Firing system lockout arrangements for surgical instruments

[0001] A number of minimally invasive robotic (or "teleoperative") systems have been developed in recent years to increase surgical dexterity and to enable the surgeon to operate the patient in an intuitive manner. Many of these systems have been disclosed in the following US patents: US Patent No. 5,792,135, entitled "Articulated Surgical Instrument For Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity", US Patent No. 6,231,565, entitled "Robotic Arm DLUS For Performing Surgical Tasks", US Patent No. 6,783,524, entitled "Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument ", US Patent No. 6,364,888, entitled "Alignment of Master and Slave In a Minimally Invasive Surgical Apparatus", US Patent No. 7,524,320, entitled "Mechanical Actuator Interface System For Robotic Surgical Tools", US Patent No. 7,691,098, entitled "Platform Link Wrist Mechanism", US Patent No. 7,806,891, entitled "Repositioning and Reorientation of Master / Slave Relationship in Minimally Invasive Telesurgery" and US Patent No. 7,824,401, entitled "Surgical Tool With Writed Monopolar Electrosurgical End Effectors". However, many of these systems in the past have not been able to generate the forces needed to effectively cut and attach tissue. In addition, current robotic surgical systems are limited in the number of different types of surgical devices that they can operate. EP1943959A1 relates to a surgical tool that includes a gripper comprising a movable cutting tool, a motor connected to the gripper, and a lock connected to the gripper and the motor to prevent the motor from starting the power-based cutting tool.

DESCRIPTION OF THE DRAWINGS [0002] The features and benefits of using the present invention, as well as the method of achieving them, will become more apparent and the invention itself will become better understood by reference to the following description of exemplary embodiments of the invention in conjunction with the accompanying drawings, in which:

Figures 98-104 show a gripper according to the invention;

Figures 101 and 102 show the gripper according to the invention with the drive shaft of the device being outside the functioning coupling with the drive system;

Figures 103 and 104 show the gripper according to the invention with the drive shaft of the device in operative engagement with the drive system;

FIG. 1 is a perspective view of an embodiment of one robotic controller;

FIG. 2 is a perspective view of a robotic surgical arm trolley / robotic system manipulator operably operable with multiple embodiments of a surgical tool;

FIG. 3 is a side view of the robotic surgical arm trolley / manipulator shown in FIG. 2;

FIG. 4 is a perspective view of a carriage structure with positioning mechanisms for operative operation of robotic manipulators that can be used with various forms of surgical instruments;

FIG. 5 is a perspective view of an embodiment of a surgical tool and an embodiment of a surgical gripper;

FIG. 6 is an exploded view of the adapter system and the tool holder for attaching various embodiments of the surgical tool to the robotic system; FIG. 7 is a side view of the adapter shown in FIG. 6;

FIG. 8 is a bottom view of the adapter shown in FIG. 6;

FIG. 9 shows a top view of the adapter of FIG. 6 and 7;

FIG. 10 is a partial perspective view from below of an embodiment of a surgical tool;

FIG. 11 is a front perspective view of parts of an embodiment of a surgical tool with some of its elements omitted for clarity;

FIG. 12 is a rear perspective view of the surgical tool embodiment of FIG. 11;

FIG. 13 is a top view of the surgical tool embodiment of FIG. 11 and 12;

FIG. 14 shows a partial top view of the surgical tool embodiment of FIG. 11-13 with manually operated toothed gear in the non-actuated position; FIG. 15 is another partial top view of the surgical tool embodiment of FIG. 11-14 with the drive gear manually moved in the pre-activated position;

FIG. 16 shows another partial top view of the surgical tool embodiment of FIG. 11-15 with manually operated toothed gear, in the activated position;

FIG. 17 is a rear perspective view of another embodiment of the surgical tool;

FIG. 18 is a side view of the surgical tool embodiment of FIG. 17;

FIG. 19 is a cross-sectional view of the surgical tool embodiment of FIG. 5 with the gripper disconnected from the proximal part of the shaft of the surgical tool;

FIG. 20 is a side perspective view showing part of an embodiment of an interconnected quick coupler;

FIG. 21 is a cross-sectional view of an embodiment of the quick coupler with the distal portion of the gripper shaft disconnected from the proximal portion of the shaft;

FIG. 22 is another cross-sectional view of the quick coupler embodiment of FIG. 19-21, in which the distal shaft has been pre-connected to the proximal shaft; FIG. 22A is a cross-sectional view of an embodiment of a quick coupler in which a distal shaft portion has been pre-connected to the proximal shaft portion;

FIG. 23 is another cross-sectional view of the quick coupler embodiment of FIG. 19-21, in which the distal shaft has been attached to the proximal shaft;

FIG. 23A is another cross-sectional view of the quick coupler embodiment of FIG. 22A, in which the distal shaft portion is attached to the proximal shaft portion;

FIG. 23B is another cross-sectional view of the quick coupler embodiment of FIG. 22A, 22B, in which the distal shaft has been detached from the proximal shaft;

FIG. 24 is a cross-sectional view of the distal portion of the shaft of FIG. 19-23 taken along lines 24-24 in FIG. 21;

FIG. 25 is a cross-sectional view of part of the embodiment of the articulation and the gripper;

FIG. 26 is an exploded view of the articulation portion and the gripper of FIG. 25;

FIG. 27 is a partial perspective view in cross section of the articulation portion and gripper of FIG. 26;

FIG. 28 is a partial perspective view of an embodiment of the gripper and the drive shaft assembly;

FIG. 29 is a partial side view of an embodiment of a drive shaft assembly;

FIG. 30 is a perspective view of an embodiment of the drive shaft assembly;

FIG. 31 is a side view of the drive shaft assembly of FIG. 31. FIG. 32 is a side perspective view of an embodiment of a drive shaft assembly;

FIG. 33 is a side view of the composite drive shaft assembly of FIG. 33. FIG. 34 is another view of the drive shaft assembly of FIG. 30 and 31, assuming arched or "bent" configuration. FIG. 34A is a side view of an embodiment of a drive shaft assembly that assumes an arched or "bent" configuration;

FIG. 34B is a side view of another embodiment of the drive shaft assembly that assumes an arched or "bent" configuration;

FIG. 35 is a perspective view of part of another embodiment of a drive shaft assembly;

FIG. 36 is a top view of the embodiment of the drive shaft assembly of FIG. 35;

FIG. 37 is another perspective view of the embodiment of the drive shaft assembly of FIG. 35 and 36 in an arc configuration;

FIG. 38 is a top view of the embodiment of the drive shaft assembly of FIG. 37; FIG. 39 is a perspective view of another embodiment of the drive shaft assembly;

FIG. 40 is another perspective view of the embodiment of the drive shaft assembly of FIG. 39 in arch configuration;

FIG. 41 is a top view of the embodiment of the drive shaft assembly of FIG. 39 and 40;

FIG. 42 is a cross-sectional view of the embodiment of the drive shaft assembly of FIG. 41;

FIG. 43 is a partial cross-sectional view of another embodiment of the drive shaft assembly; FIG. 44 is another cross-sectional view of the embodiment of the drive shaft assembly of FIG. 43; FIG. 45 is another cross-sectional view of parts of another embodiment of the drive shaft assembly;

FIG. 46 is another cross-sectional view of the drive shaft assembly of FIG. 45;

FIG. 47 is a partial cross-sectional perspective view of an embodiment of the gripper with the anvil in an open position;

FIG. 48 is another partial perspective view in cross section of the gripper embodiment of FIG. 47;

FIG. 49 is a side view of the gripper embodiment of FIG. 47 and 48;

FIG. 50 is another side view of the gripper embodiment of FIG. 47-49;

FIG. 51 is a partial view of the embodiment of the gripper of FIG. 47-50 with the anvil in the closed position;

FIG. 52 is another partial perspective view in cross section of the gripper embodiment of FIG. 51;

FIG. 53 is a side view of the gripper embodiment of FIG. 51 and 52 with the anvil in a partially closed position;

FIG. 54 is another side view of the gripper embodiment of FIG. 51-53 with the anvil in the closed position;

FIG. 55 is a cross-sectional perspective view of another embodiment of the gripper and part of another embodiment of the longitudinal roller assembly;

FIG. 56 is an exploded perspective view of an embodiment of the closing system;

FIG. 57 is a side view of the embodiment of the closing system of FIG. 56 with the anvil in the open position;

FIG. 58 is a side view of an embodiment of the closing system of FIG. 57 within the gripper embodiment, the anvil being in an open position; FIG. 59 shows another view of the closing system and the embodiment of the gripper of FIG. 58 with the anvil in the closed position;

FIG. 59A is a front perspective view of a portion of another embodiment of a surgical tool that utilizes the embodiment of the closing system of FIG. 56-59 with actuation solenoid omitted for clarity;

FIG. 60 is an exploded view of another embodiment of the gripper;

FIG. 61 is a partial perspective view of an embodiment of a drive system; FIG. 62 is a partial front perspective view of part of the embodiment of the drive system of FIG. 61;

FIG. 63 is a partial rear perspective view of part of the embodiment of the drive system of FIG. 61 and 62;

FIG. 64 is a partial cross-sectional view of the embodiment of the drive system of FIG. 61-63 in the first axial driving position;

FIG. 65 shows another partial cross-sectional side view of the embodiment of the drive system of FIG. 61-64 in a second axial driving position;

FIG. 66 is a cross-sectional view of an embodiment of the gripper and drive system in which the drive system is configured to fire the firing member;

FIG. 67 is another cross-sectional view of an embodiment of the gripper and drive system in which the drive system is configured to rotate the entire gripper;

FIG. 68 is a perspective cross-sectional view of a portion of an embodiment of the gripper and an embodiment of the articulated joint;

FIG. 69 is a cross-sectional side view of an embodiment of the gripper and the articulation joint shown in FIG. 68;

FIG. 70 is a partial cross-sectional view of another embodiment of the gripper and drive system in which the drive system is configured to rotate the entire gripper; FIG. 71 is another partial cross-sectional view of the gripper and drive system of FIG. 70, wherein the drive system is configured to fire the gripping member;

FIG. 72 is a side cross-sectional view of an embodiment of the gripper;

FIG. 73 is an enlarged cross-sectional view of part of the gripper embodiment of FIG. 72. FIG. 74 is a side view of another embodiment of the gripper in which the firing member has been partially displaced within the firing stroke;

FIG. 75 is another cross-sectional side view of the gripper embodiment of FIG. 74, wherein the firing member has been moved to the end of its firing stroke;

FIG. 76 is another side view of the gripper embodiment of FIG. 74 and 75, wherein the firing member is retracted;

FIG. 77 is a side view of another embodiment of the gripper in which the firing member has been partially displaced within the firing stroke;

FIG. 78 is an exploded view of a portion of an embodiment of the tool drive shaft;

FIG. 79 is another side view of the gripper embodiment of FIG. 77 with a firing member at the end of its firing stroke;

FIG. 80 is another side view of the gripper of FIG. 77 and 78, wherein the firing member is retracted;

FIG. 81 is a side view of another embodiment of the gripper in which the firing member is at the end of its firing stroke;

FIG. 81A is an exploded view of an embodiment of the tool drive shaft and bearing segment;

FIG. 81B is an exploded view of another embodiment of the tool drive shaft and bearing segment;

FIG. 82 is an exploded view of an embodiment of a firing member;

FIG. 83 is a perspective view of the firing member of FIG. 82;

FIG. 84 is a cross-sectional view of the firing member of FIG. 82 and 83 of a tool drive shaft installed on an exemplary embodiment;

FIG. 85 is an exploded view of another embodiment of the firing member; FIG. 86 is a rear perspective view of another embodiment of the firing member;

FIG. 87 is a front perspective view of the embodiment of the firing member of FIG. 86;

FIG. 88 is a perspective view of a firing member, tool drive shaft, wedge sled assembly, and alignment portion for a surgical gripper; FIG. 89 is a side view of a firing member, tool drive shaft, wedge slide assembly, and alignment portion of FIG. 88;

FIG. 90 is a cross-sectional view of the surgical gripper of FIG. 60 in a closed configuration without a staple cartridge installed in it;

FIG. 91 is a bottom view of a surgical gripper having a firing lock according to various example embodiments of this disclosure;

FIG. 92 is a perspective view of a portion of the bottom of the surgical gripper of FIG. 91 in closed and inactive configuration;

FIG. 93 is a cross-sectional view of the surgical gripper of FIG. 91 in closed and inactive configuration;

FIG. 94 is a side view of the surgical gripper of FIG. 91 in open and inactive configuration;

FIG. 95 is a side view of the surgical gripper of FIG. 91 in closed and inactive configuration;

FIG. 96 is a cross-sectional view of the surgical gripper of FIG. 91 in a closed and active configuration, having a set of wedge sleds and a leveling part in the first set of positions;

FIG. 97 is another side view of the surgical gripper of FIG. 91 in closed and active configuration;

FIG. 98 is an exploded perspective view of the surgical gripper according to the invention with some components shown in cross section and other components omitted for clarity;

FIG. 99 is a perspective view of the biasing element shown in FIG. 98;

FIG. 100 is a perspective view of the gripper drive housing of FIG. 98;

FIG. 101 is a cross-sectional view of the surgical gripper of FIG. 98, showing the biasing element in a second set of positions;

FIG. 102 is a cross-sectional view of a portion of the surgical gripper of FIG. 98, showing the tool drive shaft in an inactive position;

FIG. 103 is a cross-sectional view of a portion of the surgical gripper of FIG. 98, showing the biasing element in the first set of positions;

