure. In addition, this type of uncertainty can increase fix the defectOr " mistake " required time. Surgical instruments 9000 is improved above-mentioned situation. Refer again to Figure 94, surgical instruments 9000Controller can be configured to detect the wrong of surgical instruments 9000 and via one or more indicators, this mistake be passedGive the user of surgical instruments 9000. Surgical instruments 9000 can comprise one or more indicators, described one or more fingersShow the character that device can misdirection in the time being started by controller and make user note defectiveness in some aspects in other words conj.or perhapsThe system of surgical instruments 9000. For example, surgical instruments 9000 can comprise end effector indicator 9086, and carry out described endDevice indicator 9086 is configured to for example indicate the also unassembled axle 9040 to surgical instruments 9010 of end effector. RespectivelyIn the situation of kind, surgical instruments 9000 can comprise sensor, and described sensor can be configured to when detect end effectorWhen also unassembledly to axle 9040 be assembled into axle 9040 and/or can have detected accordingly end effector. Sensor canCarry out signal with controller and communicate by letter, make controller can to receive from the signal of sensor and whether to find out end effectorBe assembled into axle 9040. If it is also unassembled to axle 9040 that controller is found out end effector, carry out the actuatable end of controllerDevice indicator 9086. In all cases, end effector indicator 9086 can comprise lamp, for example red light. In some cases,End effector indicator 9086 can comprise light emitting diode, for example red light emitting diodes. Except or replace mentioned above, outerSection's apparatus 9000 can comprise with controller and carry out the sensor that signal is communicated by letter, and described controller can be configured to detect attachedWhen end effector to axle 9040 was previously used. For example, sensors with auxiliary electrode were can be configured to find out be stored inThe nail percussion structure in end effector has been pulled the trigger and/or can be configured to find out at least some nails in end effectorPart was previously pushed into. In this case, the actuatable end effector indicator 9086 of controller. Therefore, end effectorCan there are some relevant to end effector to user's signaling of surgical instruments 9000 in the startup of indicator 9086Mistake and this type of mistake should or must be solved before operate surgical instruments 9000. Reader will know from Figure 94,End effector indicator 9086 is adjacent with the distal end of axle 9040, and can be located in all cases axle 9040On coupling part, distally 9042 or near. In all cases, end effector indicator 9086 can be located in end and holdsOn row device 9060. Under any circumstance, in the time that end effector indicator 9086 is lit, due to mentioned above, surgical instruments9000 user can find out rapidly and exist mistake and mistake relevant with end effector in some aspects. End effectorLighting of indicator 9086 can indicate end effector can not to be fully assembled to axle 9040 and/or end execution to userDevice can be replaced.

Except or replace end effector indicator 9086, surgical instruments can comprise one or more indicators. For example, outerSection's apparatus 9000 can comprise percussion trigger indicator 9081. Percussion trigger indicator 9081 can with the control of surgical instruments 9000Device processed carries out signal communication, makes for example relevant to the percussion drive unit of surgical instruments 9000 mistake to be detected when controllerTime, controller can start percussion trigger indicator 9081. As shown in Figure 94, percussion trigger indicator 9081 can be positioned on and hitsSend out near trigger 9014. In this case, the user of surgical instruments 9000 is observing percussion trigger indicatorWhen 9081 actuating, deducibility goes out the mistake relevant to percussion drive unit occurs and can start DE source. OneIn a little situations, for example, in the time that the battery of surgical instruments 9000 has defect in some aspects, controller can start percussion triggerIndicator 9081. For example, if the voltage of battery lower than desired level, for example battery can operate horse in required modeReach and pull the trigger trigger indicator 9081 and can indicate and need to replace battery. In all cases, when controller is lighted indicatorFor example, when (end effector indicator 9086 and/or percussion trigger indicator 9081), controller can currently cause surgery deviceOne or more operating systems of tool 9000 can not operate. For example,, when end effector indicator 9086 and/or percussion triggerWhen indicator 9081 is for example lit, controller can be configured to make to pull the trigger trigger 9014 and operationally take off with motorFrom, make the actuating of pulling the trigger trigger 9014 not operate motor. Taking off of this type of operability of percussion trigger 9014 and motorFrom also indicating surgical instruments to experience mistake and user should check surgical instruments to the user of surgical instruments 90009000 indicator is to find out this wrong character.

Refer again to the exemplary embodiment of Figure 94, surgical instruments 9000 can comprise be positioned at retraction actuator 9074 nearRetraction actuator indicator 9085. Be similar to mentioned abovely, retraction actuator indicator 9085 can carry out signal with controllerCommunication, if wherein controller detects for example relevant to retraction drive unit mistake, controller can be lighted retraction actuatingDevice indicator 9085. In all cases, if do not depress safety switch 9015 before activating retraction actuator 9074, controlDevice processed can be lighted retraction actuator indicator 9085. In such cases, retraction actuator indicator 9085 can be used as depressing peaceThe prompting device of full switch 9015. In some cases, surgical instruments 9000 can comprise near the peace being positioned at safety switch 9015Full switch indicator 9082. In some cases, before activating safety switch 9015, user activates retraction actuator9074 o'clock, the controller of surgical instruments 9000 can be lighted safety switch indicator 9082. Safety switch indicator 9082 can with controlDevice processed carries out signal communication, if wherein controller detects that for example trigger system can not be between percussion pattern and retraction patternSwitch, controller can be lighted safety switch indicator 9082. Surgical instruments 9000 can comprise and is positioned at joint motions actuatorNear joint motions actuator indicator 9,084 9070. Be similar to mentioned abovely, joint motions actuator indicator 9084 canCarry out signal with controller and communicate by letter, if wherein controller detects for example relevant to joint motions drive unit mistake,Controller can be lighted joint motions actuator indicator 9084. Surgical instruments 9000 can comprise near the axle being positioned at axle connecting portionIndicator 9083, described axle connecting portion is configured to axle 9040 to be attached to shank 9010. Be similar to mentioned abovely, axle refers toShow that device 9083 can carry out signal with controller and communicate by letter, if wherein controller detects for example relevant to axle 9040 mistake,Controller can be lighted axle indicator 9083.

Turn to now Figure 95, surgical instruments 9100 can comprise the shank 9110 with indicator 9190 arrays, described instructionDevice 9190 arrays are configured to and can operate with the user's instruction to surgical instruments 9100 can exist and surgical instruments9100 and/or the end effector relevant one or more mistakes attached to it. Indicator 9190 arrays can be any suitableMode arrange. In all cases, indicator 9190 arrays can be arranged to for example surgical instruments 9100 and/or and itsThe shape of attached end effector or approximate shapes. In at least one situation, the outer surface of shank 9110 for example can compriseSurgical instruments 9100 and/or be attached to the diagram of the end effector of surgical instruments. Indicator 9190 arrays can be with respect to surgeryThe profile of apparatus and end effector arranges as follows, described mode be configured to pass on just experiencing mistake,Experience mistake and/or can need assessment with the surgical instruments 9100 of solving error and/or a part for end effector. ExampleAs, this profile can be divided to illustrate end effector 9060, axle 9040, shank 9010, percussion trigger 9014, safety switch9015, reverse actuator 9074 and/or joint motions actuator 9070. In all cases, for example, end effector instructionDevice 9192 can be positioned near the diagram of end effector 9060, and axle indicator 9193 can be positioned near the diagram of axle 9040,Percussion trigger indicator 9191 can be positioned near the diagram of percussion trigger 9014, and safety switch indicator 9195 can be locatedNear the diagram of safety switch 9015, the diagram that reverse actuator indicator 9196 can be positioned on reverse actuator 9074 is attachedClosely, and/or joint motions actuator indicator 9194 can be positioned near the diagram of joint motions actuator 9070. RespectivelyIn the situation of kind, the each light emitting diode that comprises in indicator 9191,9192,9193,9194,9195 and/or 9196. ?Under certain situation, each light emitting diode can comprise red light emitting diodes, and described red light emitting diodes can be by controller pointBright existing with misdirection. In all cases, controller the lighting of light emitting diode that can be configured to pulse, this canReduce short user and recognize that indicator has been lit the required time. In some cases, each indicator can comprise and can send outGo out the light emitting diode more than a kind of color. In some cases, each this type of light emitting diode for example can be configured toOptionally transmitting is red and green. If do not detect with surgical instruments 9100 and/or the end effector attached with itThe mistake that relevant portion is relevant, controller can be configured to utilize green to light light emitting diode, or alternatively, asFruit detects the mistake relevant to the relevant portion of surgical instruments 9100 and/or the end effector attached with it, controllerCan be configured to utilize redness to light light emitting diode.

In some cases, as below further described in more detail, for example, when controller is lighted the finger relevant to actuatorWhile showing device, one or more in the actuator of the controller lockable surgical instruments of surgical instruments 9000, for example percussion triggersDevice 9014, retraction actuator 9074 and/or joint motions actuator 9070. For example, controller can light percussion trigger refer toLocking percussion trigger 9014 while showing device 9081 can lock retraction actuator in the time lighting retraction actuator indicator 90859074, and/or can in the time lighting joint motions actuator indicator 9084, lock joint motions actuator 9070. Surgery deviceThe shank 9010 of tool 9000 for example can comprise percussion trigger lock, and described percussion trigger lock can be configured to optionally" locking " percussion trigger 9014 and prevention percussion trigger 9014 activated. Percussion trigger lock can stop percussion trigger9014 are activated the motor with operate surgical instruments fully. In at least one this type of situation, percussion trigger 9014 can quiltStop closed percussion trigger switch. In some cases, the controller of surgical instruments 9000 is except activating percussion trigger lockOutside also can be configured to make its electronic locking percussion trigger 9014, that is, stop the power of battery be provided to motor. ?In this type of situation, electronic locking and mechanical caging can be redundancy; But mechanical caging can be to the user of surgical instruments 9000The percussion feedback that drive unit has operationally been stopped using is provided. As mentioned above, the controller of surgical instruments 9000 also can be for exampleProvide feedback by percussion trigger indicator 9081. In this way, can provide to the user of surgical instruments 9000The tactile feedback making a mistake and/or visual feedback. In some cases, tactile feedback can be pointed out the use of surgical instruments 9000Person is to start to search for visual feedback. For example, user can attempt activate percussion trigger 9014, and can not activate percussion touchWhen hair device 9014, user can check the indicator of lighting of this apparatus subsequently. Under any circumstance, once mistake separatedCertainly, controller just can lock release percussion trigger 9014 by the percussion trigger of stopping using.

Turn to now Figure 100, surgical instruments 9000 can comprise can be configured to hitting of locking percussion trigger 9014Send out trigger lock 9390. Percussion trigger lock 9390 can be shown in the lock-out state shown in Figure 100,101 and 103 and Figure 102Released state between move. In the time of the unassembled axle 9040 to surgical instruments 9000 of end effector, percussion trigger lock9390 can be biased into its lock-out state. Under this lock-out state, percussion trigger lock 9330 can stop or at least substantially stopThe actuating of percussion trigger 9014. More specifically, percussion trigger lock 9390 can comprise bracing strut 9391, pinion 9392 andShank support 9393 and biasing member (for example spring), described biasing member can be configured to bracing strut 9391 bias voltagesBe biased into upper/lower positions to proximal position and by shank support 9393. The proximal position of bracing strut 9391 and shank support 9393Be shown in Figure 101 to upper/lower positions. Mainly, referring to Figure 101, shank support 9393 can comprise hole 9396 and percussion trigger9014 can comprise protuberance 9395, described protuberance 9395 at shank support in it during to upper/lower positions, protuberance 9395 not withHole 9396 is aimed at. More specifically, percussion trigger 9014 can comprise the rocker switch with fulcrum 9397, wherein when shank support9393 in it during to upper/lower positions, at least one that the shake of percussion trigger 9014 will cause extending from percussion trigger 9014Protuberance 9395 is in abutting connection with shank support 9393 and stop percussion trigger 9014 to be activated completely.

In the time that end effector is attached to axle 9040, to being above described further, percussion trigger lock 9390 can beBetween its locked configuration and its release configuration, move. In the release configuration of percussion trigger lock 9390, mainly referring to Figure 102,Shank support 9393 can be in its position upwards. In the upwards position of shank support 9393, be limited in shank support 9393Hole 9396 with aim at from the protuberance 9395 that extends of percussion trigger 9014. In such cases, can shake percussion trigger9014 to activate percussion trigger 9014. More specifically, protuberance 9395 can pass hole 9396, to allow to pull the trigger trigger 9014Around the shake of fulcrum 9397. Therefore, according to mentioned above, shank support 9393 at it to upper/lower positions with upwards between positionMotion is the locking and unlocking percussion trigger 9014 respectively. Can with various mechanisms make shank support 9393 at it to upper/lower positions andIt upwards moves between position. In at least one this type of embodiment, refer again to Figure 100, axle 9040 can comprise percussion lockingActuator 9399, described percussion locking actuator 9399 can be by end effector court in the time that end effector is assembled into axle 9040Nearside displacement. Bracing strut 9391 can be mounted and/or can extend towards nearside from percussion locking actuator 9399, and can wrapDraw together restriction tooth 9391a thereon. Tooth 9391a can engage joint with the tooth 9392a being defined on pinion 9392, makes when hittingWhen sending out locking actuator 9399 and bracing strut 9391 and being shifted towards nearside, pinion 9392 can rotate around axis. Accordingly, shankSupport 9393 can comprise restriction bracket teeth 9393a thereon, described bracket teeth 9393a also with pinion gear teeth 9392a joggle(d) jointClose, therefore, when present dynasty nearside driving shaft support 9391, shank support 9393 can be from its downward position to its position upwards,Release percussion trigger 9014 thus. In order to make shank support 9393 turn back to it to upper/lower positions, can be towards distal movement bracing strut9391, pinion 9392 is rotated in opposite direction. In all cases, bracing strut 9391 can be because end effector be from axle9040 dismounting and towards distal movement.

Turn to now Figure 96-97, shank 9010 for example can comprise trigger lock 9290. Trigger lock 9290 can comprise shell9291, can dispose stop pin 9292, retainer 9293 and biasing member 9294, described biasing member 9294 is configured toStop pin 9294 is moved between the deployed position shown in the not deployed position shown in Figure 96 and Figure 98 and Figure 97 and Figure 99. ?In various situations, retainer 9293 can be made up of the temperature-sensitive material being influenced by heat. In at least one this type of situation, temperatureSensitive material for example for example can be configured to, between solid and fluid (, liquid, suspension and/or gas) and/or exampleAs changed between solid material and semisolid material. When temperature-sensitive material changes or at least partly between solid and liquidWhen ground changes, retainer 9293 releasably locking pins 9294, to lock the percussion trigger of shank 9010 and/or any other closesSuitable trigger. In all cases, stop pin 9294 can slide backward and/or otherwise engage percussion in the time being deployedTrigger. Shank can for example comprise the trigger lock 9290 of any suitable quantity etc., optionally to lock any suitable quantityTrigger and/or button. Reader will know, trigger lock 9290 can be not reducible. In such cases, actuatingTrigger lock 9290 can permanently lock the percussion trigger of for example shank, so that this apparatus can no longer be used. This deviceIn any case can meaning this apparatus, the percussion trigger of tool and/or the permanent locking of any other trigger can not be made againWith, and in other cases, permanent locking can be not easy to reset and can this apparatus be sent to and for example have moneyThe technical staff of lattice or mechanism, described technical staff or mechanism can evaluate this apparatus whether should overhaul and re-use orWhether this apparatus should be dropped. In the time that the heat-sensitive material of retainer 9293 is transformed into fluid at least in part, technology peopleMember can suppose that this apparatus is exposed to the temperature of the transition temperature that exceedes thermo-sensitive material. In all cases, for example, thermo-sensitive materialTransition temperature can be the temperature that solid material for example dissolves, evaporates and/or distils. Under any circumstance, can select retainer9293 heat-sensitive material and transition temperature, to make the release of stop pin 9294 can indicate surgical instruments to be exposed to and to exceedThe temperature of specific or threshold temperature. In all cases, if surgical instruments is exposed to too high temperature, it can damage. ExampleAs, surgical instruments comprises for example solid electronic device, described solid electronic device can damage in the time being exposed to this type of excessive temperature.In such cases, the transition temperature of the threshold temperature of apparatus and retainer 9293 can equate or at least substantially equate, whereinTherefore can suppose, in the time that trigger lock 9290 does not also activate, apparatus is not also exposed to the temperature that exceedes threshold temperature, and correspondingGround, in the time that trigger lock 9290 has activated, apparatus has been exposed to the temperature that exceedes threshold temperature, and surgical instruments can be thusDamage or can at least need it whether to damage and assess.