FIG. 104 is a cross-sectional view of a portion of the surgical gripper of FIG. 98, showing the biasing element in the first set of positions and the tool drive shaft in the active position;

FIG. 105 is a perspective view of a gripper for a surgical tool, including a propeller configured to drive the gripping member; FIG. 106A shows a side view of a portion of a first propeller for a gripper having a first length, the first propeller having a single thread;

FIG. 106B is a cross-sectional view of the first propeller of FIG. 106A; FIG. 107A shows a side view of a portion of a second propeller for a gripper with a second length, the second propeller having two threads;

FIG. 107B is a view of the second propeller of FIG. 107A;

FIG. 108A shows a side view of a third propeller portion of a third length, the third propeller having three threads;

FIG. 108B is a view of the third propeller of FIG. 108A;

FIG. 109A shows a side view of a portion of a fourth propeller with a fourth length, the fourth propeller having four threads;

FIG. 109B is a cross-sectional view of the fourth propeller of FIG. 109A; FIG. 110 is an exploded perspective view of a cutting blade for use with a gripper having a propeller;

FIG. 111 is a perspective view of a gear transmission for transmitting rotation from the drive shaft to a gripper propeller, the gear system being shown with parts removed for presentation purposes;

FIG. 112 is a perspective view of another embodiment of the surgical tool;

FIG. 112A is a perspective view of the surgical tool gripper system of FIG. 112;

FIG. 113 is an exploded view of a portion of the longitudinal shaft assembly and of the quick coupler system shown in FIG. 112;

FIG. 114 is a perspective view of a portion of the longitudinal roller assembly of FIG. 112 and 113;

FIG. 115 is an enlarged exploded perspective view of the example quick coupler system shown in FIG. 112-114;

FIG. 116 is a side view of the quick coupler system of FIG. 112-115 with the locking collar in the unlocked position;

FIG. 117 is another side view of the quick coupler system of FIG. 112-116 with the locking collar in the locked position;

FIG. 118 is a perspective view of another embodiment of a surgical tool;

FIG. 119 is a perspective view of the surgical tool embodiment of FIG. 118;

FIG. 120 is a perspective view of the surgical tool embodiment of FIG. 118 and 119. FIG. 121 is a perspective cross-sectional view of a portion of an articulated system;

FIG. 122 is a cross-sectional view of the articulated system of FIG. 121 in the neutral position;

FIG. 123 is a cross-sectional view of the articulated system of FIG. 121 and 122 in articulated position;

FIG. 124 is a side view of a portion of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity;

FIG. 125 is a rear perspective view of a portion of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity;

FIG. 126 is a rear view of part of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity;

FIG. 127 is a front perspective view of a portion of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity;

FIG. 128 is a side view of a portion of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity;

FIG. 129 is an exploded view of the exemplary embodiment of the inverting system of the surgical tool embodiment of FIG. 118-120;

FIG. 130 is a perspective view of the lever arm embodiment of the inverting system of FIG. 129;

FIG. 131 is a perspective view of the knife retractor button of the inverting system of FIG. 129;

FIG. 132 is a perspective view of part of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity and with the lever arm in combination with a reversible mechanism that can be activated;

FIG. 133 is a perspective view of a portion of the surgical tool embodiment of FIG. 118-120 with parts of it omitted for clarity and with the lever arm in the non-actuated position;

FIG. 134 is another perspective view of a portion of the surgical tool embodiment of FIG. 118-120 with parts omitted for clarity and with the lever arm in connection with the reversing mechanism with the possibility of actuating FIG. 135 is a side view of a handle portion of the surgical tool embodiment of FIG. 118-20 with the shifter button assembly moved to a position that will result in rotational movement of the gripper when the drive shaft assembly is activated;

FIG. 136 is another side view of the handle assembly portion of the surgical tool embodiment of FIG. 118-120 with the shift button assembly moved to a different position, which will result in firing of the firing member in the gripper when the drive shaft assembly is activated;

FIG. 137 is a cross-sectional view of a portion of another embodiment of a surgical tool with the form of a lockable articulated joint;

FIG. 138 is another partial cross-sectional view of the portion of the surgical tool of FIG. 137 articulated in one configuration;

FIG. 139 is another partial view in section of the surgical tool of FIG. 137 and 138 articulated in another configuration;

FIG. 140 is a cross-sectional view of the embodiment of the articulated locking system shown in FIG. 137 along line 140-140 in FIG. 137;

FIG. 141 is a cross-sectional view of the articulated locking system of FIG. 140 along lines 141-141 in FIG. 140;

FIG. 142 is a cross-sectional view of a portion of the surgical tool of FIG. 137 along lines 142-142 in FIG. 137. FIG. 143 shows the position of the locking wire when the first and second locking rings are in a clamped or locked configuration when the gripper has been articulated to the first articulated position shown in FIG. 138;

FIG. 144 shows the position of the locking wire when the first and second locking rings have been flexibly bent to their uncompressed or unlocked positions when the gripper has been articulated to the first articulated position shown in FIG. 138;

FIG. 145 shows the position of the locking wire when the first and second locking rings are in a clamped or locked configuration when the gripper has been articulated to the second articulated position shown in FIG. 139;

FIG. 146 shows the position of the locking wire when the first and second locking rings have been flexibly bent to their uncompressed or unlocked positions when the gripper has been articulated to the first articulated position shown in FIG. 139;

FIG. 147 is another view of the locking wire when the gripper has been pivoted relative to the longitudinal shaft assembly;

FIG. 148 is a partial cross-sectional view of another embodiment of the gripper with the anvil assembly in the closed position;

FIG. 149 is another view in partial section of the gripper embodiment of FIG. 148;

FIG. 150 is another partial cross-sectional view of the gripper embodiment of FIG. 148 and 149 with the anvil assembly in the closed position;

FIG. 151 is another partial cross-sectional view of the gripper embodiment of FIG. 148-150, showing a drive transmission configured to drive the firing member;

FIG. 152 is another partial cross-sectional view of the gripper embodiment of FIG. 148-151 with a drive gear configured to rotate the entire gripper about the longitudinal axis of the tool;

FIG. 153 shows another side view of the gripper of FIG. 148-152 along line 153-153 in FIG. 148 with a transmission being configured to actuate the anvil assembly;

FIG. 154 is a cross-sectional view of the gripper of FIG. 148-153 along line 154154 in FIG. 148 with a drive transmission configured to fire the firing member;

FIG. 155 is a view of the gripper of FIG. 148-154 along line 155-155 in FIG. 148 with a transmission being configured to actuate the anvil assembly;

FIG. 156 is a cross-sectional view of the gripper of FIG. 148-155 along line 156156 in FIG. 148;

FIG. 157 is a cross-sectional perspective view of another embodiment of the gripper;

FIG. 158 is a perspective view of the longitudinal gripper channel of FIG. 157;

FIG. 159 is a perspective view of anvil spring embodiment;

FIG. 160 is a cross-sectional side view of the gripper of FIG. 157 with the anvil in the closed position after the firing member has been moved to its outermost position;

FIG. 161 is a partial cross-sectional view of the gripper portion of FIG. 160 taken along lines 161-161 in FIG. 160;

FIG. 162 shows another cross-sectional view of the gripper of FIG. 157, 160 and 161 with a retractable firing member;

FIG. 163 is a cross-sectional view of the gripper portion of FIG. 162 made along line 163-163;

FIG. 164 is another cross-sectional view of the gripper of FIG. 157 and 160-163 with the firing member in its nearest position;

FIG. 165 is a cross-sectional view of the gripper of FIG. 157 and 160-164 along lines 165-165 in FIG. 164;

FIG. 166 is another cross-sectional view of the gripper of FIG. 157 and 160-165 after the solenoid pulled the closure tube to its nearest position;

FIG. 167 is a partial cross-sectional view of the gripper of FIG. 157 and 160-166 along lines 167-167 in FIG. 166;

FIG. 168 shows another side view in partial section of the gripper of FIG. 157 and 160-167 with the anvil in the open position and after the solenoid has pulled the closure tube to its nearest position;

FIG. 169 shows another side view in partial section of the gripper of FIG. 157 and 160-168 after the firing member has been moved to its initial position;

FIG. 170 shows another side view in partial section of the gripper of FIG. 157 and 160-169 with the anvil assembly closed and the firing member ready for release; FIG. 171 is a partial cross-sectional view of another quick coupler system for connecting a distal roller portion that can be attached to the gripper with a proximal roller portion that can be connected to the tool attachment portion for the robotic system or to the handle assembly; FIG. 172 is another partial cross-sectional view of the quick coupler system of FIG. 171;

FIG. 173 is a side view of the proximal shaft portion of the quick coupler system of FIG. 171 and 172;

FIG. 174 is a cross-sectional view of an embodiment of the axially displaceable lock collar of the quick coupler system of FIG. 171 and 172;

FIG. 174A is a perspective view of the embodiment of the lock flange of FIG. 174;

FIG. 175 shows another cross-sectional view of the quick coupler system of FIG. 171 and 172, showing the initial connection of the distal and proximal parts of the drive shaft;

FIG. 176 shows another cross-sectional view of the quick coupler system of FIG. 171, 172 and 175, showing the initial connection of respective articulated link segments;

FIG. 177 is another cross-sectional view of the quick coupler system of FIG. 175 after a distal portion of the drive shaft has been locked in a proximal portion of the drive shaft and FIG. 178 is another cross-sectional view of the quick coupler system of FIG. 176 after the respective articulated link segments have been locked together.

DETAILED DESCRIPTION [0003] Certain embodiments will now be described to provide a complete understanding of the principles of design, functionality, manufacture and use of the devices and methods disclosed herein. One or more examples of these exemplary embodiments are shown in the accompanying drawings. Those skilled in the art will recognize that the devices and methods described in detail herein and in the accompanying drawings are non-limiting examples of embodiments, and that the scope of the various embodiments of this invention is determined solely by the claims. The properties shown or described in connection with one exemplary embodiment may be combined with those of other exemplary embodiments.

[0004] FIG. 1 shows a main controller 12 that can be used in conjunction with a slave robot arm carriage 20 of the type shown in FIG. 2. The main controller 12 and the subordinate robot arm carriage 20, as well as their respective components and control systems are collectively referred to herein as the robotic system 10. Examples of such systems and devices are disclosed in US Patent 7,524,320. Accordingly, various details of such devices will not be described in detail herein except as may be necessary to understand the various exemplary embodiments disclosed herein. As is known, the master controller 12 usually includes master controllers (usually referred to as 14 in FIG. 1) that are captured by the surgeon and operated in space when the surgeon observes the procedure through the stereoscopic display 16. Main controllers 12 usually include manual input devices that preferably move with multiple degrees of freedom and which often also have a movable handle for moving tools (e.g., for closing gripping jaws, applying electrical potential to an electrode, and the like).

[0005] As can be seen in FIG. 2, the robotic arm trolley 20 is configured to move a number of surgical instruments, generally designated as 30. Various surgical systems and robotic methods using master controller configurations and the robotic arm trolley are disclosed in US Patent No. 6,132,368, entitled "Multi-Component Telepresence System and Method. " As can be seen, the robot arm carriage 20 includes a base 22 from which three surgical instruments 30 are supported in the embodiment shown. The surgical instruments 30 are operated by a series of manually operated mechanisms, usually referred to as adjustable connections 32, as well as a robotic manipulator 34. These constructions are presented here with protective covers extending over a large part of the robotic mechanism. These protective covers may be optional and may be limited in size or eliminated completely in some embodiments to minimize the inertia that the servos used to manipulate such devices come into contact with to limit the volume of moving components to avoid collisions and to limit the total weight of the trolley twenty. The trolley 20 will usually have dimensions suitable for transporting the trolley 20 between operating rooms. The trolley 20 is configured to fit in standard operating room doors and in standard hospital elevators. The trolley 20 may advantageously have a weight and include a wheel system (or other means of transport) that allows the trolley 20 to be placed adjacent to the operating table by one employee.

[0006] In FIG. The 3 robotic manipulators 34 shown may include a mechanism 38 that limits the movement of the surgical tool 30. The mechanism 38 includes rigid connectors connected to each other by means of rotary joints in a parallelogram configuration in such a way that the surgical tool 30 rotates around a point in space 40, which is described in more detail in US Patent No. 5,817,084. The parallelogram configuration limits the rotational motion to rotation about the 40a axis, sometimes referred to as the tilting axis. The connectors holding the parallelogram mechanism are pivotally attached to the adjustable connections 32 (FIG. 2) in such a way that the surgical tool 30 also rotates around axis 40b, sometimes referred to as the direction axis. The tilting axis and the direction axis 40a, 40b intersect at a distant center 42, which is in line with the shaft 44 of the surgical tool 30. The surgical tool 30, supported by the manipulator 50 may have additional degrees of freedom, including the sliding movement of the surgical tool 30 along the longitudinal axis "LT-LT" tools. As the surgical tool 30 moves along the LT-LT axis relative to the manipulator 50 (arrow 40c), the distant center 42 remains stationary relative to the base 52 of the manipulator 50. As a result, the entire manipulator typically moves to position the distant center 42 in place. Manipulator mechanism 54 is driven by a series of motors 56. These motors actively move mechanism 54 in response to commands from the control system processor. Motors 56 are also used to manipulate the surgical tool 30. An alternative design of the adjustable junction is shown in FIG. 4. In this embodiment, the surgical tool 30 is held by an alternative manipulator structure 50 'between two tissue manipulating tools.