To being above described further, in the time that surgical instruments is carried out to sterilizing, surgical instruments can be exposed to and exceed threshold valueThe temperature of temperature and/or transition temperature. Many sterilization process are known, and wherein some sterilization process comprise surgical instruments sudden and violentBe exposed to hot step. Except or replace trigger lock 3290, surgical instruments can comprise at least one temperature sensor, at least describedA temperature sensor can be assessed the temperature that surgical instruments stands. In all cases, temperature sensor can with surgical instrumentsController carry out signal communication, whether be exposed to and exceeded threshold temperature thereby can be configured to evaluate surgical instrumentsTemperature. In at least one this type of situation, controller can comprise the micro-processing that can assess the signal receiving from temperature sensorDevice and algorithm. Reached and/or exceeded threshold temperature if controller is determined, controller can permanently stop this apparatusOperated. In other words, controller can apply electronic locking to surgical instruments. Be similar to mentioned above, the permanent lock of apparatusCan not be used again in any case surely can mean this apparatus of gratifying finger, and in other cases, permanent locking can be difficultIn reset and can be sent to for example titular technical staff or mechanism, described technical staff or mechanism by this apparatusWhether can evaluate this apparatus should overhaul and re-use or whether this apparatus should be dropped. Reader will know, whenWhen surgical instruments carries out sterilizing, can required power source carry out controller and/or the sensor of operate surgical instruments. If surgical instrumentsDry embodiment is included in removable battery or the power source to removing before surgery apparatus sterilizing, wherein in such cases, and canIndividually removable battery is carried out sterilizing and/or processed. Reader will know, once removable power source from these firstFront apparatus removes, and controller and/or sensor just can not have enough power monitors the temperature of surgical instruments. Institute is public hereinThe embodiment of the surgical instruments of opening can comprise battery or power source, described battery or power source in the time processing again not from surgeryApparatus removes. This type of battery can be described as permanent battery, because it can be controller in the time that apparatus carries out sterilizing and/or temperature passesSensor provides power. In all cases, the apparatus that comprises permanent battery also can comprise removable and/or rechargeableBattery. Under any circumstance, apparatus can have enough power to detect and to record the temperature that this apparatus is stood. At least oneIn the situation of kind, the controller of apparatus can comprise memory chip, and described memory chip is configured to temperature reading to depositStorage is in temperature register for example. In all cases, controller off and on (, with suitable sampling rate) record fromThe reading of sensor. In some cases, controller can be configured to make be recorded to the temperature higher than specified temp when itWhen degree reading (even lower than threshold temperature), controller can increase sampling rate. Accordingly, controller can be configured to makeWhen proper its is recorded to the temperature reading lower than specified temp subsequently, controller can reduce sampling rate, for example, at the beginning of turning back to itBeginning sampling rate.

Turn to now Figure 99 A, show the algorithm for controller. In some cases, this algorithm can for example comprise and existingWhen surgical instruments has been subject to use first after sterilization treatment for the start-up routine of surgical instruments. Start-up routine can be at apparatusAfter opening, start. In the time that end effector is assembled into apparatus, apparatus can automatically be opened. In at least one this type of situation,End effector can closed carry out with controller the switch that signal is communicated by letter with the assembling of surgical instruments. Except or replace institute aboveState, when the button that apparatus can be on shank for example and/or switch are depressed, open. Under any circumstance, controller can be commented subsequentlyEstimate the temperature reading being stored in memory chip, as mentioned above. For example, controller can be assessed in stored temperature readingWhether any is equal to or greater than threshold temperature. If controller determines that the temperature reading of all storages is lower than threshold temperature,Controller can continue its normal start-up routine. If controller is determined the temperature reading of one or more storages and is equaled or exceeded thresholdValue temperature, controller can continue the program of alternative. In at least one situation, controller can be for example by implementing electronic lockingAnd/or mechanical caging permanently forbids this apparatus, as the application elsewhere as described in. In some other situation, controllerCan allow apparatus to be used, equal or exceed threshold temperature even if controller has been determined the temperature reading of one or more storages.Controller this can be determined to result store in its memory and/or for example, by display (light emitting diode) to usePerson indicates and has previously exceeded threshold temperature and continued subsequently its normal start-up routine. In all cases, controller can be by thresholdValue temperature is as bare maximum, that is, the single temperature reading that is equal to or higher than threshold temperature is enough to trigger the startup journey of alternativeOrder or permanently lock this apparatus. In other cases, for example, controller can be configured to assessment and be equal to or higher thanWhether the temperature reading pattern of threshold temperature is enough to trigger the start-up routine of alternative or permanently lock this apparatus, because the timeWhether all can be apparatus with temperature has got involved in the Consideration of sterilization process.

Turn to now Figure 104-109, surgical instruments (for example surgical instruments 9000) can comprise shank 9410, described shank9410 comprise percussion trigger locking system 9490. Shank 9410 is similar to shank 9110 in many aspects, and these aspectsRepeat no more for simplicity's sake in this article. Be similar to mentioned abovely, percussion trigger locking system 9490 can be configured to energyEnough the locking and unlocking percussion triggers 9414. Be similar in addition mentioned abovely, percussion trigger locking system 9490 can be in endWhen the unassembled axle 9040 to surgical instruments of actuator, be biased into lock-out state (as shown in Figure 104-107), and hold in endRow device moves to released state (as shown in Figure 108 and 109) while being fully assembled to axle 9040. To being above described further,Mainly, referring to Figure 108 and Figure 109, in the time that end effector is assembled into axle 9040, end effector can push sensing structure towards nearsidePart 9499. Sensing member 9499 can extend to its proximal end from the distal end of axle 9040 through axle 9040. In use, whenWhen end effector is assembled into axle 9040, end effector can push in abutting connection with the distal end of sensing member 9499 and towards nearsideSensing member 9499, as described above. As shown in Figure 108 and Figure 109, when present dynasty's nearside pushes sensing member 9499, sensing structurePart 9499 can contact the swing arm 9486 of percussion trigger locking system 9490 and swing arm 9486 is rotated up. Swing arm9486 can comprise the end that is pivotally mounted to shank shell via pin 9487, and described pin 9487 is configured to allow pendulumSwing arm 9486 rotates around axis. Swing arm 9486 also can comprise the cam follower part can sensed member 9499 contacting9488. In use, sensing member 9499 can make swing arm 9486 to upper/lower positions with upwards move between position, hits to makeSend out trigger locking system 9490 moves respectively between locked. Percussion trigger locking system 9490 alsoCan comprise the stop pin 9485 that is installed to swing arm 9486, described stop pin 9485 in the time that swing arm 9486 rotates up can byUpper tractive, and correspondingly in the time that swing arm 9486 is rotated down, can be urged downwardly. Stop pin 9485 can comprise peace pivotallyInstall to the upper end of swing arm 9486 and work as stop pin 9485 and stretch through being limited to percussion trigger to upper/lower positions time delay in itThe lower end in the hole 9483 in 9481. In all cases, hole 9483 can be limited to the arm 9482 extending from percussion trigger 9414In. When stop pin 9485 is positioned at hole 9483 when interior, percussion trigger 9414 can not be around its fulcrum 9484 pivotables, and thereforePercussion trigger 9414 can not be actuated by the user. When stop pin 9485 is in it upwards when position, stop pin 9485 can not be determinedTherefore position, in hole 9483, and is pulled the trigger trigger 9414 and can be actuated by the user. In the time that end effector is dismantled from axle 9040,Sensing member 9499 can move to its distal position from its proximal position. In other words, be if there is no attached to axle 9040End effector, biasing member (for example spring 9489) can be by swing arm 9486 biased downward, and therefore will pull the trigger triggeringDevice locking system 9490 is biased into its lock-out state. In addition, unassembled when the axle 9040 when end effector, spring 9489 can lead toCrossing arm 9482 is applied to biasing force sensing member 9499 and pushes sensing member 9499 towards distally.

To being above described further, the operation of sensing member 9499 and percussion trigger locking system 9490 can be used forCommunicate by letter with the user of surgical instruments. For example, unassembled when the axle 9040 when end effector, sensing member 9499 is by towards distallyBias voltage and percussion trigger 9414 are by locked, if wherein user attempts activating percussion trigger 9414, user willCan there is mistake in the trigger system of recognizing rapidly surgical instruments. In this example, user will recognize end rapidlyActuator need to be assembled into axle 9040 to use surgical instruments. In all cases, if end effector is (although attachedTo axle 9040) used, pulling the trigger trigger can be locked. In at least one this type of situation, end effector can compriseFiring member, if described firing member is positioned at its recent side position in the time that end effector is assembled into axle 9040, can be towards closelySensing member is pressed in thruster; But, if this firing member advances at least in part in the time that end effector is assembled into axle 9040,Sensing member can not be pushed towards nearside and therefore be pulled the trigger trigger can keep locking. Equally, this type of percussion trigger lockSurely can pass on percussion drive unit existing problems to user; , in this case, end effector is used. IfDo not have this type of tactile lock, user will experience following situation, wherein they can press actuator but surgical instruments notThe actuator that response is pressed, thus obscuring of user may be caused.

As mentioned above, the end effector of previously not pulling the trigger is assembled into axle 9040 and can pushes sensing member towards nearside, withRelease percussion trigger. In all cases, sensing member and percussion trigger locking system can be configured to make to hitSend out trigger and be not unlocked, until end effector is fully assembled to axle 9040. If end effector is only partly assembled into9040, sensing member can be sufficiently shifted with release percussion trigger. Equally, this type of percussion trigger locking can be to makingUser passes on percussion drive unit existing problems; , in this case, end effector is not also fully assembled to axle 9040.

As described herein, end effector can be assembled into surgical instruments, and described surgical instruments can comprise and being configured toThe controller of identification end effector. In some cases, in the time that controller is activated, controller can be configured to evaluateThe mark of end effector. In some cases, turn to now Figure 176, in battery inserts shank time, controller can be openedMoving. Except or replace mentioned abovely, in the time that controller is activated, controller can be configured to evaluate the shape of surgical instrumentsState. For example, controller can be configured to the firing member of position, the trigger system of the enclosed member of evaluating closed-systemThe position of the articulation member of position and/or joint motions system. In some cases, surgical instruments can comprise definitely calmlyLevel sensor is to detect the position of firing member. Sensors with auxiliary electrode were is disclosed in the name of submitting on March 14th, 2013 and is calledThe U.S. Patent application sequence of ARTICULATABLESURGICALINSTRUMENTCOMPRISINGAFIRINGDRIVEIn 13/803,097, whole disclosures of this patent application are incorporated herein by reference. In some cases, surgical instrumentsCan comprise end of travel register. This type of end of travel register can comprise mechanical switch, counter and/or trigger; And/orElectronic switch, counter and/or comprise the trigger that is stored in the data in nonvolatile memory. In this type of embodiment,Whether controller can be estimated previously to have pulled the trigger stroke and complete. This type of embodiment can be useful in multiple situation. For example, controlDevice can unexpectedly disconnect in other words conj.or perhaps and lose power in surgical procedures, and in the time that controller is restarted, controller is notCan estimate that whether this apparatus is to initialize first or the whether middle part in previous percussion stroke of this apparatus. End of travel is depositedDevice can contribute to controller to distinguish both of these case. In addition, do not caused losing by the power loss of apparatus or interruption or resetEnd of travel register can allow controller to estimate whether surgical instruments has lost power during percussion stroke. If controllerDetermine that previously percussion stroke did not also complete, controller can be configured to: one, allow power to be provided to motor to completePercussion stroke, and/or, two, allow power is provided to motor so that firing member, enclosed member and/or joint motionsMember retracts to its initial or unactuated position. In all cases, controller can provide continuation to the user of surgical instrumentsPull the trigger stroke or make the mechanical system of apparatus and/or electronic system turn back to its option initial or unactuated position. At this type ofIn embodiment, surgical instruments can not make these systems automatically turn back to its initial or unactuated position. Under any circumstance, oneDawn surgical instruments is initial or actuating state not in it, previously the end effector of percussion just can from surgical instruments dismantle and/Or the end effector of percussion just can not be assembled into surgical instruments. In all cases, as described herein, surgical instruments can be withRear identification or at least not end effector of percussion of trial identification.

Turn to now Figure 177, the controller of surgical instruments can be carried out the deagnostic test of apparatus and/or battery. For example,, in controlWhen device processed starts, surgical instruments can be assessed surgical instruments and whether be exposed to the temperature of the threshold temperature that exceedes surgical instruments, asDescribed herein. In addition, for example, surgical instruments can be assessed available horsepower, voltage and/or the electric current of battery, same as this paper instituteState. If what apparatus can not be by these diagnostic tests is one or more, controller can not be provided to power motor, thingReason ground locks apparatus and/or indicates this type of failure to the user of surgical instruments. In such cases, apparatus can be by thisClass failure record, in its memory, makes test data can contribute to technical staff to assess after a while apparatus. Suppose that apparatus passes throughThese diagnostic tests, be similar to mentioned above, apparatus also can record to by the relevant test data of diagnostic test. AnyIn situation, apparatus can continue to assess apparatus subsequently whether in initial or actuating state and evaluate the mark of end effector notKnow. As described herein, the program for identifying end effector is disclosed. Also disclose herein for evaluating " intelligence " end and heldWhether row device or " stupid " end effector are attached to the program of surgical instruments. In all cases, " intelligence " end effectorCan be following end effector, described end effector can offer surgery by least a portion of parameter and/or operation sequenceApparatus is using the part as identifying. " intelligence " end effector can be manages to identify surgical instruments use end effectorThe end effector of mode. In some cases, " stupid " end effector for identify never in any form its will with surgeryThe mode that apparatus uses together. Be summarized in Figure 178 according to exemplary operation program above.