[0007] Other embodiments may include a variety of alternative robotic designs, including those described in US Patent No. 5,878,193, entitled "Automated Endoscope System For Optimal Positioning." In addition, although in this document the transmission of data between the robotic component and the processor of the robotic surgical system has been described in relation to the transmission between the surgical tool 30 and the main controller 12, similar transmission can take place between the manipulator circuit assembly, the adjustable connection, an endoscope or other image capture device or the like and a processor of a robotic surgical system to verify component compatibility, identify component types, transmit for calibrating components (such as offset or the like), confirm the connection of a component to a robotic surgical system or the like.

[0008] A surgical tool 100 that is well suited for use with a robotic system 10 is shown in FIG. 5. As can be seen in this figure, the surgical tool 100 includes a surgical gripper 1000 that includes an endo-knife. The surgical tool 100 typically includes an elongated shaft assembly 200 that is operably connected to the manipulator 50 by means of the tool attachment portion, generally designated 300. The surgical tool 100 further includes a connector 302 that mechanically and electrically connects the tool attachment portion 300 to the manipulator. One connector 302 is shown in FIG. 6-10. In the embodiment shown in FIG. 6-10, the tool attachment portion 300 includes a tool attachment plate 304 that functionally retains many of (in FIG. 10 four) rotating body parts, discs or driven elements 306 are shown, each of which includes a pair of pins 308 extending from the surface of the driven element 306. One pin 308 is closer to the axis of rotation of each driven element 306 than the other pin 308 on the same driven element 306, which helps to ensure positive angular positioning of the 306 driven element. The connector 302 may include an adapter portion 310 that is configured to mount the attachment plate 304 as will be described in detail below. The adapter portion 310 shown includes an arrangement of electrical connection terminals 312 (FIG. 8) that can be connected to a memory structure by means of a printed circuit board within the tool mounting portion 300. Although the connector 302 has been described herein with respect to mechanical, electrical and magnetic connecting elements, it should be understood that a variety of telemetry procedures can be used, including infrared, induction and the like in other embodiments.

[0009] As can be seen in FIG. 6-9, adapter portion 310 generally includes tool side 314 and handle side 316. Many of the rotatable bodies 320 are mounted to a floating plate 318 which has a limited range of motion relative to the surrounding adapter structure perpendicular to the main surfaces of the adapter 310. The axial movement of the floating plate 318 helps detach the rotatable bodies 320 from the tool attachment parts 300 when levers or other latching systems along the sides of the housing of the tool attachment parts (not shown) move. Other embodiments may utilize other mechanisms / configurations to detachably connect the tool attachment portion 300 to the adapter 310. In the embodiment of FIG. The 6-10 rotary bodies 320 are resiliently attached to the floating plate 318 by means of radial spring elements that enter into a circumferential incision around the rotary bodies 320. The rotary bodies 320 can move axially with respect to the plate 318 by deflecting these elastic constructions. When arranged in the first axial position (towards the side 314 of the tool), the rotary bodies 320 rotate freely without angular constraint. However, when the rotary bodies 320 move axially towards the side 314 of the tool, flaps 322 (extending radially from the rotary bodies 320) laterally latch pawls on the floating plates to limit the angular rotation of the rotary bodies 320 about their axis. This limited rotational movement can be used to support the drive engagement of the rotatable bodies 320 with the drive pins 332 of the corresponding portion of the tool holder 330 of the robotic system 10 when the drive pins 332 push the rotary bodies 320 to a limited rotation position until the pins 332 coincide with (and will inserted into) through holes 334 '. The holes 334 in the side 314 of the tool and the holes 334 'in the side 316 of the handle of the rotatable bodies 320 are configured to precisely align the driven elements 306 (FIG. 10) of the tool attachment portion 300 with the drive elements 336 of the tool holder 330. As described above regarding the inner and outer pins 308 of the driven elements 306, the holes 334, 334 'are at different distances from the axis of rotation on their respective rotary bodies 306 to ensure that the alignment is not 180 degrees from the intended position. In addition, each of the holes 334 is slightly extended radially to accommodate the pins 308 in a circumferential arrangement. This enables the pins 308 to move radially inside the holes 334 and to adapt to some axial misalignment between the tool 100 and the tool holder 330, while minimizing any misalignment and play between the driving and driven elements. The holes 334 on the side 314 of the tool are rotated about 90 degrees relative to the holes 334 '(shown in dashed lines) on the side 316 of the handle, as best seen in FIG. 9.

[0010] In the embodiment of FIG. 6-10 the arrangement of electric connection terminals 340 is located on the side 316 of the adapter holder 310, and the side 314 of the adapter tool 310 has slots 342 (FIG. 9) for placing the arrangement of the terminals (not shown) of the tool mounting portion 300. In addition to transmitting electrical signals between the surgical tool 100 and the tool holder 330, at least some of these electrical connections may be connected to the adapter memory device 344 (FIG. 8) using adapter circuit board 310.

[0011] In the embodiment of FIG. 6-10 detachable latch system 346 is used for attachment with the option of releasing adapter 310 to tool holder 330. The term "tool drive assembly" as used herein in the context of robotic system 10 includes at least an adapter 310 and a tool holder 330, the assembly generally designated by 110 in FIG. 6. As can be seen in FIG. 6, the tool holder 330 includes a first latch pin arrangement 337 that is sized such that it can be inserted into the corresponding stirrup slots 311 in the adapter 310. In addition, the tool holder 330 further has second latch pins 338 that are sized so that they can be retained in respective latching stirrups 313 in adapter 310. See FIG. The latch assembly 315 is held movably on the adapter 310 and has a pair of latch stirrups 317 formed therein that can diverge from the first latched position, in which the latch pins 338 are held in their respective latch stirrup 313, and the non-latched position in which stirrups 317 coincide with stirrups 313 to allow the insertion of second latch pins 338 into or removal from latch stirrups 313. A spring or springs (not shown) are used to pivot the latch assembly into the latched position. In the lip on the side 314 of the adapter tool 310, the transversely passing flaps of the tool mounting housing are displaced (not shown).

[0012] Referring to FIG. 5 and 11-16, the tool attachment portion 300 functionally maintains a plurality of drive systems to generate the various forms of control motions necessary for the operation of a particular type of gripper that is connected to the distal end of the longitudinal shaft assembly 200. As can be seen in FIG. 5 and 1113, the tool attachment portion 300 includes a first drive system, generally designated 350, which is configured to receive the corresponding "first" output rotational motion from the robot drive tool assembly 110 and convert this first output rotational motion to the first rotational control motion to applications to the surgical gripper. In the embodiment shown, the first rotary control movement is used to rotate the longitudinal shaft assembly 200 (and surgical gripper 1000) about the longitudinal axis LT-LT of the tool. [0013] In the embodiment of FIG. 5 and 11-13, the first drive system 350 includes a tubular toothed segment 354 that is formed (or attached to) the proximal end 208 of the proximal segment 202 of the proximal closing tube of the longitudinal shaft assembly 200. The proximal end 208 of the proximal tube segment 202 is pivotally mounted on the tool attachment plate 304 of the tool attachment portion 300 by means of a front retaining cradle 352 which is attached to the tool attachment plate 304. See FIG. 11. The tubular toothed segment 354 is meshed with the first rotary gear assembly 360 which is held on the tool attachment plate 304. As can be seen in FIG. 11, the rotary gear assembly 360 includes a first rotary gear

362 that is connected to the corresponding first of the driven discs or elements 306 on the side 316 of the tool attachment plate holder 304 when the tool attachment portion 300 is connected to the tool drive assembly 110. See FIG. 10. The rotary gear assembly 360 further includes a first rotary driven gear 364 that is rotatably mounted on a tool mounting plate 304. The first rotary driven gear 365 is in meshing with the second rotary driven gear 366, which in turn is in meshing with the tubular gear segment 354. The application of the first rotational output motion from the drive assembly 110 of the robotic system tool 10 to the respective driven element 306 will thereby causing a rotational movement of the rotating drive gear 362. The rotational movement of the rotating drive gear 362 ultimately results in the rotational movement of the longitudinal shaft assembly 200 (and the surgical gripper 1000) about the longitudinal axis LT-LT of the tool (indicated by the arrow "R" in FIG. 5). It should be noted that the application of the output rotation from the tool drive assembly 110 in one direction will result in the rotation of the longitudinal shaft assembly 200 and the surgical gripper 1000 about the LT-LT longitudinal axis of the tool in the first direction of rotation, and the use of the output rotation in the opposite direction will result the rotational movement of the longitudinal roller assembly 200 and the surgical gripper 1000 in the other direction, which is opposite to the first direction of rotation.

[0014] In the embodiment of FIG. 5 and 11-16, the tool attachment portion 300 further includes a second drive system generally designated 370, which is configured to receive the corresponding "second" output rotational motion from the robot drive tool assembly 110 and convert the second output rotational motion into a second rotational motion control to be applied to the surgical gripper. The second drive system 370 includes a second rotary drive gear 372 that is connected to the corresponding second of the drives or driven elements 306 on the side 316 of the tool mounting plate holder 304 when the tool mounting portion 300 is connected to the tool drive assembly 110. See FIG. 10. The second drive system 370 further includes a first rotatable driven gear 374 that is rotatably mounted on a tool mounting plate 304. The first rotatable driven gear 374 is in meshing with a shaft gear 376 that can move and is secured without being able to rotate on a proximal segment 380 of the drive shaft. In this embodiment, the shaft gear 376 is mounted without being able to rotate on the proximal drive shaft segment 380 by means of a series of axial wedge grooves 384 that allow axial displacement of the shaft gear 376 on the proximal drive shaft segment 380, while it is simultaneously attached without rotatable to the drive shaft. The rotational movement of the segment 380 of the proximal drive shaft results in the transfer of a second rotational control movement to the surgical gripper 1000.

[0015] The second drive system 370 in the embodiment of FIG. 5 and 11-16 include a shifting system 390 for selectively axially shifting the segment 380 of the proximal drive shaft, which causes the shaft gear 376 to move from and to meshing with the first rotatable driven gear 374. For example, as can be seen in FIG. 11-13, a proximal drive shaft segment 380 is mounted inside a second retaining cradle 382 that is attached to a tool mounting plate 304 in such a way that the proximal drive shaft segment 380 can move axially and rotate relative to the second retaining cradle 382. In at least one in particular, the displacement system 390 further includes a displacement yoke 392 that is slidably retained on the tool mounting plate 304. The proximal drive shaft segment 380 is held in the shifter yoke 392 and has a pair of flanges 386 on it, which means that moving the shifter yoke 392 on the tool mounting plate 304 results in the axial displacement of the proximal drive shaft 380. In at least one embodiment, the shifting system 390 further includes a shifter solenoid 394 that operably engages the shifter yoke 392. The shifter solenoid 394 receives control energy from the robotic controller 12 in such a way that when the shifter solenoid 394 is activated, the shifter yoke 392 is displaced in the distal "DD" direction.

[0016] In this embodiment shown, the shaft spring 396 is located on the proximal drive shaft segment 380 between the shaft gear 376 and the second retaining cradle 382 to deflect the gear wheel 376 in the proximal direction "PD" and to engage with the first rotatable driven gear. 374. See FIG. 11, 13 and 14. The rotational movement of the second rotational drive gear 372 in response to the rotational output generated by the robotic system 10 ultimately results in the rotational movement of the segment 380 of the proximal drive shaft and other drive shaft components connected to it (drive shaft assembly 388) about the longitudinal axis LTLT of the tool. It should be noted that the application of the output rotation from the tool drive assembly 110 in one direction will result in the rotation of the segment 380 of the proximal drive shaft and eventually other components of the drive shaft attached to it in the first direction, and the application of the output rotation in the opposite direction will result in the movement of the rotary segment 380 of the proximal drive shaft in a second direction that is opposite to the first direction. When it is desired to move the segment 380 of the proximal drive shaft downstream "DD", as will be discussed in detail below, the robotic controller 12 activates the shifter solenoid 390 to move the shifter yoke 392 towards the distal "DD".

[0017] FIG. 17 and 18 show another embodiment that uses the same components as the embodiment shown in FIG. 5 and 11-16 except that this embodiment uses a battery powered propulsion motor 400 to provide driving rotational motions to a segment 380 proximal the propeller shaft. This configuration allows the tool attachment part to generate larger output rotational motions and torque, which can be beneficial when using different forms of grippers. As can be seen in these figures, the motor 400 is attached to the tool attachment plate 304 by means of a retaining structure 402 in such a manner that the drive gear 404, which is connected to the motor 400, is meshed with the shaft gear 376. In the embodiment of FIG. 17 and retaining structure 402 is configured to detachably engage with latch notches 303 formed in the tool mounting plate 304, which are intended to facilitate the attachment of the housing member (not shown) to the mounting plate 304 when the motor 400 is not in use. In effect, to utilize the motor 400, the physician removes the housing from the tool attachment plate 304, and then inserts the legs 403 of the holding structure into the latch notches 303 in the tool attachment plate 304. The proximal segment 380 of the drive shaft and the other components of the drive shaft attached thereto rotate about the longitudinal axis LT-LT of the tool as a result of powering the motor 400. As can be seen, the motor 400 is battery powered. However, in this configuration, the motor 400 connects to the robotic controller 12 in such a way that the robotic system 10 controls the activation of the motor 400. In alternative embodiments, the motor 400 is manually started with a switch (not shown) mounted on motor 400 or on attachment parts 300 tool. In further embodiments, the motor 400 may collect energy and control signals from the robot system.