As described herein, battery can be used for surgical instruments that power is provided. In all cases, surgical instruments and/or electricityWhether pond can be configured to evaluate battery can offer enough power surgical instruments to carry out one or more functions.In some cases, surgical instruments and/or battery can be configured to have foot to user's pilot cell of surgical instrumentsEnough power is to carry out one or more functions. Figure 179 shows the circuit of voltage that can pilot cell. This type of circuit can be depositedBe in surgical instruments and/or battery. In arbitrary situation in two kinds of situations, circuit can comprise can indicate and can be provided by batteryMultiple indicators of electric weight, voltage and/or power. For example, circuit can comprise three indicators, described three indicator bagsDraw together: be configured to the first indicator that pilot cell comprises at least the first voltage, be configured to pilot cell and compriseAt least the second indicator of second voltage and be configured to pilot cell and comprise at least the 3rd indicator of tertiary voltage.As shown in Figure 179, circuit 12100 can comprise the first indicator circuit 12110, the second indicator electricity that are arranged to be connected in parallel to each otherRoad 12120 and the 3rd indicator circuit 12130. In the time that switch 12101 is closed, can be applied to indicator from the electromotive force of batteryCircuit 12110,12120 and 12130 two ends. The first indicator circuit 12110 can comprise Zener diode 12111, light-emitting diodesPipe 12112 and resistor R112113. Similarly, the second indicator circuit 12120 can comprise Zener diode 12121, luminousDiode 12122 and resistor R212123, and the 3rd indicator circuit 12130 can comprise Zener diode 12131, luminousDiode 12132 and resistor R312133. Zener diode 12111,12121 and 12131 can have different hitting separatelyWear voltage. For example, the first Zener diode 12111 can have the breakdown voltage of for example 11.5V, the second Zener diode 12121Can there is the breakdown voltage of for example 10V, and the 3rd Zener diode 12131 can have the breakdown voltage of for example 8V. At this type ofIn embodiment, if the voltage of battery is more than or equal to 11.5V, LED12112,12122 and 12132 will be lit. AllLighting of LED can have Full Charge Capacity and/or have at least enough electric weight to carry out to user's pilot cell of surgical instrumentsAny function that surgical instruments is required. If the voltage of battery is more than or equal to 10V, but be less than 11.5V, LED12112 and12122 will be lit; But LED12132 will not be lit. LED12112 and 12122 light and LED12132 notLight can to user's pilot cell of surgical instruments have be less than Full Charge Capacity but at least enough electric weight to carry out surgical instrumentsRequired any function. If the voltage of battery is more than or equal to 8V, but be less than 10V, LED12112 will be lit; But,LED12122 and 12132 will not be lit. Lighting of LED12112 and not lighting of LED12122 and 12132 can be to surgery deviceUser's pilot cell of tool is just approaching the terminal of its electric weight and can have or can not have enough electric weight to carry out surgerySome function that apparatus is required. This demonstration of LED can be replaced by pilot cell. If the voltage of battery is less than8V, any one in LED12112,12122 and 12132 will not be lit. This demonstration of LED can pilot cell can notFor carrying out securely any function of surgical instruments. Although circuit 12100 use three indicator circuits 12110,12120,With 12130, but circuit can comprise more than three indicator circuits, describedly comprises that more than three indicator circuits having difference puncturesThe Zener diode of voltage. This type of embodiment can for example provide the indicating compared with fine grade of voltage of battery. Can be susceptible to useOnly other embodiment of two indicator circuits.

In all cases, battery can comprise circuit, and described circuit is configured to pilot cell and is charged and/or toolIt has enough electric weight so that can use together with surgical instruments. In some cases, surgical instruments can comprise circuit, described electricityRoad be configured to battery that instruction is attached to surgical instruments charged and/or there is enough electric weight so that its can with surgeryApparatus uses together. In arbitrary situation in two kinds of situations, turn to now Figure 180, circuit 12200 can comprise microprocessor12201, described microprocessor 12201 comprises the one or more gate poles that are communicated with battery, and described battery can be for example 9V battery.Circuit 12200 also can comprise capacitor 12202, for example 10 microfarad capacitor, and described capacitor 12202 can be from comprising diode12203 and the circuit received power of resistor 12204. Circuit 12200 also can comprise the discharge path that is arranged in capacitor 12202LED12205 and resistor 12206. It is that battery can be by that this type of circuit can cause LED12205 batch (-type) pulsation, preconditionEnough power is provided to circuit 12200. In such cases, user can identify the LED12205 of pulsation and will knowBattery has at least some power that use together with surgical instruments (even if not having enough power). If user is notRecognizing LED12205 is what pulse, and user can suppose that battery lacks the enough power being used.

In all cases, as described herein and referring to Figure 28 4, battery and/or be configured to together with batteryThe surgical instruments using can comprise diagnostic circuit, and described diagnostic circuit is configured to assess the available power of battery, electricityPress and/or electric current. Turn to now Figure 184, disclose Battery Diagnostic circuit 12300. This type of circuit can be configured to assessmentBefore having used together with surgical instruments, just use it between the operating period and/or together with surgical instruments together with surgical instrumentsAfter battery. In all cases, battery can use more than once, and in all cases, battery can be rechargeableOr it is not rechargeable. The use of battery and the information obtaining during the diagnostic assessment of battery can be stored in battery and/orIn memory chip in surgical instruments. Figure 183 shows information table 12400, and described information table 12400 representatives can be recorded in depositsThe type of the information on reservoir chip. For example, can record access times. For each use, for example, can record battery charging orThe maximum voltage recharging and/or maximum current. For each use, for example, can record the current capacity that stands between the operating period,The electric current using with mA, electric current and/or the minimum voltage using with Ah. For each use, for example, can record battery chargingTime of using of time, battery, charging time the temperature of battery and/or the temperature of battery while using. These are only for depositingSome examples of the information of storage. In all cases, surgical instruments and/or technical staff can for example assess with this type of informationThe applicability that the prior performance of battery and/or battery are used further.

In all cases, turn to now Figure 182, battery can comprise circuit with the surgical instruments using together with battery,Once described circuit is for dropping to lower than minimum charge level and just cut off battery at the electric weight of battery. In some cases, lithiumIf ion battery unit uses under minimum charge level, can there is hot accident, and stop battery at this minimum electric weightThe cut-out circuit using under level can stop this type of hot accident to occur.

In all cases, turn to now Figure 181, surgical instruments can comprise controller, and described controller is configured to energyEnough carry out apparatus and/or be assembled into the deagnostic test of its battery. For example, controller can comprise clock and memory chip, instituteStating memory chip is configured to assessment and records apparatus and/or when battery is used. In some cases, ifApparatus and/or battery be apart from the existing long time of its service time last time, controller can be configured to forbid this apparatus and/Or battery. In some cases, apparatus and/or battery can comprise one or more sensors, described one or more sensorsSensor can be configured to assess the various states of apparatus and/or battery, for example temperature, humidity and/or apparatus and/orBattery is exposed to the time of this temperature and/or humidity. Whether correctly controller can be configured to assess sensor operation,And if, controller can not forbidden this apparatus and/or battery. Controller also can be configured to assess apparatus and/Or the number of times that used of battery, exceed specific quantity and if use, forbid this apparatus and/or battery. Controller also canBe configured to assess the available power of battery, as described herein, and if available horsepower deficiency is forbidden this apparatusAnd/or battery.

As described herein, surgical instruments can comprise the various sensings for gathering feedback and/or other apparatus status informationsDevice. In addition, surgical instruments can comprise for feedback and/or apparatus status information are offered to user's organoleptic indicator. ?In some situation, endoscope can be combined with surgical instruments, so that additional feedback and/or apparatus status information are offered and to be madeUser. As described herein, for example, endoscope can carry out signal with display with surgical instruments communicates by letter, and described display can showFrom endoscope and/or from the feedback of the sensor of surgical instruments. Referring now to Figure 75-93,, endoscope 5018 (Figure 93) canCarrying out signal with display 5002 (Figure 75) communicates by letter. In certain embodiments, display 5002 can comprise for example head-up displayAnd/or video-frequency monitor (HUD). In addition, display 5002 can be for example plasma screen, lcd screen or electroluminescence screenCurtain. In various embodiments, display 5002 can be play the first information layer 5010 that can comprise for example video feed. Video feedCan be the image feedback of for example being observed at operative site by endoscope 5018 (Figure 93), and can illustrate for example by endoscope 5018At least a portion of the surgical instruments 5020 of observing.

In various embodiments, display 5002 can comprise touch-screen 5004. Mainly referring to Figure 75, user can with touchScreen 5004 carries out alternately to interact with display 5002 and surgical instruments 5020. For example, touch-screen 5004 can with display5002 communicate, and the input capable of regulating of touch-screen 5004 and/or amendment are shown in the information on display 5002. At this type ofIn embodiment, user can communicate with display 5002, and does not use the additional input of display, for example keyboard and/orComputer mouse. In other words, can not need additional input tool and/or parts to adjust and/or revise and be shown in displayInformation on 5002. In addition, in various embodiments, touch-screen 5004 can be easy to clean and/or sterilizing. For example, touchScreen 5004 can comprise flat surfaces, and described flat surfaces can be easy to wiped clean in surgery external member and/or operating room. Remove this itOutward or alternatively, touch-screen 5004 can directly and/or indirectly be communicated by letter with surgical instruments 5020, makes the defeated of touch-screen 5004Enter and provide input to surgical instruments 5020. User can be for example surgeon, operator and/or assistant.

In various embodiments, touch-screen 5004 can for example be positioned at least a portion of display 5002, and canRemove and be fixed to display 5002. For example, touch-screen 5004 can with multiple display compatibilities, and can be attached releasedlyWith at least one display of disengaging. In addition, in certain embodiments, touch-screen 5004 can be stand alone display, and it can be independent ofDisplay 5002 operates. For example, dismountable lcd screen can comprise touch-screen 5004, and dismountable lcd screen can be foldedBe added at least a portion of display 5002. In other embodiments, touch-screen 5004 can be integrated in display 5002. TouchTouch screen 5004 and can use for example resistive technologies, capacitance technology, supersonic beam technology and/or Near-Field Radar Imaging technology.

Mainly referring to Figure 93, in various embodiments, feedback controller 5016 can with surgical instruments 5020, endoscope5018 and/or display 5002 carry out signal communication. In certain embodiments, feedback controller 5016 and endoscope 5018 itBetween wired and/or wireless connections 5017 can will be provided to feedback controller 5016 from the video feed of endoscope 5018. ThisOutward, wired and/or wireless between the microcontroller of feedback controller 5016 and surgical instruments 5020 and/or surgical instruments 5020Connect 5019 and the feedback data of being measured and/or being detected by surgical instruments 5020 can be provided to feedback controller 5016. For example, eachPlant Zemlock ' 263 Hes that sensor is described in herein and all disclosure is incorporated herein by reference in fullIn Zemlock ' 344, and various sensor can detect feedback and/or apparatus status information. In addition, feedback controller 5016 HesWired and/or wireless connections 5015 between display 5002 can by the feedback data from surgical instruments 5020 and/or fromThe video feed of endoscope 5018 is provided to display 5002. In at least one embodiment, video feed can be shown in displayIn first information layer 5010 on 5002, and feedback data can be shown in the second Information Level 5012 on display 5004. ?Be positioned in the embodiment on display 5002 feedback controller comprising dismountable LCD display of touch-screen 50045016 and dismountable LCD display between wired and/or wireless connections can for example feedback data be provided to dismountableLCD display and/or feedback data can be provided to feedback controller 5010 from LCD display.

Mainly, referring to Figure 76, display 5002 can be play first information layer 5010, and described first information layer 5010 can compriseFor example, from the video feed of endoscope 5018 (Figure 93). In all cases, video feed 5010 can comprise and acts on tissue TThe diagram of surgical instruments 5020. In various embodiments, surgical instruments 5020 can be similar to for example surgical instruments 10 (Fig. 1),And the disposable loading unit (DLU) and/or the end effector 5022 that are connected to surgical instruments can be similar to for example loading list20 (Fig. 2) of unit. The DLU5022 of surgical instruments 5020 can carry out joint motions with respect to tissue T, and tissue T is grasped and/or folderBe held between a pair of jaw, suture tissue T, and/or utilize cutting element to cut and organize T, as described herein. In addition, canBe positioned at surgical site and/or near endoscope 5018 observable DLU5022, and can be by video feed and/or recordBe transferred to feedback controller 5016 (Figure 93). In various embodiments, looking in the first information layer 5010 on display 5002Frequently the operator that feedback can be surgical instruments 5020 provides the on-the-spot visual feedback of operative site.

Mainly, referring to Figure 77, display 5002 can show the second Information Level 5012. In addition, user can select, move,The adjustment of size aspect, minimize, expand, revise and/or otherwise regulate and control the second Information Level 5012. For example, user canBy regulating and controlling alternately the second Information Level 5012 with touch-screen 5004. As described herein, the second Information Level 5012 can compriseFrom the feedback data of surgical instruments 5020 and/or for controlling the control of surgical instruments 5020. In various embodiments, secondInformation Level 5012 can comprise control panel 5030, and touch-screen 5004 can be used for selecting and/or using control panel 5030Feature structure. Control panel 5030 can be folded, adjust size, movement and/or otherwise be adjusted by touch-screen 5004Control. For example, user can minimize or folding control panel 5030 by selection minimized/maximized icon 5032, andCan be by selecting again minimized/maximized icon 5032 to maximize or launch control panel 5030. In addition, user can be for exampleBy the mobile control panel 5030 on display 5002 of " drag and drop " control panel 5030 on whole display 5002. SeparatelyOutward, user can adjust control panel 5030 phases by the multiple contact points on " amplification " and/or " dwindling " touch-screen 5004For the size of display 5002. Those of ordinary skill in the art will know, can use the various of for example touch-screen 5004Contact conventional and/or directly perceived is revised and/or is regulated and controled its second Information Level 5012 and/or control panel 5030.

Still, referring to Figure 77, control panel 5030 can comprise multiple menus, classification and/or classification. For example, control panel5030 can comprise apparatus feedback menu 5036, display menu 5060 and/or apparatus controller menu 5070. User can useControl panel 5030 carrys out choice menus and/or switches the mode of operation of touch-screen 5004. For example,, when user selects control panelWhen 5030 apparatus controller menu 5070, touch-screen 5004 can be sent to apparatus controller 5016 (figure by instruction and/or control93) and/or microcontroller. In this type of embodiment, as described herein, touch-screen 5004 can operate under apparatus state of a control.In addition,, in the time selecting display menu 5060 from control panel 5030, user can revise with the second Information Level 5012 and/or showThe setting that device 5002 is relevant. In this type of embodiment, touch-screen 5004 can be worked arranging under amendment state. In addition or separatelySelection of land, in the time that apparatus feedback menu 5036 is selected, user can revise the feedback data being included in the second Information Level 5012.In this type of embodiment, touch-screen 5004 can operate under feedback regulation state. In various embodiments, control panel 5030 canComprise menu extra and/or still less, classification and/or classification. In addition, for example can revise control according to user's preferenceVarious menus, classification and/or the classification of panel 5030 processed. Menu, classification and/or classification can be shown by word and/or symbolIn the second Information Level 5012. In various embodiments, the classification under each menu 5036,5060,5070 optionally showsIn the second Information Level 5012. For example, the classification under each menu 5036,5060,5070 can only cover menu on corresponding5036,5060,5070 be just optionally shown in the second Information Level 5012 time selected by the user. In other embodiments, makeUser can for example manually minimize and/or maximize corresponding to the classification of each menu 5036,5060 and/or 5070 and/orSubcategory.