[0018] The embodiment shown in FIG. 5 and 11-16 include a manually operated inverting system, generally designated by 410, for manually inducing inverting rotation about a segment 380 of the proximal drive shaft in the event of a motor failure or in the absence of energy to the robotic system or a power outage. Such a manually operated inverting system 410 can also be particularly useful, for example, when the drive shaft assembly 388 is jammed or otherwise locked in such a way that it will not be possible to achieve reverse rotation of the drive shaft components solely due to motor power. In the embodiment shown, the mechanically actuated inverting system 410 includes a transmission gear assembly 412 that can be selectively coupled to a second rotatable driven gear 376 and is manually actuated to apply reverse rotation to a segment 380 of the proximal drive shaft. The drive transmission assembly 412 includes a reversing wheel 414 that is attached with the ability to move to a tool attachment plate 304. The reversing wheel 414 is rotatably mounted on a rotary shaft 416 that is movably attached to the tool attachment plate 304 through the slot 418. See FIG. 12. In the embodiment of FIG. 5 and

11-16, the manually actuated reversing system 410 further includes a manually actuated drive gear 420 that includes a body portion 422 that has an arched gear segment 424 formed thereon. The body portion 422 is pivotally connected to the tool attachment plate 304 for selective rotational movement about the axis of the actuator AA (FIG. 11), which is substantially perpendicular to the tool attachment plate 304.

[0019] FIG. 11-14 show the manually operated inverting system 410 in the first non-actuated position. In one exemplary embodiment, the actuator handle portion 426 is formed or otherwise attached to the body portion 422. The actuator handle portion 426 has a size relative to the tool attachment plate 304 that a small amount of negative clearance is established between the handle portion 426 and the tool attachment plate 304 to keep the handle part 426 in the first position not actuated. However, when the physician wishes to manually actuate the transmission drive assembly 412, the physician can easily overcome the interference fit by applying a rotational movement to a portion of the handle 426. As can also be seen in FIG. 11-14, when the transmission drive assembly 412 is in the first stationary position, the arched gear segment 424 is outside the meshing with the reversing mechanism 414. When the physician wishes to apply the inverting driving rotational movement to the proximal drive shaft segment 380, the physician begins to apply the rotational movement ratchet to the drive gear 420. When the drive gear 420 begins to rotate around the actuating axis AA, the body portion 422 contacts the reversing wheel portion 414 and axially displaces the reversing wheel 414 in the distal direction DD, pulling the driving gear 376 shaft out of engagement with the first rotary driven gear 374 of the second drive system 370. See FIG. 15. When the drive gear 420 is rotated, the arch gear segment 424 is brought into engagement with the reversing gear 414. Further ratcheting of the drive gear 420 results in the application of the inverting drive rotation to the drive shaft 376 and ultimately to segment 380 of the proximal drive shaft. The physician may continue to ratchet the driving gear assembly 412 as many times as required to fully release or invert associated gripper components. After the required amount of reversing rotation is applied to the proximal drive shaft segment 380, the physician returns the drive gear 420 to its initial or non-actuated position in which the arched gear segment 416 is outside the engagement with the drive shaft gear 376. In this position, the shaft spring 396 again deflects the meshing gear 376 with the first driven rotary gear 374 of the second drive system 370.

[0020] In use, the physician may enter control commands into the controller or control unit of the robotic system 10, which "robotically generates" output motions that are ultimately transmitted to various components of the second drive system 370. The terms "robotically generated" or "robotically generated" as used herein refer to movements that are performed by supplying and controlling robotic system motors and other powered propulsion components. These terms are different from the terms "manually actuated" or "manually generated", which refer to actions taken by a physician that result in control motions that are generated independently of those motions that are generated by powering the robotic motor motors. The use of robotically generated steering motions on the second drive system in the first direction results in the first rotational drive motion being applied to the drive shaft assembly 388. When the drive shaft assembly 388 rotates in the first direction of rotation, the firing member 1200 is driven in the distal direction "DD" from its initial position towards its end position in the gripper 1000. The use of robotically generated control motions against the second drive system in the second direction results in the application a second rotational drive motion to the drive shaft assembly 388. When the drive shaft assembly 388 rotates in a second rotational direction, the firing member 1200 is driven proximal "PD" from its end position toward its initial position in the gripper 1000. When the physician wishes to manually apply a rotary control movement to the drive shaft assembly 388, the drive shaft assembly 388 rotates in a second rotation direction, which causes the firing member 1200 to move closer to the "PD" in the gripper. Other embodiments incorporating the same components are configured in such a way that manual application of a rotary control movement to the drive shaft assembly may cause the drive shaft assembly to rotate in the first rotational direction, which may be used to support robotically generated control movements to drive the member firing 1200 further away.

[0021] The drive shaft assembly, which is used to fire, close and rotate the gripper, can be activated and moved manually, enabling the gripper to be released and to be removed from the surgical site, as well as from the abdomen, even in the event that the engine (s) fails. , the robotic system will not be powered or other electronic damage occurs. Activation of the handle portion 426 results in the manual generation of actuation or control forces that are applied to the drive shaft assembly 388 by various components of the manually operated inverting system 410. If the handle portion 426 is in its non-actuated state, it is deflected past the actuation connection with the wheel. reversing 414. Starting the handle portion 426 moves the bias. The handle 426 is configured to be actuated repeatedly as many times as needed to fully release the firing trigger 1200 and the gripper 1000. [0022] According to FIG. 5 and 11-16, the tool attachment portion 300 includes a third drive system 430 that is configured to receive a corresponding "third" output rotary motion from the tool drive assembly 110 of the robotic system 10 and convert this third output rotary motion into a third rotary control movement. The third drive system 430 includes a third drive pulley 432 that is connected to the corresponding third of the drives or driven elements 306 on the side 316 of the tool attachment plate holder 304 when the tool attachment portion 300 is connected to the tool drive assembly 110. See FIG. 10. The third drive pulley 432 is configured to perform a third rotational control movement (in response to the respective output rotational movements applied to it by the robotic system 10) to the corresponding third drive cable 434, which can be used to perform various steering or manipulation movements towards the gripper, which is operably connected to the shaft assembly 200. As can be seen in particular in FIG. 11 and 12, the third drive cable 434 passes around the third drive spindle assembly 436. The third drive spindle assembly 436 is pivotally attached to the tool mounting plate 304, and the third tension spring 438 is attached between the third drive spindle assembly 436 and the tool mounting plate 304 to maintain the required tension value of the third drive cable 434. As can be seen in the figures, the end portion 434A of the third drive cable 434 passes around the upper portion of the pulley block 440 that is attached to the tool attachment plate 304, and the end portion 434B of the cable passes around the pulley block or counterweight 442 on the pulley block 440. It should be noted that the induction of the third output rotation from the tool drive assembly 110 in one direction will result in the rotation of the third drive pulley 432 in the first direction and cause the end portions of cable 434A and 434B to move in opposite directions to make steering motions toward gripper 1000 or assembly elongated shaft 200, which will be discussed in detail below. This means that when the third drive pulley 432 rotates in the first rotational direction, the cable end portion 434A moves in the distal "DD" direction and the cable end portion 434B moves in the proximal "PD" direction. The rotational movement of the third pulley 432 in the opposite direction of rotation results in the cable end portion 434A moving in the proximal "PD" direction and the cable end portion 434B moving in the distal "DD" direction.

[0023] The tool attachment plate 300 shown in FIG. 5 and 11-16 include a fourth drive system 450 that is configured to receive the corresponding "fourth" output rotational motion from the robot system tool assembly 110 and to convert the fourth output rotational motion into a fourth rotational control movement. The fourth drive system 450 includes a fourth drive pulley 452 that is connected to the corresponding fourth of the drives or driven elements 306 on the handle side 316 of the tool attachment plate 304 when the tool attachment portion 300 is connected to the tool drive assembly 110. See FIG. 10. The fourth drive pulley 452 is configured to apply a fourth rotary control movement (in response to the respective output rotary movements applied to it by the robotic system 10) to the corresponding fourth drive cable 454, which can be used for various steering or manipulation movements on the gripper, which is operably coupled to the shaft assembly 200. As can be seen in particular in FIG. 11 and 12, the fourth drive cable 454 passes around the fourth drive spindle assembly 456. The fourth drive spindle assembly 456 is pivotally attached to the tool mounting plate 304, and the fourth tension spring 458 is attached between the fourth drive spindle assembly 456 and the tool mounting plate 304 to maintain the required tension value of the fourth drive cable 456. The end portion 454A of the fourth drive cable 454 passes around the bottom portion of the pulley block 440 that is attached to the tool attachment plate 304, and the end portion 454B passes around the pulley block or the fourth counterweight 462 on the pulley block 440. It should be noted that the application of the output rotation of the tool drive assembly 110 in one direction will result in the rotation of the fourth drive pulley 452 in the first direction and cause the end portions 454A and 454B to move in opposite directions to apply steering motions to the gripper or the longitudinal shaft assembly 200, which will be discussed in detail below. This means that when the fourth drive pulley 434 rotates in the first rotational direction, the cable end portion 454A moves in the distal direction "DD" and the cable end portion 454B moves in the proximal "PD" direction. The rotational movement of the fourth pulley 452 in the opposite direction of rotation results in the cable end portion 454A moving closer in the "PD" direction and the cable end portion 454B moving in the distal "DD" direction.

[0024] Surgical tool 100 as shown in FIG. 5 includes articulation 700. In this embodiment, the third drive system 430 may also be referred to as the "first articulated drive system" and the fourth drive system 450 may be referred to herein as the "second articulated drive system". Similarly, the third drive cable 434 may be referred to as the "first proximal articulated cable" and the fourth drive cable 454 may be referred to herein as the "second proximal articulated cable."

[0025] The tool holding plate 300 of the embodiment shown in FIG. 5 and 1116 include a fifth drive system, generally designated 470, which is configured to axially displace the drive rod assembly 490. The drive rod assembly 490 includes a proximal drive rod segment 492 that passes through a proximal drive shaft segment 380 and drive shaft assembly 388. See FIG. 13. The fifth drive system 470 includes a movable drive yoke 472 that is slidably retained on the tool mounting plate 304. The proximal drive rod segment 492 is held in the drive yoke 372 and has a pair of retainer balls 394, which means that the displacement of the drive yoke 372 on the tool mounting plate 304 results in axial displacement of the proximal drive rod segment 492. In at least one exemplary embodiment, the fifth propulsion system 370 further includes a propulsion solenoid 474 that operably connects to the propulsion yoke 472. The propulsion solenoid 474 receives control signals from the robotic controller 12. Activation of the drive solenoid 474 in the first direction will move the drive rod assembly 490 in the distal direction "DD", and actuation of the drive solenoid 474 in the second direction will move the drive rod assembly 490 in the proximal direction "PD". As can be seen in FIG. 5, the gripper 1000 includes a portion of the anvil that can move between the open and closed positions when axial closing motions are applied to the closing system. In the embodiment shown in FIG. 5 and 11-16, the fifth drive system 470 is used to generate such closing movements. As a result, the fifth drive system 480 may also be referred to as "closing drive".

[0026] The embodiment shown in FIG. 5 includes a surgical gripper 1000 that is attached to the tool attachment portion 300 by means of a longitudinal shaft assembly 200. In the embodiment shown, the longitudinal shaft assembly includes a coupling system in the form of a quick coupling or connection 210 that facilitates the quick attachment of the distal portion 230 of the roller assembly 200 to the proximal shaft parts 201 of the shaft assembly 200. Quick coupler 210 serves to facilitate the quick attachment and disconnection of many transmission drive components used to provide control motions from the motive motion source for the gripper that is operably connected to it. For example, in the embodiment shown in FIG. 5 and 19, quick coupler 210 is used to connect the distal portion 230 of the gripper shaft 1000 to the proximal portion 201 of the shaft.

[0027] Referring to FIG. 19-23, the coupling system or quick coupler 210 includes a proximal connector element 212 that is configured to operatively hold the proximal transmission gear assemblies, and a distal connector element 232 that is configured to operatively hold at least one, and preferably a plurality of distal gear drive assemblies. In the embodiment of FIG. 5 and 19 the third drive system 430 (i.e. the first articulated drive system) and the fourth drive system 450 (i.e. the second articulated drive system) are used to apply articulation relative to the articulation joint 700. For example, the third drive system 430 is used to apply control motions to the first proximal articulated cable 434, which has cable end portions 434A, 434B to move the articulated gripper 1000 in the first and second articulated directions around the articulation joint 700. Similarly, the fourth drive system 450 serves to apply steering movements to a second proximal articulated cable 454, which has cable end portions 454A, 454B, to move the articulated gripper 1000 in the third and fourth articulated directions.

[0028] Referring to FIG. 20, the proximal connector element 212 has a first pair of opposed first slots 214 and a second pair of opposed second slots 218 (only one slot 218 is visible in FIG. 20). A first proximal articulation or connector 222 is held in each of the opposing first slots 214. A second proximal articulation or connector 226 is held in each of the second slots 218. The cable end portion 434A passes through the slot in one of the proximal articulated cables 222 and is connected thereto. Similarly, the end portion 434B of the cable passes through the slot in the second proximal articulated cord 222 and is connected thereto. The end portion 434A of the cable and the corresponding proximal articulation formation or connector 222, as well as the end portion 434B of the cable and the corresponding proximal articulation formation or connector 222 are collectively referred to as "the first proximal articulated gear drive assembly" 217. The end portion 454A of the cable passes through the gap in one of the closer articulated links 226 and is attached to it. The cable end portion 454B passes through the slot in the second proximal articulated cord 226 and is attached thereto. The end portion 454A of the cable and the corresponding proximal articulation formation or link 226, as well as the end portion 454B of the cable and the corresponding proximal articulation formation or link 226 are collectively referred to as "the second proximal gear drive assembly" 221.