Still, referring to Figure 77, apparatus feedback menu 5036 can comprise multiple feedback classifications, and can relate to during surgeryThe feedback data of measuring and/or detecting by surgical instruments 5020 (Figure 93). As described herein, surgical instruments 5020 can detect and/Or measure for example movable jaw and opening the position, the thickness of clamping tissue, the clamping group that are orientated between closed orientationPosition, speed and/or the power of the chucking power of knitting, the joint motions of DLU5022 and/or percussion element. In addition, with surgeryThe feedback controller 5016 (Figure 93) that apparatus 5020 carries out signal communication can be provided to display 5002 by the feedback of sensing, described inDisplay 5002 can be presented at feedback in the second Information Level 5012. As described herein, for example can be based on user to touch-screenThe selection, setting and/or the form that are shown in the feedback data in the second Information Level 5012 are revised in 5004 input.

In various embodiments, the display menu 5060 of control panel 5030 can relate to multiple classifications, for example, and unit system5062 and/or data pattern 5064. In certain embodiments, user can to select unit bodies be classification 5062 with in unit systemBetween (for example,, between the usual unit of metric unit and the U.S.) switch. In addition, user can select for example data pattern classification5064, with the diagrammatic representation type (Figure 82-83) of the numeral type (Figure 79-81) in feedback data and/or feedback dataBetween switch. The numeral of feedback data can be shown as for example numerical value and/or percentage. In addition the figure table of feedback data,Show and can be shown as for example function of time (Figure 82) and/or distance function (Figure 83). As described herein, user can be from control panel5030 select apparatus controller menus 5070, and to input the instruction for surgical instruments 5020 (Figure 93), described instruction can be viaFor example apparatus controller 5016 (Figure 93) and/or microcontroller are carried out.

Referring now to Figure 78,, the second Information Level 5012 can cover at least one of first information layer 5010 on display 5002Part. In addition, touch-screen 5004 can allow user with respect to looking in first information layer 5010 below on display 5002Frequently feedback regulates and controls the second Information Level 5012. For example, user can operate touch-screen 5004, selecting, to regulate and control, form againChange, aspect size adjustment and/or otherwise amendment be presented at information in the second Information Level 5012. In some enforcementIn example, user can use touch-screen 5004, with the surgery in the first information layer 5010 with respect to being shown on display 5002Apparatus 5020 regulates and controls the second Information Level 5012. User can select menu, classification and/or the class of for example its control panel 5030Not, and the second Information Level 5012 and/or control panel 5030 be adjustable to reflect user's selection. At various embodimentIn, user can be from corresponding to specific features structure or be shown in the feature structure of the surgical instruments 5020 first information layer 5010Apparatus feedback classification 5036 select classification. Feedback corresponding to the selected classification of user can be with respect to the spy of surgical instruments 5020Determine that feature structure moves, self poisoning and/or " buckle " be to a certain position on display 5002. For example, selected feedback canMove near and/or cover the position of the special characteristic structure that is shown in the surgical instruments 5020 in first information layer 5010.

Referring to Figure 79 and Figure 80, if user for example selects cutter progress classification 5040 from apparatus feedback menu 5036,The sense data relevant to cutter progress and/or information can be for example with respect to the cuttves that is shown in the DLU5022 in first information layer 5010Move and/or " buckle " to a certain position in the second Information Level 5012. In addition, feed back menu 5036 user from apparatusAfter the classification of selecting to expect, control panel 5030 is collapsible and/or minimize. The feedback data 5052 relevant to cutter progress canBe shown near the detection cutter of the DLU5022 shown in first information layer 5010 on display 5002, and for example when cutter translation and/Or motion is during through DLU5022, can go near percussion near primary importance (Figure 79) and the cutter of the section start of percussion stroke at cutterMotion between the second place (Figure 80) of the distal end of journey. For example, in the time of cutter translation distance Xmm, relevant to cutter progressData 5052 can be positioned in primary importance (Figure 79), and in the time of cutter translation distance Ymm, the data relevant to cutter progress5052 can be positioned in the second place (Figure 80). In this type of embodiment, operator can be by the feedback on view screen 5002Data 5052 are followed the tracks of the cutter progress during percussion stroke. For example,, when the cutter of DLU5022 is for example by end effector jaw5024 and/or tissue T when stopping and can not observing, changing value and/or feedback data that operator can be based on feedback data 50525052 with respect to the shift position of the DLU5022 shown in first information layer 5010 below follow the tracks of and/or approximate DLU5020 inThe position of cutter. In addition, display 5002 can represent and/or symbol in conjunction with the diagram of the numeral of cutter progress and cutter progressRepresent. For example, symbol 5054 (for example arrow) for example can move with respect to the DLU5022 shown in first information layer 5010 belowAnd/or extend, so that the cutter progress through DLU5022 to be shown. Still referring to Figure 79 and Figure 80, when cutter is for example from close percussion stroke(Figure 79) when the position of section start advances towards the position of the distal end of laterally closer percussion stroke far away (Figure 80), symbol 5054Can for example extend towards distally.

In various embodiments, user can feed back menu 5036 and select from apparatus one or more differences of feedback dataClassification, and the different classifications of feedback data can be presented in the second Information Level 5012 on display 5002. In this type of enforcementIn example, in the time that user selects the different classification of feedback data from apparatus feedback menu 5036, the numeral of feedback data and/Or symbol represents to move to the suitable position on display 5002 with respect to the DLU5022 shown in first information layer 5010 belowPut. For example, if user selects jaw position classification 5038 from apparatus feedback menu 5036, opening with movable jawThe relevant feedback data in position between position and clip position for example can be presented in the second Information Level 5012, and removableTo near the position movable jaw 5024 of the surgical instruments 5020 on display 5002. In addition, if select cutter speed classOrder 5042, can be presented in the second Information Level 5012 with the feedback data 5058 (Figure 82) of cutter velocity correlation, and removableTo near the position cutter in the DLU5022 on display 5002, this be similar to numerical data mentioned above 5052 and/orSymbol 5054. For example, if user selects tissue thickness's classification 5044, the feedback coefficient relevant to detected tissue thicknessAccording to being presented in the second Information Level 5012, and be movable near the position measurement tissue T on display 5002. ThisOutward, at least one embodiment, the second Information Level 5012 can comprise scale and/or the mark that can show detected tissue thicknessChi. User can be for example moves scale with respect to tissue T below shown in first information layer 5010 via touch-screen 5004, thisCan be conducive to user and understand tissue thickness's variation. For example, if user selects end effector joint motions classification 5046,The feedback data 5252 (Figure 84-88) relevant to the joint motions of DLU5022 can be presented in the second Information Level 5012, andAnd be movable near the position of actuated articulation joints 5026 (Figure 84 and 85) of the DLU5022 on display 5002. For example,If user selects percussion force classification 5048, to be applied to the feedback data that structural percussion force is relevant by cutter and can showIn the second Information Level 5012, and can be positioned near the cutter of the DLU5022 on display 5002. In addition, for example, hittingDuring distribution journey, the feedback data relevant to the percussion force being applied by cutter can move with respect to DLU5022 and second along with cutterIn Information Level 5012, move. In addition, if select chucking power classification 5050, the feedback coefficient relevant to chucking power in tissue TCan be shown in the second Information Level 5012 according to 5158 (Figure 83), and the DLU5022 shown in first information layer 5010 is attached belowNear mobile. In this type of embodiment, for example, during the feedback data 5158 relevant to chucking power can illustrate clamping and/or wholeIn percussion stroke, change along the length of DLU5022 and/or the clamp pressure of width.

In various embodiments, the feedback shown in the second Information Level 5012 can be along with the surgery device in first information layer 5010The character pair structure of tool 5020 and moving. For example, in the time that DLU5022 handles around operative site, DLU5022 can encloseMove around display 5002. In this type of embodiment, feedback (for example jaw position data and/or the pass relevant to DLU5022Joint exercise data) for example can move together with DLU5022. The movement of relevant feedback can guarantee that feedback remains on looking of operatorYezhong, and the character pair of the surgical instruments 5020 shown in the first information layer 5010 from display 5002 is tied without operatorStructure shifts sight. In addition, the movement of relevant feedback can guarantee that this feedback does not stop that operator wishes to observe on display 5002First information layer 5010 shown in the feature structure of surgical instruments 5020.

In certain embodiments, the optional majority of a user feedback classification to observe simultaneously on display 5002. In addition,Selected feedback can automatically be arranged on display 5002, so that related data is presented at according to nonoverlapping arrangementIn the second Information Level 5012. In other words, for example, be presented at feedback in the second Information Level 5012 can be not be presented at the second letterOther feedbacks in breath layer 5012 are overlapping; But, this type of feedback can with the first information layer 5010 being presented on display 5002Video feed overlapping. In various embodiments, when feedback data is with respect to the surgery shown in first information layer 5010 belowApparatus 5020 moves and/or " buckle " during to a certain position on screen, user can by by feedback data " drag and drop " to theDefault location is replaced in other positions in two Information Levels 5012.

Referring now to Figure 81,, the symbol of cutter progress represent 5056 (for example, the cross of cutter and/or knife-edge edge, target center and/orDiagrammatic representation) be movable to the position in the second Information Level 5012 overlapping with the cutter position shown in first information layer 5010. ?In some embodiment, even in the time that cutter is invisible on display 5002 (for example, if being blocked in advance of cutter), the symbol of cutterRepresent that 5056 is removable and/or follow the detection position of the cutter in the DLU5022 on screen 5002. For example,, at percussion rowNear the section start of journey, symbol represent 5056 can with respect to DLU5022 in primary importance, and percussion end of travelNear, symbol represents that 5056 move to the second place with respect to DLU5022.

In various embodiments, the feedback that user selects via touch-screen 5004 can " buckle " on display 5002Turning, edge and/or other precalculated positions. For example, still referring to Figure 81, the numerical data 5052 relevant to cutter progress is removableTo the turning of display 5002. In addition or alternatively, user can carry out alternately with touch-screen 5004, with by numerical data5052 move to the diverse location on touch-screen 5004. Based on the position of surgical instruments 5020 below in first information layer 5010Put, user can move to numerical data 5052 a certain position in the second Information Level 5012, makes the correspondence of DLU5022And/or special characteristic structure is not stopped and/or hinders by numerical data 5052. Or alternatively, user can be by number in additionDigital data 5052 moves near the position of character pair structure of DLU5022, makes user can be easy to observe correspondence simultaneouslyDLU5022 feature structure and numerical data 5052.

Referring to Figure 84 and Figure 85, represent 5254 (Figure 85) from the symbol of the feedback data of feedback controller 5016 (Figure 93)Can be included in the second Information Level 5012. For example, the symbol of the joint motions of DLU5022 represent 5254 (for example, subtended angle and/orTo arc) can be shown in the second Information Level 5012, and be movable on display 5002 with shown in first information layer 5010 outsideThe actuated articulation joints 5026 of section's apparatus 5020 near and/or overlapping position. For example, can be by non-joint motions to arcBetween the axis A that DLU5022 (Figure 84) limits and the axis A ' being limited by the DLU5022 (Figure 85) of joint motions, extend. ?In some embodiment, even, in the time that actuated articulation joints 5026 is invisible on screen, the symbol of joint motions angle represents5254 are found in the second Information Level 5012. For example, if actuated articulation joints 5026 no-fix in the visual field of endoscope and/Or be obstructed or stop, the symbol of joint motions angle represents that 5254 can provide to user the visible instruction of joint motions.In various embodiments, symbol represents that 5252 can be along with the motion of DLU5022 and/or joint motions and adjust and/or change.For example, symbol represents that 5254 can be arrow arc or line, and described arrow arc or line can be from the initial position of DLU5022 and/or non-passesJoint movement position (Figure 84) extends towards the joint motions position (Figure 85) (as detected by apparatus 5020) of DLU5022. ThisOutward, in various embodiments, symbol represents that 5254 can be with respect to the DLU5022 " buckle " shown in first information layer to a certain positionPut, make symbol represent that 5254 is overlapping with DLU5022 and/or aim at. For example, mainly referring to Figure 85, the symbol of joint motions angleNumber represent actuated articulation joints 5026 places shown in 5254 first information floor 5010 that are movable on display 5002 and/or attachedClosely, and can the axis A by limiting in the DLU5022 of initial and/or non-joint motions position with carry out as DLU5022Between the axis A ' being limited by DLU5022 when joint motions, extend.

In addition, in various embodiments, the numerical data 5252 relevant to the joint motions of DLU5022 can be presented at aobviousShow in the second Information Level 5012 on device 5002. In addition, data 5252 can change along with the joint motions of DLU5022. ExampleAs, the second Information Level 5012 can (Figure 84) illustrate the joint motions of X ° before DLU5022 carries out joint motions, and can beAfter DLU5022 carries out joint motions, (Figure 85) illustrates the joint motions of Y °. In various embodiments, with the pass of DLU5022The relevant feedback data 5252 of joint motion can for example connect in the joint motions of the surgical instruments 5020 shown in first information layer 50105026 places and/or near be presented in the second Information Level 5012. User can be for example with respect to being presented at first information layerVideo feed in 5010 utilizes that touch-screen 5004 moves, adjustment aspect size, minimize and/or otherwise adjustControl is presented at the joint motions data 5252 in the second Information Level 5012. In addition or alternatively, user can with touch-screen5004 carry out mutual, with symbol is represented 5254 and/or numerical data 5252 move to the diverse location on touch-screen 5004. BaseThe position of surgical instruments 5020 below in first information layer 5010, user can move to the second letter by numerical data 5252A certain position in breath layer 5012, makes the special characteristic structure of DLU5022 do not stopped and/or hinder by numerical data 5252.In addition or alternatively, user can move to numerical data 5252 near the position character pair structure of DLU5022Put, make user can be easy to observe corresponding DLU5022 feature structure and numerical data 5252 simultaneously.

Referring now to Figure 82,, can for example select figure by touch-screen 5004 from the display menu 5060 of control panel 5030Represent. In this type of embodiment, the diagrammatic representation of feedback 5058 can be presented in the second Information Level 5012 on display 5002.User can select diagrammatic representation observe from surgical instruments 5020 and/or its controller with respect to time and/or spaceMeasurement data and/or sense data. For example, user can expect to observe the speed of the percussion element in whole percussion stroke,And therefore can feed back menu 5036 (Figure 78) from apparatus and select cutter speed classification 5042 (Figure 78). In this type of embodiment, cutterThe diagrammatic representation 5058 of speed can for example continue to obtain data point and growth during percussion stroke. In various embodiments,In the time that percussion stroke completes, diagrammatic representation 5058 can illustrate " soft " start-up period 5057 and/or " soft " stop cycle 5059 of cutter.In addition, diagrammatic representation 5058 can be positioned on display 5002, makes along the certain bits of the length of end effector jaw 5024Put the speed of cutter at place corresponding to the ad-hoc location of the length along the end effector jaw 5022 shown in first information layer 5010.For example, diagrammatic representation 5058 can start from the section start through the cutter track footpath of DLU5022 shown in first information layer 5010 and/Or near, and for example can end at the cutter track footpath through DLU5022 shown in first information layer 5010 end and/orNear. In addition, as described herein, diagrammatic representation 5058 can " buckle " to the appropriate location on screen, and user can basisNeed to utilize touch-screen 5004 to move and/or aspect size, adjust diagrammatic representation 5058. In certain embodiments, percussion speedThe numeral of degree can be shown in the second Information Level 5012 together with diagrammatic representation 5058.