[0029] As can be seen in FIG. 21, a distal shaft portion 230 includes a distal outer tube portion 231 that holds the distal coupling member 232. The further connector element 232 has a first pair of opposed first slots 234 and a second pair of opposed second slots 238. See FIG. 20. The first pair of further articulation formations or connectors 242 are held in opposing first slots 234. A second pair of further articulation formations or connectors 246 are held in the second pair of slots 238. The first distal line segment 444 passes through one of the first slots 234 and slots in one of the further articulation joints 242 for attachment thereto. The main distal segment 445 of the cable passes through the second of the first slots 234 and through the slot in the second distal articulated link 242 and for attachment thereto. The first distal cable segment 444 and the corresponding distal articulation link 242, as well as the main distal cable segment 445 and the corresponding distal articulation link 242 are collectively referred to as "the first distal articulation drive assembly 237". A second distal line segment 446 passes through one of the second slots 238 and a slot in one of the further articulated joints 246 for attachment to them. A secondary distal segment 447 of the cable passes through the remaining second slot 238 and through the slot in the remaining distal articulated connector 246 for attachment thereto. The second distal cable segment 446 and the corresponding distal articulation link 246, as well as the secondary distal cable segment 447 and the corresponding distal articulation link 246 are collectively referred to as "the second distal articulation drive assembly 241".

[0030] Each of the proximal articulation link 222 has a serrated end 224 formed on their resilient arm portion 223. Each of the proximal articulation link 226 has a serrated end 227 'formed on the resilient arm portion 227. Each distal articulation link 242 has a serrated end 243, which is configured to engage with a toothed end 224 corresponding to the proximal articulated link 222. Each distal articulation link 246 has a serrated end 247 which is configured to engage with a serrated end 228 of the respective proximal articulation link 226. When the proximal articulation formers or couplings 222, 226 are in meshing engagement with the distal articulation couplings 242, 246, respectively, the first and second proximal gears 217 and 221 of the transmission are operatively connected to the first and second distal articulated gears 237 and 241, respectively. As a result, the activation of the third and fourth drive systems 430, 450 will apply actuating movements to segments 444, 445, 446, 447 of the further link, which will be discussed in detail below.

[0031] In the embodiment of FIG. 19-23 the distal end 250 of the proximal outer tube segment 250 has a plurality of spring fingers 252 that extend farther into slots 254 configured to receive respective spring arms 223, 227. See FIG. 21 (the resilient arm portion 227 is not shown in FIG. 21 but is visible in FIG. 20). Each spring finger 252 has a catch 256 that is adapted to engage in a respective recess 258 formed in the proximal articulation joints 222, 226 when the proximal articulation joints 222, 226 are in the neutral position (FIG. 23). When the physician wishes to remove or attach the gripper 1000 to the proximal part 201 of the shaft, the third and fourth drive systems 430, 450 are parked in their neutral, non-activated positions.

[0032] The proximal connector element 212 and the distal connector element 232 of the quick coupler 210 operatively maintain respective portions of the drive member coupling assembly 500 to detachably connect the proximal drive rod segment 492 to the distal drive rod segment 520. Proximal drive rod segment 492 includes a proximal transmission 496 gear assembly and distal drive rod segment 520 includes a distal axial drive assembly 528. The drive member coupling assembly 500 includes a drive rod coupler or formation 502 that includes a receiving formation or a first magnet 504, such as, for example, a rare earth magnet and the like, which is attached to the distal end 493 of the distal drive rod segment 5203. The first magnet 504 has a receiving cavity 506 formed therein for receiving the second formation or a further magnet 510. As can be seen in FIG. 21, a distal magnet 510 is attached to a tapered fastener 512 that is attached to the proximal end 522 of the distal segment 520 of the drive rod.

[0033] The proximal connector element 212 and the distal connector element 232 of the quick coupler 210 operatively supports other corresponding portions of the drive member coupling assembly 500 to connect with the option of removing the segment 380 of the proximal drive shaft with the segment 540 of the distal drive shaft. The proximal drive shaft segment 380 in at least one exemplary embodiment includes a proximal rotary drive assembly 387 and the distal drive shaft segment 540 includes a distal rotary transmission drive assembly 548. When the proximal rotary gear drive assembly 387 is operably connected to the distal rotary gear drive assembly 548, the drive shaft assembly 388 is formed to transfer rotational control movements to the gripper 1000. In the exemplary embodiment shown, the proximal end 542 of segment 540 of the distal drive shaft has a plurality (e.g. four - only two are visible in FIG. 21) formed thereon or connecting fingers 544. Each connecting finger 544 has a fastening connector 546 formed thereon, which is sized so that it can be placed in appropriate locking formations or holes or slots 383 at the distal end 381 of segment 380 of the proximal drive shaft. Fingers 544 pass through reinforcing ring 545 located at proximal end 542 of segment 540 of distal drive shaft.

[0036] In the embodiment shown in FIG. 19-23, the drive member coupling assembly 500 further includes an unlocking tube 514 to assist in disengaging the first and second magnet 504, 510 when the physician disconnects the gripper 1000 from the proximal portion 201 of the surgical tool shaft 100. The unlocking tube 514 passes through the proximal drive shaft segment 380, and its proximal end 517 projects beyond the proximal end 385 of the proximal drive shaft segment 380, as shown in FIG. 19. The release tube 514 has a size relative to the segment 380 of the proximal drive shaft that it can move axially therein when the "UL" release movement is applied to its proximal end 517. A handle (not shown) is attached to the proximal end 517 of the unlocking tube to facilitate manual application of the "UL" unblocking movement to the 514 unblocking tube or the "UL" unblocking movement. Other embodiments that are further identical to the embodiment of FIG. 19-23, use an unlocking solenoid (not shown) that is attached to the tool attachment plate 304 and powered by a robotic controller 12 or a separate battery attached to it is used to apply the unlocking movement.

[0035] In the exemplary embodiment shown, the coupling system or quick coupler 210 also includes an outer lock flange 260 that is slidably positioned at the distal end 204 of the proximal outer tube portion 202. The outer flange 260 of the lock has four inward fasteners 262 that extend into the corresponding of the slots 254 in the proximal part 202 of the outer tube. The use of quick coupler 210 can be understood by reference to FIG. 21-23. FIG. 21 shows the state of the proximal shaft portion 201 and the distal shaft portion 230 before being connected to each other. As can be seen in this figure, the springing parts of the arm 223, 227 of the proximal articulated cords 224, 226, respectively, are naturally radially bent outwards. The locking collar 260 is moved to its closest position on the proximal outer tube 202, wherein the catches 262 are at the proximal end of the slots 254. When the physician wishes to attach the gripper 1000 to the proximal portion 201 of the surgical tool shaft 100, the physician attracts the distal shaft portion 230 for alignment and engagement with the proximal shaft portion 201, as shown in FIG. 22. As can be seen in this figure, the distal magnet 510 is seated in the cavity 506 in the drive rod connector 502 and is magnetically attached to the proximal magnet 504 to thereby connect the distal drive rod segment 520 to the proximal drive rod segment 492. This operation thus operably connects the distal axial gear drive assembly 528 to the proximal transmission gear assembly 496. In addition, when the shaft parts 201, 230 are joined together, the connecting fingers 544 bend inward until the couplings 546 formed thereon enter the locking holes 383 in the distal end portion 381 of the segment 380 of the proximal drive shaft. When the connectors 546 are seated inside their respective locking holes 383, the distal drive shaft segment 540 is connected to the proximal drive shaft segment 380. As a result, this operation operatively connects the distal rotary transmission drive assembly 548 with the proximal rotary transmission drive assembly 387. When the distal connector element 232 and the proximal connector element 212 are attracted for axial alignment and engagement as described above, and the locking flange 260 is moved to its nearest position on the proximal outer tube 202, the distal transmission drive assemblies are operatively connected to the proximal gear assembly .

[0036] When the physician wishes to detach the gripper 1000 from the proximal part 201 of the surgical instrument shaft 100, the physician restores the third and fourth drive systems 430, 450 to their neutral positions. The physician may then move the locking collar 260 proximal on the proximal segment 202 to the initial position shown in FIG. 22. In this position, the resilient arm parts of the proximal articulation connectors 222, 226 disconnect their serrated parts from the serrated parts of the distal articulation fittings 242, 246. The physician may then apply the UL unlocking movement to the proximal end 517 of the unlocking tube 514 to displace the unlocking tube 514 and attached thereto. release collar 516 in the distal direction "DD". As the unlocking collar 516 moves in the distal direction, it deflects the connecting fingers 544 from their respective holes 383 in the distal end portion 381 of the segment 380 of the proximal drive shaft and contacts the tapered portion of the mounting 512 to push the distal magnet 510 out of the magnetic connection with the proximal magnet 504.

[0037] FIG. 22A, 23A and 23B show an alternative coupling assembly or quick coupler 210 "that is similar to quick coupler 210 described above except that solenoid 504 'is used to connect distal segment of drive rod 520 to proximal segment of drive rod 492'. As can be seen in these figures, the proximal segment 492 'of the drive rod is hollow to receive wires 505 that pass from the power source in the robotic system 10. Wires 505 are wound around a piece of iron 508. When the doctor pulls the distal portion 230 of the shaft to engage proximal shaft part 201 as shown in FIG. 22A, electrical current may flow through wires 505 in a first direction to cause magnet 504 'to attract magnet 510 to engage, as shown in FIG. 23A. When the physician wishes to detach the gripper 1000 from the proximal part 201 of the surgical instrument shaft 100, the physician restores the third and fourth drive systems 430, 450 to their neutral positions. The physician may then move the locking collar 260 proximal on the proximal segment 202 to the initial position shown in FIG. 22A. In this position, the resilient arm parts of the proximal articulation joints 222, 226 detach their serrated parts from the serrated parts of the distal articulation joints 242, 246. The physician may then apply the UL unblocking motion to the proximal end 517 of the unblocking tube 514 to displace the unblocking tube 514 and the unblocking collar 516 attached thereto in the distal "DD" direction. In addition, electric current may flow through wires 505 in the opposite direction to cause repulsion by solenoid 504 'of magnet 510 to assist in separating shaft segments. When the physician moves the unlocking tube in the distal direction, the unlocking collar 516 deflects the connecting fingers 544 out of engagement with their respective holes 383 in the distal end portion 381 of the segment 380 of the proximal drive shaft and contacts the tapered portion of the mounting 512 to further separate the shaft segments.

[0038] Coupling system assemblies or quick couplers as described above can offer many benefits. For example, such systems may use single release / connecting movements when partial connection is not possible. Such connecting movements can be used to simultaneously couple several gear drive assemblies, at least some of the gear drive assemblies provide steering movements that differ from the steering movements provided by the other transmission drive assemblies. For example, some gear drives can provide rotational steering movements and can be shifted longitudinally to provide axial steering movements, and some can simply provide rotary or axial steering movements. Other transmission drive assemblies can provide pushing / pulling movements to operate various gripper systems / components. The unique and innovative locking flange system ensures that further gear drive assemblies will be locked in their respective closer gear drive assemblies or they will be unlocked and can be disconnected from them. When locked together, all transmission drive assemblies are held radially by a locking flange that prevents disengagement.

[0039] The surgical tool 100 shown in FIG. 5 and 11-16 include an articulated joint 700 that cooperates with the third and fourth drive systems 430, 450 respectively to move the articulated gripper 1000 around the longitudinal axis of the tool "LT". The articulation 700 includes a proximal seat tube 702 that is connected to the distal end 233 of the portion 231 of the distal outer tube and defines a proximal ball seat 704 therein. See FIG. 25. The proximal ball element 706 is seated with the ability to move within the proximal ball socket 704. As can be seen in FIG. 25, the proximal ball element 706 has a central drive passage 708 that allows segment 540 to pass through it a distal drive shaft. In addition, the proximal ball element 706 has four articulated passages 710 that facilitate the passage of segments 444, 445, 446, 447 of the distal line. As can be seen in FIG. 25, the articulation connection 700 further includes an intermediate articulated tube segment 712 that has an intermediate ball socket 714 formed therein. The intermediate ball socket 714 is configured to hold therein the displaceable gripper ball 722 formed on the gripper tube 720. The segments 444, 445, 446, 447 of the distal cord pass through passages of the cord 724 formed in the gripper ball 722 and are connected to it by means of protrusions 726 placed inside respective passages 728 in the gripper ball 722. Other clamping systems can be used to attach segments 444, 445, 446, 447 of the distal cord to the gripper ball 722.

[0040] A unique and novel swivel retention connection assembly, generally designated 740, is shown in FIG. 26 and 27. The illustrated rotatable retaining assembly 740 includes a portion of the gripper drive housing 1010 1010 that has a generally cylindrical shape. The first annular race 1014 is formed on the periphery of the cylindrical portion of the connector portion 1012. The rotatable retaining connection assembly 740 further includes a distal portion of the seat 730 that is formed on the gripper coupling tube 720 as shown in FIG. 26 and 27. The distal portion of the seat 730 has such a size relative to the cylindrical portion of the joint 1012 that the joint portion 1012 can rotate freely within the seating portion 730. A second annular raceway 732 is formed on the inner wall 731 of the distal portion of the socket 730. A distal slot 730 is provided with a window 733 that communicates with the second ring race 732. As can also be seen in FIG. 26 and 27, the rotatable retaining assembly 740 further includes a carrier 734 in the form of a ring. In various exemplary embodiments, the ring support member 734 includes a substantially circular deformable plastic ring that has a notch 735. The cutout forms the free ends 736, 737 in the carrier 734 in the form of a ring. As can be seen in FIG. 26, the ring support 734 has a substantially annular shape in its natural, non-tilted state.