Referring now to Figure 83,, in various embodiments, user can expect to observe the length along end effector jaw 5024Degree and/width be applied to the chucking power in tissue T, and therefore, can feed back menu 5036 (Figure 78) from apparatus and select clampingPower classification 5050 (Figure 78). In this type of embodiment, the diagrammatic representation 5158 of chucking power can be shown in the second Information Level 5012. ?In some embodiment, diagrammatic representation 5158 can be arranged in the second Information Level with respect to the grasping tissue shown in first information layer 5010In 5012. For example, diagrammatic representation 5158 can start from the jaw 5024 shown in first information layer 5010 proximal end place and/orNear, and can for example end at the jaw 5024 shown in first information layer 5010 distal end place and/or near. In addition,As described herein, diagrammatic representation 5158 can " buckle " to the appropriate location on screen, and user can for example utilize touch-screen5004 move and/or adjust aspect size diagrammatic representation 5158. In certain embodiments, diagrammatic representation can be during useChanging to some extent to react the clamp pressure of for example pulling the trigger during stroke changes.

Referring to Figure 86-88, in various embodiments, user can carry out alternately with touch-screen 5004, with via apparatus controlControl and/or instruction are input to surgical instruments 5020 by device 5016 processed and/or microcontroller. For example, user can input withLower control, described control relates to makes DLU5022 carry out joint motions, make end effector jaw 5024 clamp, advance and/orRetraction cutting element and/or from DLU5022 penetrate nail. In various embodiments, user can be via touch-screen 5004 from controlPanel 5030 processed selects apparatus controller class order 5070 to start apparatus state of a control, makes the user can be via touch-screen 5004Control surgical instruments 5020. In the time that touch-screen 5004 is activated for apparatus control, user can carry out with touch-screen 5004Alternately to control surgical instruments 5020. For example, user can with the second Information Level 5012 in control button and/or icon carry outMutual and/or can with touch-screen 5004 on corresponding to the position of surgical instruments 5020 below carrying out alternately, for example will refer toOrder is input to surgical instruments 5020.

For example, referring to Figure 86, user can carry out alternately with touch-screen 5004, to indicate the expectation of for example DLU5022Joint motions direction and degree. In certain embodiments, user can be on touch-screen 5004 from DLU5022 and/near courtThe expectation joint motions position of end effector 5002 drags contact point. Referring to Figure 86, user can trace from first information layerLine or the arc 5352 of the DLU5022 place shown in 5010 and/or near the expectation joint motions position to DLU5022. For example, arc5352 can from and/or approximate extend from the axis A being limited by DLU5022, and arc 5352 may extend into the phase by DLU5022Hope the axis A ' that joint motions position limits. In addition, arc 5352 can be for example along being extended by arrow 5354 indicated directions. At someIn embodiment, in the time that user inputs via touch-screen 5004 joint motions of expecting, arc 5352 can not appear at the second informationIn layer 5010. In various embodiments, touch-screen 5004 can be sent to apparatus controller 5016 by the joint motions angle of expectation(Figure 93) and/or microcontroller, this can realize DLU5022 to the joint motions of expecting joint motions angle. Referring now to figure,88, apparatus controller 5016 (Figure 93) and/or microcontroller can for example come real based on user via the input of touch-screen 5004Existing DLU5022 is to the joint motions of axis A '.

Mainly referring to Figure 87, in various embodiments, user can with first information layer 5012 in control button, signalFigure and/or icon carry out alternately, instruction is input to surgical instruments 5020. For example, first information layer 5012 can comprise symbolOr icon 5356, and user is removable and/or regulation and control icon 5356, to realize the joint motions of DLU5022. VariousIn embodiment, icon 5356 can comprise the schematic diagram of for example DLU5022. In addition, user can drag to joint by icon 5356Motion orientation and/or rotation orientation, to realize the joint motions of DLU5022. In various embodiments, line and/or arc 5358 canDirection and/or the degree of the joint motions that instruction user expects. For example, arc 5358 can be got from the non-joint motions of icon 5356To the joint motions orientation that extends to icon 5356 '. The icon 5356 ' of joint motions can be corresponding to the expectation of for example DLU5022Joint motions. Referring now to Figure 88,, apparatus controller 5016 and/or microcontroller can be for example based on user via touch-screen5004 input realizes the joint motions of DLU5022 to axis A '. For example, DLU5022 articulating arrives by arc 5358The subtended angle limiting, described arc 5358 is between the non-joint motions icon 5356 shown in Figure 87 and joint motions icon 5356 '.

Mainly, referring to Figure 89 and Figure 90, in various embodiments, user can carry out alternately with touch-screen 5004, with will be withThe closed relevant instruction of jaw 5024 is input to surgical instruments 5020. In certain embodiments, user can be at touch-screen 5004Upper drag contact point from movable jaw 5024 and/or near closed orientation towards movable jaw 5024, to start jaw5024 closure. For example, user can trace from the movable jaw 5024 shown in first information layer 5010 and/or neighbouring toThe line of the expectation closed orientation of movable jaw 5024 or arc 5362 (Figure 89). In various embodiments, touch-screen 5004 can be byClosed action is sent to apparatus controller 5016 and/or microcontroller, and this can realize the closure of movable jaw 5024. At someIn embodiment, by user trace arc 5362 on touch-screen 5004 can from or approximate from being limited by movable jaw 5024Axis A extends, and arc 5362 may extend into by the axis A ' of the expectation clamping orientation definition of movable jaw 5024 (Figure 90).In addition, arc 5362 can be for example along being extended by arrow 5364 indicated directions. Referring now to Figure 90,, apparatus controller 5016 and/orMicrocontroller can for example be realized movable jaw 5024 closing to axis A ' based on user via the input of touch-screen 5004Close.

Referring now to Figure 91 and Figure 92,, in various embodiments, user can with first information layer 5012 in control pressButton and/or icon carry out alternately, instruction is input to surgical instruments 5020. For example, first information layer 5012 can comprise controlInterface 5072, described control interface 5072 can comprise that for example button 5074,5075,5076,5077,5078 is for defeated by instructionEnter to apparatus controller 5016 and/or microcontroller. For instruction is input to apparatus controller 5016 (Figure 93) and/or micro-controlThe button of device processed can relate to for example makes DLU5022 carry out joint motions, make the closed and/or clamping of jaw 5024, percussion and/orRetraction cutting element and/or from DLU5022 penetrate nail. User can carry out alternately with touch-screen 5004, with from control interface5072 select button. Mainly referring to Figure 91, control interface 5072 and can for example comprise and stop/bounce back button 5474, pause button5475, start button 5476, acceleration button 5477 and/or retard button 5478. User can for example contact start button 5476With start percussion stroke and/or advance percussion element, contact pause button 5475 with suspend percussion stroke, and/or contact stop/Retraction button 5474 is to stop pulling the trigger stroke and retraction percussion element. In addition, user can carry out alternately with control interface 5072,To regulate the speed of the percussion element in whole percussion stroke. For example, user can contact and accelerate button 5477 to increase percussionThe speed of element, and user can contact retard button 5478 to reduce the speed of percussion element. User can for example hitAfter the startup stage of " soft " of distribution journey and/or during increase the speed of percussion element, and/or can be for example arrive percussion" soft " stop stage of the percussion stroke of end of travel is reduced the speed of percussion element. In other embodiments, control interface5072 can comprise for example button and/or control, for the amendment closure of jaw 5024 and/or the joint motions of DLU5022.In various embodiments, in the time selecting apparatus controller 5070 menu from control panel 5030 and/or when user is with its other partyWhen formula is selected apparatus state of a control, control interface 5072 can " buckle " to a certain position in the second Information Level 5012. UserCan be for example with respect to first information layer 5010 and/or display 5002 moves, adjusts and/or control interface 5072.

In various embodiments, referring to Figure 92, the second Information Level 5012 can comprise for example progress bar 5480, described progress bar5480 can indicate the position of the percussion element in DLU5022. Progress bar 5480 can be in proximal end 5482 and distal end 5488Between extend, and can limit recent side position and the farthest side position of the percussion element of percussion during stroke. In various enforcementIn example, can for example indicate the position of percussion element along progress bar 5480. In certain embodiments, user can use controlControl in interface 5072 regulates percussion stroke. For example, user can carry out alternately with control interface 5072, to enter based on edgeThe startup stage that the indicating positions of percussion element of degree bar 5480 starting and/or stops " soft " of percussion stroke and/or " soft " stopThe moving stage. In addition, progress bar 5480 can comprise measurement markers and/or beacon 5484,5486, described measurement markers and/or beacon5484,5486 can be set to that " soft " on progress bar 5480 for example starts and/or " soft " stop stage can start and/or finishPosition. Beacon 5484,5486 can provide visual cues to user during percussion stroke, for example to utilize acceleration button5077 start and/or stop " soft " start-up period, and/or utilize retard button 5078 to start and/or stop " soft " stopStage. In various embodiments, the position of beacon 5484,5486 can be preset by user.

Still referring to Figure 92, in various embodiments, apparatus controller 5016 and/or microcontroller can based on beacon 5484,The velocity variations of percussion element is automatically realized in 5486 positions along progress bar 5480. In addition, user can with touch-screen5004 carry out alternately, with " soft " startup and/or " soft " mobile and/or that regulate and control progress bar 5480 and revise thus percussion strokeThe stop stage. For example, " soft " start and/or " soft " stop stage can be set at proximal end 5482 and distal end 5488 itBetween the pre-position along progress bar 5480. In certain embodiments, user can carry out alternately with touch-screen 5004, to moveMove and/or regulate beacon 5484,5486 positions along progress bar 5480 length. For example, user can be by dragging and release is ledMark 5484,5486 is arranged on beacon 5484,5486 between the multiple positions on progress bar 5480, to extend and/or to shorten" soft " of percussion stroke starts and/or " soft " stop stage. In certain embodiments, user can hand over touch-screen 5004Mutually, to move and/or to regulate the position of the distal end 5488 of progress bar 5480, thereby extend and/or shorten percussion stroke. ExampleAs, user for example can drag distal end 5488 to shorten percussion stroke and/or can drag distally towards distally towards nearsideEnd 5488 is to extend percussion stroke. In various embodiments, apparatus controller 5016 and/or microcontroller can be for example based on leadingMark 5484,5486 and/or distal end 5488 regulate the speed of percussion element and/or hit along the location revision of progress bar 5480Send out haul distance.

In various embodiments, surgical instruments 10 can comprise at least one deactivation mechanisms. As described in more detail herein, this type ofDeactivation mechanisms can stop end user to modify surgical instruments unilaterally. For example, referring to Figure 134, show power source 2500. Power source2500 can be used for power to be provided to surgical instruments (for example, surgical instruments 10 (referring to Fig. 1)), and are similar in many aspectsOther power sources (for example, power source 200 (referring to Fig. 1)) that this document is described elsewhere and Zemlok ' 763 in greater detailThe power source of other types, this full patent texts is incorporated herein by reference. In order to protect power source 2500 in case modify unilaterally, meritRate source 2500 can be configured to become and can not operate or inactivation in the situation that it is modified unilaterally. For example, power source 2500 canFor example become inactivation by stopping reception, storage and/or transmitting energy. Stop to distort and can guarantee that power source 2500 is with outwardSection's apparatus 10 is the proper operation between the operating period together.

Referring to Figure 134 and Figure 135, power source 2500 can comprise external shell 2502, and described external shell 2502 can be sealedThe various parts of power source 2500, for example battery pack 2510. Housing 2502 can comprise the first housing 2504 and connect separablyTo the second housing 2506 of the first housing 2504, as shown in Figure 135. In some cases, housing 2504 and housing 2056 can be byThermoplastic (for example, Merlon) forms. Alternatively, can use the other materials with appropriate characteristics. In addition housing,2504 and housing 2506 can pass through one or more tightening technologies (for example, adhesive, welding, interlocking structure and/or screw) and enterRow is coupled to each other. In one example, together with housing 2504 can be secured to via snap-fit joint with housing 2506. ?In another example, housing 2504 and housing 2506 can be secured together by clamp structure 2508, as shown in Figure 135.

Referring to Figure 135-137, power source 2500 can comprise deactivation mechanisms 2512, and described deactivation mechanisms 2512 can be at power sourceIn 2500 situations about suffering damage, power source 2500 can not be operated. For example, if housing 2502 modified unilaterally, deactivation mechanisms2512 can make power source 2500 not operate. As shown in Figure 135-137, deactivation mechanisms 2512 can comprise circuit 2514, described inCircuit 2514 can comprise can breaking part 2516 (referring to Figure 136). In some examples, can breaking part 2516 can be by being easy toThe conductive material of fracture forms. As shown in Figure 136, circuit 2514 can be connected to battery pack 2510 and can allow electric current to flow through,Precondition is to keep complete by breaking part 2516. As shown in Figure 137, disconnection can breaking part 2516 can interrupt circuit2514, stop thus the current flowing by it. To being above described further, as shown in Figure 135, circuit 2514 can be by fixedPosition become to make can breaking part 2516 can fracture in the time that the first housing 2504 and the second housing 2506 are separated from each other, this can makeIn the situation of inexertion reparation fracture circuit 2514, power source 2500 can not receive, store and/or provide for surgical instruments 10Power.

Referring to Figure 135, power source 2500 can comprise one or more battery units, and this depends on the current loading of apparatus 10Demand. In aspect various, power source 2500 can comprise battery pack, for example battery pack 2510, but described battery pack can comprise thatMultiple battery units that this is connected in series. Power source 2500 can be interchangeable. In some aspects, can comprise can for power source 2500Storage battery (for example, lead base, Ni-based, lithium ion based etc.). Battery unit can be for example 3 volts of lithium cells, for exampleCR123A battery unit, but in other embodiments, can use dissimilar battery unit (to comprise and there are different voltage levvlsAnd/or the battery unit of different chemical product). User can from surgical instruments 10 disconnect and shift out the power source 2500 that exhausts andIn its position, connect the power source 2500 having charged. The power source 2500 exhausting can charge subsequently and recycle. Also canBe susceptible to, power source 2500 can comprise at least one disposable battery. In all fields, disposable battery can be approximately 9 volts extremely approximately30 volts. User can disconnect and shift out the disposable power source 2500 exhausting, and connect new disposable power source 2500 withProvide power to surgical instruments 10.

As mentioned above, outside power source 2500 can comprise rechargeable battery cells and can for example be arranged in removedlyIn the shank part 14 of shell 12 (referring to Fig. 1). In such cases, power source 2500 can utilize charger seat to charge, instituteState charger seat and can comprise the power source for power source 2500 is charged. If power source 2500 is modified unilaterally, as mentioned above,Can use deactivation mechanisms (for example, deactivation mechanisms 2512) to stop power source 2500 to be recharged by charger seat. For example, electricityRoad 2514 can be connected to battery pack 2510 and can be connected to charger seat, to allow charger seat to carry out battery pack 2510Recharge. As mentioned above, in the time that the first housing 2504 separates with the second housing 2506, can breaking part 2516 (referring to Figure 135)Can disconnect, the electric current of interrupt flow oversampling circuit 2514 thus, this can stop charger seat to recharge battery pack 2510. This canBe conducive to stop end user to modify power source 2500 unilaterally because modify unilaterally power source 2500 can make its can not go recharge forIn conjunction with the follow-up use of surgical instruments 10.

Referring now to Figure 138-141,, power source 2500 can comprise data storage cell, for example, and memory 2552, described numberCan store the data that comprise about the information of power source 2500 according to memory cell, for example, total available power, access times and/orPerformance. In addition, memory 2552 can store the data of closing surgical instruments 10, and described data comprise relevant surgical instruments 10 outsideVarious information of the operation in section's surgical procedure (for example, the storehouse number of various sensor readings, percussion number of times, use) and/or haveClose treatment patient's information. Memory 2552 can comprise any device for storing software, and described device includes but not limited toROM (read-only storage), RAM (random access memory), PROM (programming ROM), EEPROM (electric erasable PROM) and/Or other computer-readable mediums.

To being above described further, refer again to Figure 138-141, power source 2500 can comprise data access entrance,For example, I/O interface 2550, so that access is stored in the data in memory 2552. For example, I/O interface 2550 allows to be stored inData in the memory 2552 of power source 2500 are downloaded to external computer device for assessment and analyze. In some feelingsUnder condition, I/O interface 2550 can be wireline interface and is operationally connected to deactivation mechanisms 2512, and described deactivation mechanisms 2512 canComprise the connecting portion that can rupture, the described connecting portion that ruptures can be cut off to stop the transfer of data by I/O interface 2550. SimilarIn deactivation mechanisms 2512 can breaking part 2516, the ruptured connecting portion of deactivation mechanisms 2554 can be oriented to make it can be at shellWhen body 2502 is broken, (for example,, in the time that the first housing 2504 and the second housing 2506 are separated from each other) is cut off.

To being above described further, as shown in Figure 139-141, I/O interface 2550 can comprise connector 2555, described inConnector 2555 can be configured to receive from the corresponding connector 2556 of external computer device for example to allow dataBetween memory 2552 and computer installation, transmit. In addition, connector 2554 can for example, by covering (, pivotable covering2559) protection, described pivotable covering 2559 can be configured at latched position (referring to Figure 139) (wherein connector2554 for unexposed) (wherein connector 2554 is exposed to receive corresponding connector with unlocked position (referring to Figure 140)2556) motion between. In one example, can use screw 2558 that pivotable covering 2559 is fixed to housing 2502. These public affairsOpen other devices that can be susceptible to for recovering to cover coupling 2556. To being above described further, show at someIn example, connector 2554 and 2556 can comprise that key and lock engage, and wherein connector 2554 and 2556 can comprise for example uniquenessComplimentary geometries, stop thus connector 2554 to receive other connectors, so as to stop or at least restriction be stored in storageThe unauthorized access of the data in device 2552. In some examples, connector 2554 can be positioned in housing 2502, as Figure 141Shown in, further to limit the unauthorized access that is stored in the data in memory 2552. In such cases, can be by separatingThe first housing 2504 and second housing 2506 of housing 2502 visit connector 2554. But, as described in more detail above, stopCan in the time that housing 2502 breaks, make power source 2500 not operate with mechanism 2512, this can further stop to attempt to expose and connectDevice 2554 is stored in the data in memory 2552 with access.

Referring to Figure 142, power source 2500 can comprise can manage the processor 2560 that is stored in the data in memory 2552.In order to protect these type of data, in case unauthorized access, processor 2560 can be connected to the sense mechanism 2562 that breaks. For example, processor2560 can be connected to circuit 2514 and can be configured to detect can breaking part 2516 fracture. In one example,Destroy sense mechanism 2562 and can comprise the one or more sensors that break that are configured to detect in housing 2502. In officeIn what situation, when detecting while breaking, processor 2560 can be programmed with for example by deleting or enciphered data stops depositingThe data that are stored in memory 2552 are carried out unauthorized access.

Referring to Figure 143-145, show surgical instruments 2600. Surgical instruments 2600 is similar to surgical instruments in many aspects10 (referring to Fig. 1) and/or surgical instruments 2100 (referring to Figure 146). For example, surgical instruments 2600 can comprise casing assembly 2602,Described casing assembly 2602 is similar to the casing assembly 2102 of surgical instruments 2100 and/or the shell 12 of surgical instruments 10. In addition,Surgical instruments 2600 can comprise power source 2500 ', and described power source 2500 ' can be used for power to be provided to surgical instruments 2600 alsoAnd be similar in many aspects other power sources (for example, power source 2500 (referring to Figure 134)) that this document describes elsewhere andZemlok ' 763 is the power source of other types in greater detail, and this full patent texts is incorporated herein by reference. In addition, asShown in Figure 143, power source 2500 ' can comprise charge level indicator 2660, and described charge level indicator 2660 can be constructedOne-tenth can provide the feedback about the charge level of power source 2500 ' to user. Feedback can have for example sound and/or light shapeFormula. Power source 2500 ' can comprise one or more light emitting diodes (LED). Processor 2560 for example can be programmed to controlLED, thus the feedback about the charge level of power source 2500 ' provided to user, and described charge level can be by for example electricityAmount meter is measured.

As shown in Figure 143-145, power source 2500 ' can comprise a LED2662 and the 2nd LED2664. Processor2560 can be connected to LED2662 and 2664 and can be programmed to be believed by complete completely charged receiving power source from voltameterNumber time light LED2662 and 2664 both. In addition, processor 2560 can be programmed to receive power source consumption from voltameterWhen most signal, close LED2662 and LED2664. In addition, processor 2560 can be programmed to receive from voltameterIn the time that having the signal for only enough electric weight of a complete operation of surgical instruments 2600, only lights power source a LED2662 and do not light the 2nd LED2664. The disclosure can be susceptible to charge level for pointing out user's power source 2500 'Other devices.

In certain embodiments, for example, the various parts of surgical instruments 10 can be reusable and various partsCan be interchangeable. In addition, surgical instruments 10 can be assembled at least in part, be dismantled and/or be re-assemblied. For example, surgery deviceTool 10 can be dismantled at least in part and can for example be re-assemblied with reusable parts and replacement parts. SeparatelyOutward, surgical instruments 10 can be dismantled at least in part at during surgery, for cleaning, sterilizing and/or process. WithAfter, can for example re-assembly surgical instruments 10. As described in more detail herein, the various feature structures of surgical instruments 10, assembly and/Or system can be conducive to its dismounting and assembling. For example, referring now to Figure 146-148, show surgical instruments 2100. Surgical instruments2100 are similar to surgical instruments 10 (referring to Fig. 1) in many aspects. For example, surgical instruments 2100 can comprise and is similar to surgical instrumentsThe casing assembly 2102 of 10 shell 12. In addition, casing assembly 2102 can comprise some detachable blocks 2103, described detachableParts 2103 can be detachably fixed to housing main body 2104, for example work package 2106. Other portions of casing assembly 2102Part can be detachably fixed to housing main body 2104. For example, casing assembly 2102 can comprise interchangeable power source 2108, instituteState the shank part 2110 that interchangeable power source 2108 can be detachably fixed to housing main body 2104. Power source 2108 existsMany aspects are similar to other power sources that this document is described elsewhere, for example, and power source 200 (referring to Fig. 1).

Refer again to Figure 147, some or all in casing assembly 2102 or its parts can be reusable. ChangeWord says, some or all in casing assembly 2102 or its parts can be used in multiple operations, described operationBetween can casing assembly 2102 be cleaned, be sterilized and/or process. By simple and can recover by repetitive modeFor example, outside ground dismounting casing assembly 2102 or the ability that removes some or all (, work packages 2106) in its parts can be simplifiedClean, the sterilization of shell component 2012 and/or the step of processing again and/or can reduce costs.

Referring to Figure 147, casing assembly 2102 can be disassembled after operation, and the casing assembly 2102 of dismantlingParts (for example, housing main body 2104, work package 2106 and/or power source 2110) can enter individually or in conjunction with miscellaneous partRow cleans, sterilizes and/or process, and this depends on characteristic and the inner body of each parts. In some examples, shell masterBody 2104 can be disposable. In other words, casing assembly 2102 can be disassembled and housing main body after operation2104 can be replaced by new housing main body 2104. But remainder can clean, sterilizes and/or process, attached subsequentlyTo new housing main body 2104. Reader will know, it is disposable and can be by newly that the miscellaneous part of casing assembly 2102 also can beLike replace.

Refer again to Figure 146-148, housing main body 2104 can be configured to allow casing assembly 2102 with simple,Predictable and repeatably mode carry out assembly and disassembly. For example, housing main body 2104 can comprise the first cover part 2112(referring to Figure 147) and can be attached to releasedly the first cover part 2112 second cover part 2114 (referring to Figure 146). OneIn individual example, cover part 2112 and 2114 can comprise that snap-fit engages. Cover part 2112 and 2114 can be suitable for paired with each otherEngage. In one example, cover part 2112 can comprise multiple female members 2116 (referring to Figure 147), described multiple female members2116 can cylindrical shape and be configured in the time that cover part 2112 and cover part 2114 fit together with buckleEngage mode is received the corresponding male member (not shown) being arranged in cover part 2114.

To being above described further, work package 2106 can be nested in the first cover part 2112. As Figure 147 instituteShow, the second cover part 2114 can be removed to expose the work package 2106 being nested in the first cover part 2112, to allowUser removes work package 2106 from housing main body 2104. As shown in Figure 147, work package 2106 can comprise motor 2118,Described motor 2118 for example can produce spinning movement, to act on end effector (, the storehouse/anvil of the loading unit 20 shown in Fig. 2Seat part). Motor 2118 is similar to other motors that this document is described elsewhere in many aspects, for example, motor 100 (referring toFig. 1). In addition, work package 2106 also can comprise transmission assembly 2120, and described transmission assembly 2120 can operationally be connected toMotor 2118 and be similar in many aspects in this document other transmission assemblies of describing elsewhere, for example, gear assembly 170(referring to Fig. 5). In addition, work package 2106 also can comprise firing member assembly 2122, and described firing member assembly 2122 can be byThe spinning movement being produced by motor 2118 converts the axial action that can be transferred to by trigger shaft 2124 end effector to. PercussionComponent assembly 2122 is similar to other driven units that this document is described elsewhere in many aspects, for example, and firing member assembly82。

Referring to Figure 147 and Figure 148, the first cover part 2112 can comprise and is designed and separates to receive work package 2106Multiple compartments. For example, as shown in Figure 147, cover part 2112 can comprise be spaced to hold the motor of motor 2118 nested everyChamber 2126. In some examples, the nested compartment 2126 of motor can be designed to the adaptive motor 2118 of specific arrangements mode, to guaranteeAccurate assembling. In addition, the nested compartment 2126 of motor can comprise assembling instruction, and described assembling instruction can for example be molded onto motorOn the wall of nested compartment 2126, to guarantee correct assembling. For example, the sidewall of the nested compartment 2126 of motor can be configured toClosely receive motor 2118. In addition, side can asymmetricly be constructed at least in some respects with an only direction of edge(, correct orientation) receives motor 2118.

Similarly, as shown in Figure 147, cover part 2112 can comprise the nested compartment 2128 of transmission assembly, described transmission assemblyNested compartment 2128 can be spaced to hold transmission assembly 2120. In addition, in some examples, the nested compartment 2128 of transmission assemblyBe designed to specific arrangements mode adapted transmission assembly 2120, to guarantee accurate assembling. For example, the nested compartment of transmission assembly2128 sidewall can be configured to closely receive transmission assembly 2120. In addition, side can be at least in certain aspectsAsymmetricly construct with an only direction (, correct orientation) receiving transmission assembly 2120 of edge. In addition, transmission assembly is nestedCompartment 2128 can comprise assembling instruction, and described assembling instruction can for example be molded onto on the wall of the nested compartment 2128 of transmission assembly,To guarantee correct assembling. Similarly, as shown in Figure 147, cover part 2112 can comprise the nested compartment 2130 of firing member, described inThe nested compartment 2130 of firing member can be spaced to hold firing member assembly 2122. In addition, in some examples, firing memberThe nested compartment 2130 of assembly is designed to the adaptive firing member assembly 2122 of specific arrangements mode, to guarantee accurate assembling.For example, the sidewall of the nested compartment 2130 of firing member assembly can be configured to closely receive firing member assembly 2122.In addition, side can asymmetricly constructed at least in certain aspects with an only direction (, correct orientation) receiving of edgeFiring member assembly 2122. In addition, the nested compartment 2130 of firing member assembly can comprise assembling instruction, and described assembling instruction can exampleAs be molded onto on the wall of the nested compartment 2130 of firing member assembly, to guarantee correct assembling. Reader will know, working groupThe miscellaneous part of part 2106 also can provide holding in compartment of at the cover unique design in part 2112. Reader also will know,The electric contact of work package 2106 also can embed in the compartment of cover part 2112, so that when proper correct assembling, can be in working groupFor example, between the miscellaneous part (, power source 2108) of part 2106, casing assembly 2102 and/or the miscellaneous part of surgical instruments 2100Set up electrical connection.

To being above described further, work package 2106 can be connected to trigger shaft 2124 separably, as Figure 147Shown in, this can allow user to remove and reconnect to surgical instruments using work package 2106 as individual unit2100, to simplify the dismounting of work package 2106 and to re-assembly. In one example, as shown in Figure 147, firing member assembly2122 can comprise hollow tubular distal part 2132, and described hollow tubular distal part 2132 can comprise distal openings, described far awaySide opening can for example engage to receive and lock onto releasedly the portions of proximal of trigger shaft 2124 with snap-fit2134。

Refer again to Figure 147 and Figure 148, the miscellaneous part of casing assembly 2102 can be similar to the side of work package 2106Formula is nested in the special compartment in cover part 2112. For example, cover part 2112 can comprise the nested compartment 2136 of power source, described inThe nested compartment 2136 of power source can be spaced to hold power source 2108. In addition, in some examples, the nested compartment of power source2136 can be designed to the adaptive power source 2108 of specific arrangements mode, to guarantee accurate assembling. For example, power source nested everyThe sidewall of chamber 2136 can be configured to closely receive power source 2108. In addition, side can be carried out at least in some respectsAsymmetricly construct with an only direction (, correct orientation) receiving power source 2108 of edge. In addition, the nested compartment 2136 of power sourceCan comprise assembling instruction, described assembling instruction can for example be molded onto on the wall of the nested compartment 2136 of power source, correct to guaranteeAssembling.

To being above described further, as shown in Figure 147 and Figure 148, (for example, the percussion of some user's input mechanismButton 2138 and/or Closing Switch 2140) also can dismantle from housing main body 2104, described housing main body 2104 can comprise and being spacedOpen with the closure of holding the nested compartment 2142 of firing button of firing button 2138 and/or being spaced to hold Closing Switch 2140Close nested compartment 2144. In addition, in some examples, the nested compartment 2142 of firing button can be designed in specific arrangements modeAdaptive firing button 2138, to guarantee accurate assembling. For example, the sidewall of the nested compartment 2142 of firing button can be configured to energyEnough firing buttons 2138 of closely receiving. In addition, side can with edge only asymmetricly constructed at least in certain aspectsA direction (, correct orientation) is received firing button 2138. Similarly, the nested compartment 2144 of Closing Switch can be designed toThe adaptive Closing Switch 2140 of specific arrangements mode, to guarantee accurate assembling. For example, the sidewall of the nested compartment 2144 of Closing SwitchCan be configured to closely receive Closing Switch 2140. In addition, side can carry out at least in certain aspects asymmetricGround structure is with an only direction (, correct orientation) receiving Closing Switch 2140 of edge. In addition the nested compartment 2142 of firing button,And/or the nested compartment 2144 of Closing Switch can comprise assembling instruction, described assembling instruction can for example be molded onto firing button embeddingOn the wall of cover compartment 2142 and/or the nested compartment 2144 of Closing Switch, to guarantee correct assembling.