[0041] To connect the surgical gripper 1000 (e.g., first part of the surgical tool) to the articulation connection 700 (e.g., the second part of the surgical tool), the cylindrical connector portion 1012 is inserted into the distal portion of the seat 730 to attract the second ring race 732 to substantially align with first ring raceway 1014. One of the free ends 736, 737 of the carrier in the form of a ring is then inserted into the aligned raceways 1014, 732 through a window 733 downstream of the seat 730 of the gripper tube 720. To assist in easy insertion, the window or opening 733 has a tapered surface 738 formed thereon. See FIG. 26. The carrier element 734 in the form of a ring is generally rotated in place and as it tends to form a circle or ring, it does not tend to retract through the window 733 after installation. After the carrier element 734 in the form of a ring has been inserted into the aligned raceways 1014, 732, the gripper connector tube 720 will be pivotally attached to the connector portion 1012 of the gripper drive housing 1010. This arrangement allows the gripper drive housing 1010 to be rotated about the longitudinal axis of the LT-LT tool relative to the gripper connector tube 720. The carrier 734 in the form of a ring becomes a support surface on which the gripper drive housing 1010 rotates. Each lateral load attempts to deform the carrier 734 in the form of a ring, which is held and bounded by two locking tracks 1014, 732, preventing damage to the carrier 734 in the form of a ring. It should be noted that such a simple and effective connection assembly using the ring-shaped carrier 734 creates a highly slippery connection between the rotatable parts 1010, 730. If one of the free ends 736, 737 is allowed to protrude through the window 733 during assembly (see FIG. 27), the rotatable retaining connection assembly 740 can be detached by retracting the carrier in the form of a ring 732 through the window 733. The swivel retaining assembly 740 allows easy assembly and fabrication while ensuring good gripping of the gripper while facilitating rotary manipulation.

[0042] The articulation connection 700 facilitates the articulation of the gripper 1000 about the longitudinal axis of the tool LT. For example, when it is desired to articulate the gripper 1000 in the first direction "FD" as shown in FIG. 5, the robotic system 10 can drive the third drive system 430 in such a way that the third drive spindle assembly 436 (FIG. 11-13) rotates in the first direction, thereby attracting the proximal end 434A of the cable and finally the distal segment 444 of the cable in the proximal "PD" direction and releasing the proximal end 434B of the cable and distal segment 445 of the cable, thereby rotating the gripper ball 722 in socket 714. Similarly, to articulate the gripper 1000 in the second direction "SD" opposite to the first direction FD, the robotic system 10 can drive the third drive system 430 in such a way that the third drive spindle assembly 436 rotates in the second direction, thereby attracting the proximal part the 434B end of the line and finally the distal segment 445 of the line proximal "PD" and releasing the proximal end 434A of the line and the distal segment 444 of the line, thereby causing the gripper ball 722 to rotate in the seat 714. When articulated movement of the gripper 1000 in the third direction "TD" is desired, as shown in FIG. 5, the robotic system 10 can drive the fourth drive system 450 in such a way that the fourth drive spindle assembly 456 rotates in the third direction, thereby attracting the proximal cable end portion 454A and finally the distal cable segment 446 proximal "PD" and releasing the proximal the cable end portion 454B and the distal cable segment 447 thereby cause the gripper ball 722 to rotate in the socket 714. Similarly, to articulate the gripper 1000 in the fourth direction "FTH" opposite to the third direction TD, the robotic system 10 can drive the fourth drive system 450 such that the fourth drive spindle assembly 456 rotates in the fourth direction, thereby attracting the proximal part the cable end 454B and finally the distal segment 447 of the cable proximal "PD" and releasing the proximal end 454A of the cable and distal segment 446 of the cable, thereby causing the gripper ball 722 to rotate in socket 714.

[0043] The embodiment of the gripper shown in FIG. 5 and 11-16 uses rotational and longitudinal movements that are transmitted from the tool attachment parts 300 by the longitudinal shaft assembly for actuation. The drive shaft assembly used to transfer such rotational and longitudinal movements (e.g., torsional, tensioning and compressive movements) to the gripper is relatively flexible to facilitate articulation of the gripper around the articulation. FIG. 28 and 29 illustrate an alternative drive shaft assembly 600 that can be used in conjunction with the embodiment shown in FIG. 5 and 11-16 or in other embodiments. In the embodiment shown in FIG. 5, which uses quick coupler 210, the proximal drive shaft segment 380 includes the drive shaft assembly segment 600, and the distal drive shaft segment 540 similarly includes another drive shaft assembly segment 600. The drive shaft assembly 600 includes a drive tube 602 that has a series of radial connection segments 604 cut therein. In the embodiment shown, the drive tube 602 includes a distal portion of segment 380 of the proximal drive shaft 380.

[0044] The drive tube 602 includes a hollow metal tube (stainless steel, titanium and the like) that has a series of radial connection segments 604 formed therein. The radial connection segments 605 include many loosely coupled shapes in the form of a dovetail 606 that are on the example cut in the drive tube 602 with a laser and serves to facilitate flexible movement between adjacent connection segments 604. See FIG. 29. This laser cutting of the tube creates a flexible hollow tube that can be used for compression, tension and twisting. This arrangement uses full diameter cutting and joining with an adjacent part using the "puzzle piece" configuration. These cuts are then duplicated along the length of the hollow drive tube in the system and are sometimes shifted or rotated to change the stress or torsion characteristics.

[0045] FIG. 30-34 show alternative examples of a 604 'micro ring connection segment that includes a plurality of 606' laser cut shapes that roughly resemble loosely connected, inverted "T" shapes, and T shapes with the cut portion. The annular connection segments 604, 604 'generally include a plurality of torsion joints of articulated micromovements. This means that each connection segment 604, 604 'can transmit torque, thereby facilitating the relative articulation between each annular connection segment. As can be seen in FIG. thirty and 31, the connection segment 604D 'at the distal end 603 of the drive tube 602 has a distal portion of the mounting flange 608D that facilitates attachment to other drive components to activate the gripper or quick coupler parts and the like, and the connection segment 604P' at the proximal end 605 of the drive tube 602 has a proximal portion of the 608P 'mounting flange that facilitates attachment to other proximal drive components or quick coupler parts.

[0046] The connection-connection range of motion for each particular drive shaft assembly 600 can be increased by increasing the laser cut spacing. For example, to ensure that the connection segments 604 'remain connected to each other without significantly reducing the ability to articulate the drive tube in the required ranges of motion, a secondary restraining element 610 is used. In the embodiment shown in FIG. 32 and secondary limiting element 610 includes a spring 612 or other helically wound element. In various exemplary embodiments, the distal end 614 of the spring 612 corresponds to the distal portion of the mounting flange 608D and is wound tighter than the central portion 616 of the spring 612. Similarly, the proximal end 618 of the spring 612 is wound tighter than the central portion 616 of the spring 612. In other embodiments, the stop member 610 is installed on the drive tube 602 with the required pitch such that the stop member also performs, for example, the function of a flexible drive thread for threaded connection with other threaded control elements on the gripper and / or control system. It should also be noted that the limiting element can be installed in such a way that it has a variable pitch to accomplish the transmission of the required rotational control movements when the drive shaft assembly is rotating. For example, the variable pitch arrangement of the limiting member can be used to reinforce the opening / closing and firing movements, while it would use different linear jumps within the same rotational movement. In other embodiments, for example, the drive shaft assembly has a variable pitch thread on a hollow flexible drive shaft that can be pushed out and pulled around a ninety degree bend. In further embodiments, the secondary restraining element includes an elastomeric tube or shell 611 applied around the outer portion or circumference of the drive tube 602, as shown in FIG. 34A. In another embodiment, for example, an elastomeric tube or shell 611 'is installed in the hollow passage 613 formed in the drive tube 602, as shown in FIG. 34B.

[0047] Such drive shaft systems include a composite torsion drive axle that allows excellent load transfer while facilitating the required axial range of articulation. See for example FIG. 34 and 34A-B. This means that these composite drive shaft assemblies allow a large range of motion while maintaining the possibility of transmitting torsional motion in both directions and facilitating the transmission of stress and compression control movements. In addition, the hollow form of such drive shaft configurations facilitates the passage of other controls, while providing better stress loading. For example, some other embodiments include a flexible inner cable that passes through the drive shaft assembly, which assists in aligning the connection segments, while facilitating the possibility of applying tension movements within the drive shaft assembly. Furthermore, such drive shaft systems are relatively easy to manufacture and assemble.

[0048] FIG. 35-38 show segment 620 of drive shaft assembly 600 '. This embodiment includes connection segments 622, 624, which are laser cut into the tube material (e.g., stainless steel, titanium, polymer and the like). Joint segments 622, 624 remain loosely connected to each other because the cuts 626 are radial and slightly narrowed. For example, each of the portions of the projections 628 has a narrowed outer portion of the perimeter 629, which is placed in a seat 630 that has a narrowed inner wall portion. See for example FIG. 36 and 38. As a result, no assembly is required to connect the connection segments 622, 624 to each other. As can be seen in these figures, connection segment 622 has opposing portions of pivot 628 cut at each end, which are rotatably placed in respective seats 630 formed in adjacent portions of connection 624.

[0049] FIG. 35-38 show a small segment of a 600 'drive shaft assembly. Those skilled in the art will be aware that the protrusions / seats may be cut along the entire length of the drive shaft assembly. This means that the connection segments 624 may have opposing seats 630 cut therein to facilitate connection with adjacent connection segments 622 to complete the length of the drive shaft assembly 600 '. In addition, connection segments 624 have an oblique end portion 632 cut therein to facilitate articulation of connection segments 624 relative to connection segments 622, as shown in FIG. 37 and 38. In the embodiment shown, each projection 628 has a portion of an articulation stop 634 that is adapted to contact a respective articulation stop 636 formed in the connection segment 622. See FIG. 37 and 38. Other embodiments, which may otherwise be the same as segment 620, are not provided with articulation stop parts 634 and stoppers 636.

[0050] As described above, the connection-connection range of motion for each particular drive shaft assembly can be increased by increasing the laser cut spacing. In such embodiments, to ensure that the connection segments 622, 624 remain connected to each other without significantly reducing the ability to articulate the drive tube in the required ranges of motion, a secondary limiting element in the form of an elastomeric sleeve or shell 640 is used. Other embodiments utilize other forms limiting elements disclosed herein and their equivalent structures. As can be seen in FIG. 35, connection segments 622, 624 can pivot around the "PA-PA" rotation axis defined by pivot projections 628 and respective seats 630. For an extended range of articulation, the drive shaft assembly 600 'can be rotated around the axis of the TL-TL tool , while rotating around the PA-PA axis.

[0051] FIG. 39-44 show segment 640 of another 600 "drive shaft assembly. 600" drive shaft assembly includes a multi-segment drive system that includes a plurality of interconnected connection segments 642 that form a flexible hollow drive tube 602 ". Segment connection 642 includes a portion of the ball joint 644 and part of socket 648. Each joint segment 642 can be made, for example, by "MIM" metal injection molding, and can be made of 17-4, 17-7, 420 stainless steel. Other embodiments can be made of 300 or 400 series stainless steel, 6065 aluminum or 7071 or of titanium. Still other embodiments may be formed, for example, from Nylon, Ultem, ABS, polycarbonate or polyethylene filled or unfilled polyethylene. As can be seen in these figures, the ball joint 644 has a hexagonal shape. This means that the ball joint 644 has six arcuate surfaces 646 formed thereon and is adapted to be rotatably placed in seats similar in shape 650. Each seat 650 has an outer hexagonal part 652 formed from six flat surfaces 654, as well as an inner part with radial shape 656. See FIG. 42. Each connection segment 642 is identical in design except that the seat portions of at least the last connection segments forming the distal and proximal end of the drive shaft assembly 600 can be configured to function with appropriate controls. Each ball joint 644 has an empty passage 645 that works together to form an empty passage 603 in an empty 602 "flexible drive tube.

[0052] As can be seen in FIG. 43 and 44, the interconnected segments 642 are located in the restraining element 660, which includes a tube or sleeve made of, for example, a polymer material. FIG. 45 shows the flexible inner core member 662 passing through the interconnected segments 642. The inner core member 662 includes a solid member made of polymer material or a hollow tube or sleeve made of flexible polymer material. FIG. 46 illustrates another embodiment in which the restraining element 660 and the inner core element 662 are used simultaneously.

[0053] The drive shaft assembly 600 "facilitates the transmission of rotary and translational motion through a variable radius articulation. The hollow form of the drive shaft assembly 600" provides space for additional controls or an extensible element (e.g., a flexible cord) to facilitate tensile or compressible load transfer . However, in other embodiments, the connection segments 624 do not provide an empty passage in the drive shaft assembly. In such embodiments, for example, a portion of the ball joint is solid. Rotational motion is transmitted through the edges of hexagonal surfaces. More stringent tolerances may allow greater load options. As a result of using a cable or other extensible element in the center line of the drive shaft assembly 600 ", the entire drive shaft assembly 600" can be pivotally bent, pushed, or pulled out without limiting the range of motion. For example, the drive shaft assembly 600 "may form an arc drive path, a straight drive path, a serpentine drive path, and the like.