Refer again to 147 and Figure 148, except nested compartment, cover part 2112 can comprise fixed mechanism, with by shell groupSome or all detachable blocks 2103 in part 2102 are fixed in its respective compartment, thereby guarantee that detachable block 2103 protectsHold and be nested in its respective compartment. This type of fixed mechanism can comprise fixed component, described fixed component can release configuration (referring toFigure 148) and between locked configuration (referring to Figure 147) move, so that the detachable block of casing assembly 2,102 2103 is locked onto to itRespective compartment in cover part 2112. Reader will know, can be with single or multiple fixed components by one or moreDetachable block 2103 is fixed to cover part 2112. In addition, fixed mechanism also can comprise security feature structure, described security featureStructure can stop fixed component to move to locked configuration in the situation that of incorrect assembling, to guarantee the removable of casing assembly 2102Unload the correct assembling of parts 2103. As shown in the exemplary embodiment in Figure 147, work package 2106 can pass through some fixing structuresPart (for example, motor fixed component 2148, transmission assembly fixed component 2150 and/or firing member assembly fixed component 2152)Be fixed to cover part 2112. In some examples, as shown in Figure 147, can use power source fixed component 2154, firing button solidDetermine member 2156 and Closing Switch fixed component 2158 is distinguished constant power source 2108, firing button 2138 and Closing Switch2140。

Fixed component can be clamped to by moving to locked configuration (referring to Figure 147) from release configuration (referring to Figure 148)On detachable block 2103. For example, motor fixed component 2148 can be by moving to locking structure from release configuration (referring to Figure 148)Type (referring to Figure 147) is clamped on motor 2118. In some examples, some or all in detachable block 2103 can be wrappedDraw together track, described track is configured to receive in the time that release configuration moves to locked configuration at fixed component fixed component.Track can be positioned such that they can only correctly be nested in the respective compartment in cover part 2112 at detachable block 2103When interior, be aligned to receive the fixed component of motion. For example,, if motor 2118 is not correctly nested in the nested compartment of motorIn 2126, motor fixed component 2148 can correctly not aimed at its track, and thus when motor fixed component 2148 fromWhen release configuration moves to locked configuration, motor fixed component 2148 can not injection and for example can be abutted against motor2118 outer wall. In some examples, motor fixed component 2148 can be positioned such that if when motor fixed component 2148In the time of locked configuration, user does not attempt assembling cover part 2112 and 2114, and it can stop the first cover part 2112 and secondCover part 2114 engage. Whether the assembling parts that this structure can point out user to reexamine casing assembly 2102 is correctAssembling.

Be similar to motor fixed component 2148, transmission assembly fixed component 2150 may be received on transmission assembly 2120 speciallyWith in track, and transmission assembly fixed component 2150 can be oriented to make it to be only correctly nested in biography at transmission assembly 2120Its corresponding rail alignment of ability in the nested compartment 2128 of defeated assembly time. In addition, firing member assembly fixed component 2152 can connectBe contained in the dedicated track on firing member assembly 2122 for example, and firing member assembly fixed component 2152 can be oriented toMake it only just corresponding with it in the time that firing member assembly 2122 is correctly nested in the nested compartment 2130 of firing member assemblyRail alignment. Be similar in addition motor fixed component 2148, transmission assembly fixed component 2150 and/or firing member assembly are solidDetermine that member 2152 can be positioned such that if when transmission assembly fixed component 2150 and/or firing member assembly fixed component2152 not in the time of locked configuration user attempt assembling cover part 2112 and 2114, any one in them can stop firstCover part 2112 and the second cover part 2114 engage. As mentioned above, some in detachable block 2103 can be disassembled, canAgain be attached to cover member 2112 as assembly together, and can be fixed by multiple fixed components. For example, work package2106 can pass through motor fixed component 2148, transmission assembly fixed component 2150 and/or firing member assembly fixed component 2152Be fixed to cover part 2112, as shown in Figure 147. This class formation can provide the Insurance riders degree of correct assembling, because work packageThe incorrect assembling of any one parts in 2106 can stop its corresponding fixed component to arrive locked configuration, if made like thisWhen at least one in fixed component of user do not reach locked configuration, attempt assembling cover part 2112 and 2114, can stop theOne cover part 2112 and the second cover part 2114 engage.

Refer again to Figure 147 and Figure 148, some or all in fixed component can be attached to the first cover portion pivotlyPoints 2112 and can move to locked configuration (referring to figure from release configuration (referring to Figure 148) with respect to the first cover part 2112147), vice versa. In some examples, the second cover part 2114 can comprise the fixed component (not shown) of projection, when outsideThe assembly process of shell component 2102, when cover part 2112 and 2114 is aligned for engage, the fixing structure of described projectionPart can be received in the corresponding receiver member (not shown) in the detachable block 2103 being nested in the first cover part 2112.The fixed component of projection guarantees that detachable block 2103 remains fixed in the first cover part 2112. In addition, if user existsThe fixed component of projection is for example because not corresponding with it receiver member of the incorrect assembling of detachable block 2103 is correctly rightThe punctual assembling cover part 2112 and 2114 of attempting, the fixed component of projection can stop the first cover part 2112 and the second cover part2114 engage, this can point out the assembling of the detachable block 2103 that user reexamines casing assembly 2102 to carry outCorrect assembling. Reader will know, the fixed component of projection and the position of its corresponding receiver member can be reversed, and dashes forward makingThe fixed component rising can be received structure from detachable block 2103 projections and the correspondence may be received in the second cover part 2114In part. Under any circumstance, the fixed component of projection and its corresponding receiver member can for example connect with snap-fit each otherIncompatible attached releasedly. The disclosure can be susceptible to other engaging mechanisms.

To being above described further, some or all the comprised cam faces in detachable block 2103, described inCam face is configured to move to locking at the fixed component of the first cover part 2112 from release configuration (referring to Figure 148)When configuration (referring to Figure 147), receive these fixed components. Cam face can be arranged in dismountable parts 2103 some orOn whole outer surfaces and under locked configuration, can allow corresponding fixed component that pressure is applied to detachable block 2103On. For example, motor 2118 can comprise the cam face along its track. When motor fixed component 2148 from release configuration (referring to figure148), while moving to locked configuration (referring to Figure 147), motor fixed component 2148 can be advanced along the cam face on motor 2118,Thereby can allow motor fixed component 2148 that the pressure increasing progressively is applied on motor 2118, wherein for example tool under locked configurationThere is maximum pressure. The pressure that is applied to motor 2118 can contribute to motor to be fixed in the nested compartment 2126 of motor.

As mentioned above, end effector can comprise and can advance towards distally the firing member sewing up and/or cut and organize. ExistingReferring to Figure 155, end effector 11260 can comprise having the first jaw of anvil block 11262 and have second of nail bin 11264Jaw. End effector 11260 also can comprise: the shell and/or the frame that one, extend from anvil block 11262 and nail bin 11264 towards nearsideFrame 11261; With two, the firing member 11266 that can move with respect to shell 11261, anvil block 11262 and storehouse 11264. Hold endRow device 11260 also can comprise actuated articulation joints 11230, and described actuated articulation joints 11230 is configured to allow anvil block11262 and storehouse 11264 carry out joint motions by joint motions driver 11268. When use, end effector 11260 can groupThe axle 11240 that installs to surgical instruments, for example, make: one, end effector shell 11261 is connected to and is configured to support endThe shaft housing 11241 of portion's actuator shell 11261; Two, end effector firing member 11266 is connected to and is configured to push awayEnter and the axle percussion actuator 11246 of the end effector firing member 11266 that bounces back; And/or three, end effector joint motionsDriver 11268 is connected to the axle joint that is configured to propelling and retraction end effector joint motions driver 11268Motion actuator 11248. When use, firing member 11266 can advance towards distally, so that anvil block 11262 is from wherein organizing and can determineThe open positions of position in the middle of anvil block 11262 and storehouse 11264 move to anvil block 11262 compress tissues wherein against storehouse 11264Closing position. In all cases, firing member 11266 can be included in when firing member 11266 advances towards distally and be configured toCan engage first engagement member and the second engagement member that is configured to engage the second jaw of the first jaw, to makeAnvil block 11262 can carry out pivotable by engagement member nail bin tomorrow 11264. In order to reopen end effector and to allow anvilSeat 11262 turns back to its open position, and firing member 11266 must be bounced back fully. In all cases, firing member11266 may be stuck in the position of at least part of percussion, and therefore anvil block 11262 can not be reopened, and make thus surgeryApparatus is difficult to remove from operative site.

Turn to now Figure 156-161, end effector (for example, end effector 11360) can comprise firing member, described inFiring member can allow the anvil block 11262 of end effector 11360 to be reopened, even the percussion of end effector 11360Member is stuck in the position of at least part of percussion. More specifically, end effector 11360 can comprise firing member 11366, instituteState firing member 11366 and comprise removable part 11366a and 11366b, described removable part 11366a and 11366b are respectivelyIn the situation of kind, can be configured to allow the relative motion between anvil block 11262 and storehouse 11264. Mainly referring to Figure 157 and Tu158, in the time that lock 11390 is in the lock state, removable part 11366a and 11366b can keep together by locking 11390,As shown in Figure 158. Correspondingly, when lock 11390 is during in released state, removable part 11366a and 11366b can be with respect to thoseThis motion. The removable part 11366a of firing member 11366 can comprise the first side direction part 11363a, the second side direction part11367a and be positioned at side direction part 11363a and 11367a in the middle of cutting element part 11365a. In all cases,Side direction part 11363a and 11367a can be via extending through the one or more pin (Figure 157 that are defined in the 11396a of hole whereinWith 158 in not shown) remain to cutting element part 11365a. The removable part 11366b of firing member 11366 can wrapDraw together the first side direction part 11363b, the second side direction part 11367b and be positioned in the middle of side direction part 11363b and 11367bCutting element part 11365b. In all cases, side direction part 11363b and 11367b can via with the end from its extensionAt least one retaining member (not shown in Figure 157 and 158) that pin 11396 engages remains to cutting element part 11365b.Reader will know, aforementioned retaining pin keeps together the various parts of removable part 11363a, simultaneously aforementioned maintenance structurePart keeps together the various parts of removable part 11363b. Reader also will know, lock 11390 is in its locking bitWhile putting, removable part 11363a and 11363b are kept together. In all cases, mainly referring to Figure 158, lock 11390 canComprise the first locking component 11397a and the second locking component 11397b, described the first locking component 11397a can engageOne cutting component portion divides the first lock part 11361a of 11365a, and described the second locking component 11397b can engage second and cutCut the second lock part 11361b of member part 11365b. The first lock part 11361a and the second lock part 11361b canBe configured to cutting element part 11365a and 11365b to keep together collaboratively and releasedly. In various feelingsUnder condition, lock part 11397a, 11397b can keep together cutting element part 11365a and 11365b, make to cut structureThe corresponding cutting surfaces 11395a of part part 11365a and 11365b and 11395b form continuous or at least substantially continuousCutting surfaces. Refer again to Figure 158, lock part 11397a, the 11397b of lock 11390 can distinguish joint and guarantor collaborativelyHold key 11361a and the 11361b of cutting element part 11365a and 11365b. In all cases, lock part 11397a,11397b can limit recess 11398 between them, and recess 11398 is configured at lock 11390 in its latched positionTime receive key 11361a and 11361b. In the time that lock 11390 carries out tractive towards nearside, lock part 11397a and 11397b can depart fromKey 11361a and 11361b. Now, lock 11390 can no longer keep together cutting element part 11365a and 11365b. ?In this case, therefore, removable part 11366a and 11366b can relative to each other move. For example, removable part11366a can move in the time that jaw 11262 reopens together with jaw 11262, and accordingly, removable part 11366bCan keep together with storehouse 11264. According to mentioned above, when firing member 11366 is for example stuck in the position of percussion at least partlyWhen middle, can be towards nearside tractive lock 11390 with release removable part 11366a and 11366b.

As mentioned above, can be towards nearside tractive lock 11390, with the removable part 11366a of release firing member 11366 and11366b. Turn to now Figure 159, can be by securing rod 11391 towards nearside tractive and/or towards distally pushing lock 11390. Securing rod11391 can be positioned in end effector 11360 and can comprise proximal end 11392 and distal end 11393. Securing rod11391 distal end 11393 can engage with lock 11390. More specifically, at least one embodiment, distal end 11393Can comprise the projection from its extension, described projection can be positioned at the elongated slot 11399 being defined in lock 11390 slidablyIn. In order to lock 11390 towards nearside tractive, can be towards nearside tractive securing rod 11391, until projection contacts elongated slot 11399Proximal end 11394, wherein the action of securing rod 11391 can be passed to lock 11390. Accordingly, projection can be configured to energyEnough contact the distal end 11395 of elongated slot 11399, so that towards distally pushing lock 11390. Reader will know, ginseng againSee Figure 156, firing member 11366 can comprise and is defined in one or more longitudinal slit 11369, described one or moreLongitudinally slit 11369 is configured to allow securing rod projection through its extension and engages lock 11390, as mentioned above.

To being above described further, mainly referring to Figure 156 and Figure 160, the proximal end 11392 of securing rod 11391Can comprise and be configured to the attachment part that engaged by the locking actuator 11348 of the axle 11340 of surgical instruments. Mainly referring toFigure 160, locking actuator 11348 can comprise the jagged distal end 11349 of tool, described recess for example can be configured toReceive the proximal end 11392 of securing rod 11391. Locking actuator 11348 also can comprise proximal end 11347, described nearsideEnd 11347 can be by the user of surgical instruments towards nearside tractive and/or push towards distally, to make to lock actuator11348 and securing rod 11391 respectively towards nearside and/or towards distal movement. In use, when end effector 11360 is assembled intoWhen axle 11340, the proximal end 11392 of securing rod 11391 can be assembled into the distal end 11349 of locking actuator 11348.

As mentioned above, motor can be used for advancing and/or retraction firing member, to dispose the securing member from end effectorAnd/or cutting is captured in the tissue in end effector. In all cases, motor can comprise rotatable drive shaft, instituteThe rotation of stating rotatable drive shaft can be converted into into translational motion and be transferred to firing member, for example cutting element and/orStaple drivers. In at least one this type of situation, rotatable drive shaft can comprise threaded portion, described threaded portion and lining ring spiral shellLine engages, and described lining ring comprises the screwed hole being defined in wherein, and wherein in use, lining ring can suffer restraints and can not rotate,Make the rotation of driving shaft towards distally propelling driving shaft and/or towards nearside retraction driving shaft, this depends on the side of driving shaft rotationTo. In some cases, firing member can be stuck and/or in other words can stand to exceed and expect or predetermined maximum, force or turn roundThe power of square or moment of torsion. Turn to now Figure 162-167, motor sub-assembly 12000 can comprise motor 12010, axle 12020 and slide fromClose device assembly 12030, wherein slip-clutch assembly 12030 can limit motor 12010 and can be transferred to the power of axle 12020 or turn roundSquare. In all cases, mainly referring to Figure 162 and Figure 163, what slip-clutch assembly 12030 can be at motor 12010 is rotatableTransfer of torque between driver output portion 12012 and axle 12020. Referring now to Figure 165-167,, in all cases, driver outputPortion 12012 can comprise substantially circular exterior contour part 12011 and can be smooth or smooth transition at least substantiallySurface 12014. The exterior contour of driver output portion 12012 also can comprise and is defined in circular contour part 12011 and flat surfacesBetween 12014 first drive shoulder 12016 and are defined in opposite end and the circular contour part of flat surfaces 12014Between 12011 second drive shoulder 12018.