[0054] FIG. 5 and 47-54 show one surgical gripper 1000 that can be effectively used with a robotic system 10. The gripper 1000 includes an endo-knife 1002 that has a first jaw 1004 and a second jaw 1006 that can selectively move relative to the first jaw 1004. W the embodiment shown in FIG. 5 and 47-54, the first jaw 1004 includes a support member 1019 in the form of an elongate channel 1020 that is configured to functionally support the staple cartridge 1030. The second jaw 1006 includes the anvil assembly 1100. As can be seen in FIG. 47, 49, 53 and 55, the anvil assembly 1100 includes the anvil body 1102, which has a staple forming surface 1104. Anvil body 1102 has a passage 1106 that is adapted to align with mounting holes 1022 in the longitudinal channel 1020. A pivot pin or spigot (not shown) is introduced through holes 1022 and a passage 1104 to rotatably connect the anvil 1100 to the longitudinal channel 1020. This configuration allows selectively rotating the anvil assembly 1100 about a "CA-CA" closing axis that is substantially transverse to the "LT-LT" longitudinal axis (FIG. 48) between the open position in which the staple forming surface 1104 is spaced from the surface of the cartridge 1044 of the staple cartridge 1040 (FIGS. 47-50) and the closed positions (FIGS. 51-54) in which the staple forming surface 1104 on the anvil body 1102 is in a position opposite to the surface of the cartridge 1042.

[0055] The embodiment of FIG. 5 and 47-54 use a closing assembly 1110 that is configured to receive opening and closing movements from the fifth drive system 470. The fifth drive system 470 is used to axially extend and retract the drive rod assembly 490. As described above, the drive rod assembly 490 includes a proximal drive rod segment 492 that operably engages the drive solenoid 474 to receive axial control motions from it. The proximal drive rod segment 492 is connected to the distal drive rod segment 520 via the drive rod connector 502. The distal segment 520 of the drive rod is somewhat flexible to facilitate the articulation of the gripper 1000 around the articulation 700, while at the same time facilitating the axial transmission of closing and opening movements. For example, the distal segment 520 of the drive rod may include a cable or laminate structure of titanium, resilient stainless steel, or Nitinol alloy.

[0056] The closing assembly 1110 includes a closing connector 1112 that is pivotally connected to the longitudinal channel 1020. As can be seen in FIG. 48, 51 and 52, closing connector 1112 has an opening 1114 through which the distal end 524 of the distal drive rod segment 520 passes. A ball 526 or other formation is attached to distal drive rod segment 520 to thereby attach distal end 524 of drive rod segment 520 to closing connector 1112. The closing assembly 1110 further includes a pair of cam disks 1120 that are pivotally attached to the side sides of the longitudinal channel 1020. One cam disk 1120 is pivotally supported on one side side of the longitudinal channel 1020 and the other cam disk 1120 is pivotally supported on the other side of the longitudinal channel 1020. See FIG. 60. A pair of rotary switches 1122 are connected between each cam disk 1120 and a closing switch 1112. As a result, the rotational displacement of the closing connector 1112 by means of the drive rod assembly 490 will result in the rotational movement of the cam discs 1120. Each cam disc 1120 further has a protruding pin of actuator 1124 extending therefrom which is slidably positioned in the respective cam slot 1108 in the anvil body 1102.

[0057] In the following, actuation of the second jaw 1006 or anvil assembly 1100 will be described. FIG. 47-50 show the anvil assembly 1100 in the open position. After the gripper 1000 is positioned relative to the tissue for cutting and stapling, the robotic controller 12 can activate drive solenoid 474 in the first or further "DD" direction, which ultimately results in displacement of drive yoke 472 further, resulting in displacement of drive rod assembly 490 in the direction of "DD". Such displacement of the drive rod assembly 490 results in a distal displacement of the drive rod segment 520, which causes the closing connector 1112 to rotate from the open position to the closed position (FIGS. 51-54). Such displacement of closing connector 1112 causes cam discs 1120 to rotate in the "CCW" direction. As the cam disks rotate in the "CCW" direction, the interaction between the pins of the actuator 1124 and their respective cam gap 1108 causes the anvil assembly 1100 to rotate to close on the target tissue. To release target tissue, drive solenoid 474 is activated to pull drive rod assembly 490 closer to "PD", which results in reverse rotation of closing closure 1112 to the open position, which ultimately causes the anvil assembly 1100 to rotate back to the open position.

[0058] FIG. 55-59 show another closing system 670 for applying opening and closing movements to the anvil 1100. As can be seen, for example, in FIG. 56, the closing system 670 includes a first attachment block or element 672 that rotatably supports a first segment of the closing rod 680. The first segment of the closing rod 680 has a substantially semi-circular cross-sectional shape. The proximal end 682 of the first segment of the closing rod 680 has a first ball joint 684, which is pivotally supported in the first mounting socket 673 formed in the mounting block 672. To facilitate the movement of the articulated gripper 1000 through articulation 700, the first segment of the closing rod 680 also has a first part serrated 686, which coincides with articulation 700, as shown in FIG. 58 and 59. The closing system 670 further includes a second attachment block or element 674 that rotatably supports a second segment of the closing rod 690. The second segment of the closing rod 690 has a substantially semi-circular cross-sectional shape. The proximal end 692 of the second segment of the closing rod 690 has a second ball joint 694, which is pivotally supported in the second mounting socket 675 formed in the second mounting block 674. To facilitate the movement of the articulated gripper 1000 through the articulation 700, the second segment of the closing rod 690 also has a second serrated portion 696 that coincides with the articulation 700, as shown in FIG. 58 and 59.

[0059] As can also be seen in FIG. 56, the locking system 670 further has a first rotary connector 676 that is attached to the distal end 682 of the first segment of the closing rod 680. The first rotary connector 676 has a first rotary projection 677 formed thereon, which is configured to rotatably support in the first seat 683 formed in further completing 682 of the first segment of the closing rod 680. This configuration allows the rotational movement of the first rotary connector 676 relative to the first segment of the closing rod 680. Similarly, the second rotary connector 678 is connected to the distal end 691 of the second segment of the closing rod 690 in such a way that it can rotate relative to it. The second swivel connector 678 has a second swivel projection 1679 formed thereon, which is configured to pass through the opening in the first swivel projection 677 to rotatably support in the second seat 692 in the distal end 1691 of the second segment of the closing rod 690. In addition, as can be seen on FIG. 56, the first and second rotary connectors 676, 678 are wedged to each other with the possibility of displacement by means of a wedge 716 on the second rotary switch 678, which is slidably positioned in the slot 717 in the first rotary switch 676. In at least one embodiment, the first rotary switch 676 is attached to each of the cam disks 1120 by means of the first connecting arms 687, and the second rotary connector 678 is attached to each of the cam disks 1120 by means of the second connecting arms 688.

[0060] In the embodiment shown, the closing system 670 is actuated by the drive solenoid 474. The drive solenoid 474 is configured to be operably connected to one of the first and second attachment blocks 672, 674 to apply axial closing and opening movements thereto. As can be seen in FIG. 56-59, such a drive system may further include a first rotary switch and a gear assembly 695 that is connected to the first mounting block 672 with the possibility of displacement by means of a pin 685 which passes through the slot 696 in the first rotary switch and gear assembly 695. Similarly, the second rotary switch and gear assembly 697 is connected to the second mounting block 674 with the possibility of displacement by means of a pin 685 which goes into the slot 698 in the second rotary switch and gear assembly 697. The first rotary switch and gear assembly 695 has a first bevel gear 699A pivotally attached to it, and the second rotary switch and gear assembly 697 has a second bevel gear 699B rotatably attached to it. Both the first and second bevel gear 699A, 699B are attached in meshing engagement with the intermediate gear 689 rotatably attached to the tool mounting plate 302. See FIG. 59A. As a result, when the first clamping block 672 is extended in the distal direction "DD", which also results in the displacement of the first segment of the closing rod 680 and the first rotary coupling 676 in the distal direction DD, the bevel gears 689, 699A, 699B will move the second closing rod 690 and a second rotary switch 678 proximal "PD". Similarly, when the first clamping block 672 is extended proximal "PD", which also results in the first segment of the closing rod 680 and the first rotary fastener 676 being moved closer to the PD, the bevel gears 689, 699A, 699B will move the second closing rod 690 and second rotary switch 678 in the "DD" distal direction.

[0061] FIG. 58 shows anvil 1100 in the open position. As can be seen in this figure, the first closing rod 680 is slightly closer to the second closing rod 690. To close the anvil, the drive solenoid 474 is driven to axially extend the first closing rod 680 in the "DD" direction. This operation causes the first rotary connector 676 and the first connecting arms 687 to rotate the "CCW" anti-clockwise rotation, as shown in FIG. 59. This movement also results in the second closing rod 690 being moved closer, also causing the second rotary connector 678 and the second connecting arms 688 cam discs 1120 to counterclockwise "CCW" to be pulled out. To open the anvil, drive solenoid 474 applies axial control movement to first attachment block 672 to return the first and second control rod segment 680, 690 to the positions shown in FIG. 58.

[0062] The embodiment of the gripper 1000 shown in FIG. 60 includes a drive system generally designated 748 which facilitates the selective application of rotational control motions to the gripper 1000. The gripper 1000 includes a firing member 1200 which is threaded on the tool drive shaft 1300. As can be seen in FIG. 61, the tool drive shaft 1300 has a bearing segment 1304 formed thereon that is rotatably supported in the bearing sleeve 1011. The tool drive shaft 1300 has a tool drive gear 1302 that engages in operation with the rotary gear, generally designated 750, which operatively connects to the longitudinal channel 1020 and is functionally supported by a portion of the longitudinal channel assembly 200. In one exemplary embodiment, the rotary gear 750 includes a differential lock assembly 760. As can be seen in FIG. 64 and 65, the differential lock assembly 760 includes a differential housing 762 that is configured to selectively rotate relative to the gripper drive housing 1010 and to rotate with the gripper housing 1010.

[0063] The distal drive shaft segment 540 is attached to the sun gear shaft 752, which has a sun gear 754 attached thereto. As a result, the sun gear 754 will rotate as the distal drive shaft segment 540 rotates. Sun wheel 754 will also move axially with segment 540 of the distal drive shaft. The differential lock assembly 760 further includes a plurality of planetary gears 764 that are pivotally connected to the differential housing 762. For example, in at least one embodiment, three planetary gears 764 are used. Each planetary gear 764 is in mesh with the first crown gear of the gripper 1016 formed in the gripper drive housing 1010. In the exemplary embodiment of FIG. 60 the gripping drive housing 1010 is attached without being rotatable to the longitudinal channel 1020 by means of a pair of opposing fastening projections 1018 (in FIG. 60 only one fastening protrusion 1018 can be seen) in the respective fastening slots 1024 (in FIG. 60 only one slot can be seen fastening 1024) formed in the proximal end 1021 of the longitudinal channel 1020. It is possible to use other attachment methods without moving the gripper drive housing 1010 to the longitudinal channel 1020 or the gripper drive housing 1010 may be formed in an integrated manner with the longitudinal channel 1020. As a result, the rotational movement of the gripper drive housing 1010 will result in the rotational movement of the longitudinal channel 1020 of the gripper 1000 .

[0064] In the embodiment shown in FIG. 61-65, differential lock assembly 760 further includes a second crown gear 766 that is formed in the differential housing 762 for meshing with the sun gear 754. Differential lock assembly 760 also includes a third crown gear 768 formed in the differential housing 762, which is in meshing with the tool drive gear 1302. The rotational movement of the differential housing 762 in the gripper drive housing 1010 will eventually result in the rotation of the tool drive gear 1302 and the tool drive shaft 1300 attached thereto.

[0065] When the physician wishes to rotate the gripper 1000 about the longitudinal axis of the LT-LT tool away from the articulation 700 to position the gripper in the required orientation relative to the target tissue, the robotic controller 12 can activate the shift solenoid 394 to axially displace the segment 380 closer to the drive shaft in such the method that the sun wheel 754 is moved to the "first axial" position shown in FIG. 65, 67 and 70. As described in the detailed description above, segment 540 of the distal drive shaft is operatively connected to segment 380 of the proximal drive shaft by means of quick coupler 210. As a result, the axial displacement of segment 380 of the proximal drive shaft may result in the axial displacement of segment 540 of the distal drive shaft and the sun gear shaft 752 and sun gear shaft 754. As per the above detailed description, the displacement system 390 controls the axial displacement of the segment 380 of the proximal drive shaft. In the first axial position, the sun gear 754 is in mesh with the planetary gears 764 and the second ring gear 766, thereby causing the planetary gears 764 and the differential housing 762 to rotate as an assembly when the sun gear 754 rotates.

[0066] The rotational movement of the segment 380 of the proximal drive shaft is controlled by the second drive system 370. The rotational movement of the segment 380 of the proximal drive shaft results in the rotation of the segment 540 of the distal drive shaft, sun gear shaft 752 and sun gear 754. Such rotational movement of the differential housing 762 and planetary gears 764 as a unit exerts a rotational movement against the gripper drive housing 1010 of the appropriate size to overcome the first friction amount F1 between the gripper drive housing 1010 and the distal portion of the socket 730 of the articulated intermediate tube 712, thereby causing the gripper drive housing 1010 and the gripper 1000 attached thereto to rotate about the longitudinal axis of the "LT-LT" tool relative to the distal socket tube 730. As a result, in this position the gripper drive housing 1010, differential housing 762 and planetary gears 764 rotate together as a team. Since the tool shaft 1300 is supported by the bearing sleeve 1011 in the gripper drive housing 1010, the tool shaft 1300 also rotates with the gripper drive housing 1010. See FIG. 61. As a result, the rotational movement of the gripper drive housing 1010 and the gripper 1000 does not result in a relative movement of the tool drive shaft 1300, which could result in the displacement of the firing member 1200. In the exemplary embodiment shown, such rotation of the gripper 1000 away from the articulation 700 does not result in the rotation of the entire roller elongation assembly 200.