As shown in Figure 165-167, slide engaging and disengaging assembly 12030 can comprise driving element 12034 in addition, described driving element12034 are biased into driver output portion 12012 and are engaged by biased element 12036 or spring 12036. Driving element 12034 canBe positioned at least in part in the maintenance slit in the shell 12037 that is defined in slide engaging and disengaging assembly 12030, make driving element12034 motions with respect to shell 12037 can be limited on axis. Reader will know, the shell of slide engaging and disengaging assembly12037 can be installed to axle 12020, make shell 12037 synchronous rotary together with axle 12020. Reader also will know, at least existIn some situation, driving element 12034 can be transferred to shell 12037 by the spinning movement of driver output portion 12012. More specificallyGround, when driver output portion 12012 along first direction rotation as indicated in arrow 12017 when towards distally propelling firing member,Driver output portion 12012 can rotate with respect to driving element 12034, until first drives shoulder 12016 and driving element 12034Contact. Reader will know, first drives shoulder 12016 can keep contacting with driving element 12034, and precondition is bias voltage structureThe radially outward motion of driving element 12034 can be resisted or be resisted at least fully to part 12036. As long as driving element 12034Contact with the first driving shoulder 12016, motor 12010 just can make axle 12020 along advance the direction of firing member to revolve towards distallyTurn. In all cases, motor 12010 can be applied to driver output portion 12012 by enough large moment of torsion, so that driving element12034 radially outward displacements, thus make to drive defeated portion go out 12012 first drive shoulder 12016 to slip over driving element12034, and therefore make driver output portion 12012 with respect to driving element 12304, slip-clutch shell 12037 and axle12020 rotations. In other words,, in the time being applied to the moment of torsion of driver output portion 12012 and exceeding predetermined or maximum moment of torsion, driveElement 12034 can lose efficacy and operationally depart from motor 12010. When the moment of torsion that is applied to driver output portion 12012 drops toDuring lower than this moment of torsion that be scheduled to or maximum, driving element 12034 can be re-engaged the first driving shoulder 12016, and therefore,Axle 12020 can operationally be re-engaged with motor 12010, makes axle 12020 by the driver output portion of motor 1201012012 are rotated.

To being above described further, when driver output portion 12012 revolves along second direction as indicated in arrow 12019Turn when towards nearside retraction firing member, driver output portion 12012 can rotate with respect to driving element 12034, until second drivesMoving shoulder 12018 contacts with driving element 12034. Reader will know, second drives shoulder 12018 can keep and driving element12034 contacts, precondition is that biasing member 12036 can be resisted or resist at least fully driving element 12034 radiallyOutwards motion. As long as driving element 12034 with second driving shoulder 12018 contact, motor 12010 just can make axle 12020 alongTowards the direction rotation of nearside retraction firing member. In all cases, motor 12010 can be applied to driving by enough large moment of torsionEfferent 12012 so that driving element 12034 is radially outward shifted, thereby make to drive defeated portion go out 12012 second drive shoulderPortion 12018 slips over driving element 12034, and therefore makes driver output portion 12012 with respect to driving element 12034, slipClutch outer member 12037 and axle 12020 rotate. In other words, exceed predetermined when being applied to the moment of torsion of driver output portion 12012Or when maximum moment of torsion, driving element 12034 can lose efficacy and operationally depart from motor 12010. When being applied to, driving is defeatedWhen the moment of torsion that goes out portion 12012 drops to lower than this predetermined or maximum moment of torsion, driving element 12034 can be re-engaged second and driveMoving shoulder 12018, and therefore, axle 12020 can operationally be re-engaged with motor 12010, makes axle 12020 pass through motor12010 driver output portion 12012 is rotated.

In all cases, to being above described further, first drives shoulder 12016 and second to drive shoulder12018 can have identical configuration. In some cases, first drive shoulder 12016 to be limited and the by first curvature radiusTwo drive shoulder 12018 to be limited by second curvature radius. In some cases, first curvature radius can with second curvature radiusIdentical. In such cases, motor 12010 can be in the maximum applying in the time that first direction 12017 rotarilys actuate efferent 12012Or sliding torque can rotarily actuate the maximum or slip that output applies at 12012 o'clock with motor 12010 along second direction 12019Moment of torsion is identical or substantially the same. In some cases, first curvature radius can be different from second curvature radius. In these type of feelingsUnder condition, motor 12010 can at the maximum or the sliding torque that apply in the time that first direction 12017 rotarilys actuate efferent 12012From motor 12010 can be rotarily actuate maximum or sliding torque that output applies at 12012 o'clock along second direction 12019 different. ?In at least one this type of situation, first curvature radius can be greater than second curvature radius, wherein therefore, along first direction 12017Maximum or sliding torque can be less than along the maximum of second direction 12019 or sliding torque. In other words, than advancing percussion unitPart, in the time of retraction percussion element, motor 12010 can apply larger moment of torsion to axle 12020. When expecting retraction percussion element so thatWhen the end effector of surgical instruments can for example be reopened and unclamp from tissue, this type of situation can be favourable. ExtremelyIn few a kind of situation, first curvature radius can be less than second curvature radius, wherein therefore, along the maximum of first direction 12017 orSliding torque can be greater than along the maximum of second direction 12019 or sliding torque. In other words, than retraction percussion element, whenWhile advancing percussion element, motor 12010 can apply larger moment of torsion to axle 12020.

To being above described further, mainly referring to Figure 163 and Figure 164, biasing member 12036 can be by spring lining ring12032 flexibly support, and described spring lining ring 12032 is positioned at the circumferential passageway being defined in slip-clutch shell 12037In 12031. In such cases, spring lining ring 12032 and biasing member 12036 can cooperate to apply radially inner biasing forceAnd/or the radially outward motion of opposing driving element 12034. In all cases, spring lining ring 12032 can comprise annularMain body, described circumferential body comprises the first free end 12033 and the second free end 12034, wherein circumferential body can be in above-mentioned footpathBe applied at that time flexibly expansion and flexibly shrink in the time that this radially outer power has stopped or having reduced to outside power. ?In this case, the first free end 12033 of spring lining ring 12032 can move with respect to the second free end 12034.

Device disclosed in this invention can be designed to after single uses process, or they can be designed to beNonexpondable. But under any situation, described device all can be repaired, again to make after using at least one timesWith. Reparation can comprise provision for disengagement, cleaning or change concrete parts and follow-up wherein any several steps that re-assemblyCombination. Particularly, described device is detachable, and can be combined the Arbitrary Digit of optionally changing or removing described deviceObject specific component or parts. Clean and/or change after specific features, described device can re-assembly at restoration facilities place so thatUse subsequently, or carry out being re-assemblied by surgical team before operation being about to. Those skilled in the art will knowRoad, the reparation again of device can utilize the multiple technology for dismantling, clean/change and re-assemblying. The purposes of these technologyAnd the prosthetic device again obtaining all within the scope of the invention.

Preferably, in pre-operative treatment invention as herein described. First, obtain new or with the apparatus of crossing, and according toNeed to clean. Then can carry out sterilizing to apparatus. In a kind of sterilization technology, apparatus is placed on to the appearance of closure and sealingIn device, for example, in plastics or TYVEK bag. Then container and device are placed in to the radiation area of penetrable this container, for example γ radiation,X-ray or high energy electron. Radiation make to kill on apparatus and container in bacterium. Then the apparatus after sterilizing is stored in to sterilizationIn container. Sealing container makes apparatus keep aseptic until open this container in medical facilities.

With way of reference in full or be partly incorporated to any patent, announcement or other open materials herein all only alsoThe material entering with in existing definition, statement or the afoul scope of other open materials described in the disclosure is not incorporated to herein. WithSample ground and under necessary degree, the disclosure that the application clearly sets forth has replaced to quote mode as proof and has been incorporated to appointing of the applicationWhat conflict material. Any be incorporated herein by reference but with existing definition as herein described, statement or other open material phasesAny material or its part of conflict only do not produce under the degree of conflict between be incorporated to material and existing open materialBe incorporated to herein.

Although the present invention has been described to have exemplary design, can also be right in essence of the present disclosure and scopeThe present invention modifies. Therefore the application is intended to contain any modification, purposes or the modified version that adopt General Principle of the present invention.In addition, the application is intended to contain and in field, belongs to known under the present invention or be used to have this different from the disclosure in practical frameworkClass pattern.

Claims

1. a surgical instruments, described surgical instruments comprises:

Shell;

Rotating parts, described rotating parts be supported on the mounting portion of described shell for around it at rotating rangeUpper rotation;

Slender axles assembly, described slender axles assembly limits longitudinal tool axis and is operationally connected to described rotating partsFor therewith advancing around described longitudinal tool axis rotation;

Electric power source;

Conductor management system, described conductor management system comprises:

Spool conductor assembly, described spool conductor assembly comprises the first end conductor and the second end conductor, described the first conductorEnd is fixed to the mounting portion of described shell, described the second end conductor be fixed to described rotating parts for oneRise and rotate on described rotating range;

Leading body, described leading body is supported in described shell and is configured to electrical power to pass from described electric power sourceBe passed to described spool conductor assembly; With

Spindle guide body, described spindle guide sports association receive described spool conductor assembly for by electric power transmission to described slender axles assemblyDistal end.

2. surgical instruments according to claim 1, wherein said leading body is connected to first of described spool conductor assemblyEnd conductor.

3. surgical instruments according to claim 2, wherein said leading body is removable by dismountable connector assemblyBe connected to described the first end conductor.

4. surgical instruments according to claim 1, described surgical instruments also comprises surgical end-effector, described surgery endPortion's actuator is operationally connected to the distal end of described slender axles assembly and is configured to and receives electrical power from it.

5. surgical instruments according to claim 1, described surgical instruments also comprises for described rotating range is restricted toThe device of pre-fixing turn.

6. surgical instruments according to claim 5, wherein comprises for the described device limiting:

Distally travel limits part on described rotating parts;

Nearside travel limits part on described rotating parts, described nearside travel limits part and the described distally limit of advancingAxially spaced apart travel distance of system part; With

Limiter member, described limiter member is supported on described rotating parts movingly at described distally rowEnter between restricted part and described nearside travel limits part and axially advance, and connect with the mounting portion screw thread of described shellClose, make in the time that described rotating parts rotates along the first direction of rotation with respect to described mounting portion described limiter memberAxially driven towards described distally travel limits part until be in contact with it with and then stop described in described rotating parts edgeBeing further rotated of the first direction of rotation, and make when described rotating parts with respect to described mounting portion along the second rotationWhen direction rotation, described limiter member axially driven towards described nearside travel limits part until be in contact with it with and thenStop described rotating parts being further rotated along described the second direction of rotation.

7. surgical instruments according to claim 6, wherein said travel distance has value, described in described value is conducive toRotating parts is advanced at least one along described the first direction of rotation and described the second direction of rotation around the rotation of described mounting portionWhole circle and advance and be no more than three whole circles around the rotation of described mounting portion.

8. surgical instruments according to claim 6, wherein for the described device limiting be configured to by described canRotating member along the rotating range of described the first direction of rotation be restricted to first number of turns and by described rotating parts along described inThe rotating range of the second direction of rotation is restricted to second number of turns.

9. surgical instruments according to claim 8, wherein said first number of turns equals described second number of turns.

10. surgical instruments according to claim 9, wherein said limiter is biased into and is positioned at described distally by voltage biasing structureOn middle position between travel limits part and described nearside travel limits part, make when interrupting along described the first rotation sideWhen applying revolving force with described the second direction of rotation to described rotating parts, described voltage biasing structure returns to described limiterTo described middle position.

11. 1 kinds of surgical instruments, described surgical instruments comprises:

Shell, described shell comprises mounting portion;

Rotating parts, described rotating parts is supported on the mounting portion of described shell for around its rotation;

Slender axles assembly, described slender axles assembly comprises distal end and is operationally connected to described rotating parts to useIn therewith advancing with respect to described shell rotation;

Surgical end-effector, described surgical end-effector is operationally connected to the distal end of described slender axles assembly;

Electric power source;

Conductor management system, described conductor management system comprises:

The conductor assembly of can reeling, the described conductor assembly of reeling comprises the first end conductor and the second end conductor, described firstEnd conductor is fixed to the mounting portion of described shell, described the second end conductor be fixed to described rotating parts forRotation therewith;

Leading body, described leading body is supported in described shell and is configured to electrical power to pass from described electric power sourceBe passed to the described conductor assembly of can reeling; With

Spindle guide body, described spindle guide sports association receive described can reel conductor assembly for by electric power transmission to described surgery endActuator.

12. surgical instruments according to claim 11, described surgical instruments also comprises for described rotating range is limitedFor the device of pre-fixing turn.

13. surgical instruments according to claim 12, wherein comprise for the described device limiting:

Distally travel limits part on described rotating parts;

Limiter member, described limiter member is supported on rotating parts movingly for the limit of advancing in described distallyBetween system part and described nearside travel limits part, axially advance, and be threadedly engaged with the mounting portion of described shell, makeProper described rotating parts is with respect to described mounting portion along first direction of rotation when rotation, and described limiter member is by towards instituteStating distally travel limits part axially drives until be in contact with it with and then stop described rotating parts to revolve along described firstBeing further rotated of veer, and make to revolve along the second direction of rotation with respect to described mounting portion when described rotating partsWhile turning, described limiter member axially driven towards described nearside travel limits part until be in contact with it with so that stop instituteState rotating parts being further rotated along described the second direction of rotation.

14. surgical instruments according to claim 13, wherein said travel distance has value, and described value is conducive to instituteStating rotating parts advances at least around the rotation of described mounting portion along described the first direction of rotation and described the second direction of rotationOne whole circle and advance and be no more than three circles around the rotation of described mounting portion.

15. surgical instruments according to claim 13, are wherein configured to described for the described device limitingRotating parts is restricted to first number of turns and by institute around described mounting portion along the rotating range of described the first direction of rotationState rotating parts and be restricted to second number of turns around described mounting portion along the rotating range of described the second direction of rotation.

16. surgical instruments according to claim 15, wherein said first number of turns equals described second number of turns.

17. surgical instruments according to claim 17, wherein said limiter by voltage biasing structure be biased into be positioned at described far awaySkidding enters on the middle position between restricted part and described nearside travel limits part, makes when interrupting along described the first rotationWhen arbitrary direction of rotation in direction and described the second direction of rotation applies revolving force to described rotating parts, described bias voltage knotStructure makes described limiter turn back to described middle position.

18. surgical instruments according to claim 11, wherein said electric power source is supported by described shell.

19. surgical instruments according to claim 18, wherein said shell comprises shank, and wherein said electric power sourceComprise at least one battery being supported in described shank.

20. 1 kinds of surgical instruments, described surgical instruments comprises:

Shell;

Be supported on the rotating parts on the mounting portion of described shell;

Electric power source;

Be used for by extending through the conductor of described slender axles assembly from the device of described electric power source transmitted power; With

For the device that limits, described for the device that limits for the revolving around described mounting portion by described rotating partsThe input of changing one's profession is restricted to and comprises around at least one whole circle of described mounting portion and be no more than the rotation travel range of three whole circles.

21. surgical instruments according to claim 20, wherein comprise wire for the device of transmitted power.