[0067] When it is desirable to apply a rotational drive motion to the tool drive shaft 1300 to drive the firing member 1200 in the gripper 1000, the sun gear 754 is placed axially in a "second axial" position to disengage the second gear 766 while meshing the planetary gears 764, as shown in FIG. 61, 62, 64 and 66. As a result, when the rotational motion of the tool drive shaft 1300 is desired, the robotic controller 12 activates the shift solenoid 394 to align the sun gear 754 in meshing with the planetary gears 764. In this second axial position or in the "firing position", the sun gear 754 is only meshed with planetary gears 764. [0068] The rotational movement of the segment 380 of the proximal drive shaft can be controlled by the second drive system 370. The rotational movement of segment 380 of the proximal drive shaft results in the rotational movement of segment 540 of the distal drive shaft, sun gear shaft 752 and sun gear 754. When sun gear 754 rotates in the first firing direction, planetary gears 764 also rotate. When planetary gears 764 rotate, they also cause the differential housing 762 to rotate. The rotational movement of the differential casing 762 causes the rotational movement of the tool shaft 1300 due to the meshing of the tool driving gear 1302 with the third ring gear 768. Due to the amount of friction F1 occurring between the housing 1010 of the gripper drive and the distal part of the socket 730 of the intermediate tube 712, the rotation of the planetary gears 764 does not result in the rotation of the gripper housing 1010 relative to the intermediate articulated tube 712. As a result, the rotational movement of the drive shaft assembly results in the rotation of the tool drive shaft 1300 without rotating the entire gripper 1000.

[0069] Such a unique and innovative rotary transmission 750 includes a single drive system that can selectively rotate the gripper 1000 or fire the firing member 1200 depending on the axial position of the rotary drive shaft. One benefit of this arrangement is that it simplifies the drives that must pass through the 700 articulation. It also transfers the center drive to the base of the longitudinal channel 1020 in such a way that the tool drive shaft 1300 can be located below the staple cartridge 1040 to drive the firing member 1200. The ability of the gripper to rotate away from the articulation can significantly increase the gripping position of the gripper target.

As described above, when the drive shaft assembly is in the first axial position, the rotational movement of the drive shaft assembly may result in the rotation of the entire gripper 1000 away from the articulation 700. When the drive shaft assembly is in the second axial position (in one example near the first axial position), the rotational movement of the drive shaft assembly may result in the rotational movement of the tool drive shaft 1300.

[0071] The embodiment of the rotary gear shown in FIG. 64 and 65 include a 780 differential lock system that is configured to hold the drive shaft assembly in the first and second axial positions. As can be seen in FIG. 64 and 65, differential lock system 780 includes a first retaining formation 756 in the sun gear shaft 752 that corresponds to the first axial position of the drive shaft assembly and a second retaining formation 758 in the sun gear shaft 752 that corresponds to the second axial position of the drive shaft assembly. In the exemplary embodiment shown, the first retaining formation includes a first radial locking groove 757 in the sun gear shaft 752 and the second retaining formation 758 includes a second radial locking groove 759 formed in the sun gear shaft 752. The first and second locking grooves 757, 759 cooperate with at least one spring deflected locking element 784 that is adapted to connect the locking grooves 757, 759 when the drive shaft assembly is in the first and second axial positions, respectively. Locking elements 784 have a tapered end 786 and are supported with the possibility of displacement in the differential housing 762. A radial wave spring 782 can be used to exert a biasing force against the locking elements 784, as shown in FIG. 63. When the drive shaft assembly is moved axially to the first position, the locking elements 784 snap into the first radial locking groove 7576. See FIG. 65. When the drive shaft assembly moves axially to the second axial position, the locking elements 784 snap into the second radial locking groove 759. See FIG. 64. In alternative embodiments, the first and second retaining formation may include, for example, depressions that correspond to each of the locking elements 784. Also in alternative embodiments where the drive shaft assembly can be axially aligned in more than two axial positions, additional retaining formations that correspond to each of these axial positions may be used.

[0072] FIG. 70 and 71 show an alternative 790 differential lock system that is configured to guarantee that the drive shaft assembly will be locked in one of many predefined axial positions. The 790 differential lock system is configured to guarantee that the drive shaft assembly will be positioned in one of the first and second axial positions and will not be unintentionally placed in another axial position where the drive system is not functioning properly. In the embodiment shown in FIG. 70 and 71, the 790 differential lock system includes a plurality of 792 lock springs that are attached to the drive shaft assembly. Each blocking spring 792 is formed with first and second blocking valley 794, 796, which are separated by a pointed tip portion 798. Locking springs 792 are arranged to cooperate with sharp-ended blocking elements 763 formed on the differential housing 762. As a result, when the sharp-ended blocking elements 763 are located in the first blocking valley 794, the drive shaft assembly is held in the first axial position, and when the sharp-ended blocking elements 763 are placed in the second blocking valleys 796, the drive shaft assembly is held in the second position axial direction. The pointed tip portion 798 between the first and second locking valley 794, 796 ensures that the drive shaft assembly will be in one of the first and second axial positions and will not stop in the axial position between the two axial positions. If additional axial positions are required, the blocking springs can be equipped with additional blocking valleys that correspond to the required axial positions.

[0073] In FIG. 60, 72 and 73, thrust bearing 1030 is held in cradle 1026 in longitudinal channel 1020. A portion of distal end 1306 of drive tool shaft 1300 is rotatably placed in thrust bearing 1030 and projects through it. The retaining collar 1032 is pivotally attached or otherwise attached to the distal end 1030, as shown in FIG. 73 to complete the installation. The use of the thrust bearing 1030 in this way may allow "pulling" of the firing member 1200 when it is fired from the initial position to the end position in the longitudinal channel 1020. Such a system can minimize the risk of bending the drive shaft 1300 under high load conditions. The unique and innovative clamping system and location of the thrust bearing 1030 may result in a load on the seat, which increases with the load on the anvil, which in turn increases the stability of the gripper. Such a fastening system may in particular be used to place the tool drive shaft 1300 under tension during a high load firing cycle. This can avoid the need for the gears to rotate the tool drive shaft 1300 and stop the bending of the shaft 1300. The use of a retaining flange 1032 can also make the system easy to manufacture and assemble. The firing member 1200 is configured to connect the anvil and hold the anvil at the required distance from the surface of the cartridge when the firing member 1200 is driven from the start position to the end position. For example, in such an arrangement, when the firing member assembly 1200 moves further down the longitudinal channel 1020, the length of the anvil portion that resembles a cantilever beam becomes shorter and stiffer, thereby increasing the amount of downward load occurring at the distal end of the longitudinal end channel 1020, thereby further increasing the load on the bearing seat.

[0074] One advantage of using rotary drive members to shoot, close the rotation and the like may include the ability to use a large power transmission ratio of the drive shaft machine to absorb the high loads required to accomplish these tool tasks. However, when using such rotary propulsion systems, it may be desirable to track the number of revolutions applied to the propeller shaft to avoid catastrophic failure or damage to the propeller and other tool components in the event that the propeller shaft or moving gripper component is driven too far . As a result, some systems that include rotary drive shafts in the past have used encoders to track engine speed or sensors to monitor the axial position of the moving component. The use of encoders and / or sensors requires the use of additional cabling, electronic circuits and computing power to customize such a system, which may result in higher tool costs. In addition, system reliability may be somewhat unpredictable and its reliability depends on software and processors.

[0075] FIG. 74-76 show a mechanical stroke limitation system 1310 for limiting the linear stroke of the firing member 1200 when the firing member 1200 is directed from the start position to the end position. The stroke limitation system 1310 uses a tool drive shaft 1300 'in which the screw thread 1308 on the tool drive shaft 1300' does not go to the distal end 1306 of the drive shaft 1300 '. For example, as can be seen in FIG. 74-76, the 1300 'tool drive shaft includes a 1309 threadless segment. The firing member 1200 has a body portion 1202 that has a series of internal threads 1204 that are adapted to thread the bolt 1308 on the tool drive shaft 1300 'such that when the tool drive shaft 1300' rotates in the first direction, the firing member 1200 is driven further down "DD" until it contacts the segment without a thread 1309, at which point the firing member 1200 stops its movement away. This means that the firing member 1200 will extend further until the internal threads 1204 on the firing member 1200 disengage from the threads 1308 on the tool drive shaft 1300 '. Any further rotation of the tool drive shaft 1300 'in the first direction will not result in further displacement in the distal direction of the firing member 1200. See, for example, FIG. 75.

[0076] The exemplary mechanical stroke limiting system 1310 illustrated further includes a further biasing member 1312 that is configured to be touched by the firing member 1200 when the firing member 1200 is extended until the end of its further stroke (i.e., the firing member will no longer extend in distal direction together with the rotation of the tool drive shaft in the first rotation direction). In the embodiment shown in FIG. 74-76, for example, the biasing member 1312 includes a leaf spring 1314 that is in the longitudinal channel 1020. FIG. 74 shows a leaf spring 1314 prior to contact with the firing member 1200, and FIG. 75 shows the leaf spring 1314 in a compressed state after contact with the firing member 1200. In this position, the leaf spring 1314 serves to bias the firing member 1200 in a proximal "PD" direction to allow detachment of the internal threads 1204 on the firing member 1200 from the tool drive shaft 1300 'when the tool drive shaft 1300' rotates in the second retraction direction. When the tool drive shaft 1300 'rotates in the second retraction direction, the firing member 1200 is retracted in the proximal direction. See FIG. 76.

[0077] FIG. 77-80 show another 1310 'stroke limitation system. The 1310 'stroke limitation system uses a 1300 "two-component tool drive shaft. For example, in at least one embodiment, the 1300" tool drive shaft includes a segment 1320 of a proximal tool drive shaft that has a seat 1324 at its distal end 1322, as well as a segment 1330 of a distal drive shaft. which has a 1334 projection protruding from its proximal end 1332. The projection 1334 is sized and shaped so that it can be received in the seat 1324 in such a way that the threads 1326 on the segment 1320 of the proximal drive shaft mate with threads 1336 on the segment 1330 of the distal drive shaft to form one continuous drive thread 1340. As can be seen in FIG. 77, 79 and 80, the distal end 1338 of segment 1330 of the distal drive shaft passes through thrust bearing 1032, which is supported with displacement at distal end 1023 of longitudinal channel 1020. This means that thrust bearing 1032 can move axially in longitudinal channel 1020. A further biasing element 1342 is supported in the longitudinal channel 1020 to contact the longitudinal bearing 1032. FIG. 78 shows the firing member 1200 driven in the "DD" downward direction when the tool drive shaft 1300 "is driven in the first rotational direction. FIG. 79 shows the firing member 1200 at the further end of its stroke. Further rotation of the tool drive shaft 1300 "in the first rotation direction causes the thrust bearing 1032 to compress the firing member 1342, and also allows the segment 1330 of the distal shaft to slip when the proximal segment 1320 continues to rotate. Such slip between the segments 1320, 1330 and the distal tool drive shaft prevents further firing of the firing member 1200 further which could ultimately damage the tool. However, after the first rotation has been interrupted, biasing element 1342 serves to bias segment 1320 of the distal shaft in a proximal direction such that projection 1334 is inserted into the seat

1324. Then, the rotational movement of the tool shaft 1300 "in the second rotation direction results in the firing member 1200 being moved closer to the" PD "direction, as shown in FIG. 80.

[0078] FIG. 81 shows another 1310 "stroke limitation system. In this embodiment, the tool drive shaft 1300 has a projection 1350 formed thereon that is sized and shaped so that it can be inserted into the seat 1352 in bearing segment 1304, which has a tool drive gear 1302 formed on or otherwise attached thereto. FIGURES 81A and 81B show various protrusions 1350 '(FIG. 81A) and 1350 "(FIG. 81B), which are configured to be removably connectable to the respective slots 1352 'and 1352 ". The leaf spring 1314 is adjusted to be touched by the firing member 1200 when the firing member 1200 reaches the end of its stroke. Further rotation of the tool drive shaft 1300 will result in protrusion of the projection 1350, 1350 ', 1350 "from the seat 1352, 1352', 1352" respectively, to thereby prevent further rotation of the tool drive shaft 1300. When the rotation of the tool drive shaft 1300 is stopped, the leaf spring 1314 will apply a biasing movement to the firing member 1200 for the final bias of the tool drive shaft 1300 proximal to "PD" to place projection 1350 in seat 1352. The rotational movement of the tool drive shaft 1300 in the second rotation direction will result in retraction of the firing member 1200 in a proximal "PD" direction to the initial position. When the firing member 1200 is returned to its original position, the anvil 1100 can then be opened.

[0079] In the exemplary embodiment shown, the firing member 1200 is configured to connect the anvil 1100 when the firing member 1200 is driven distally by the gripper to correctly move the anvil away from the staple cartridge to guarantee properly formed closed staples, in particular when the amount of clamped tissue that is inappropriate to do so. Other forms of firing elements that are configured to connect and move the anvil away from the staple cartridge or elongated channel and which can be used in this embodiment and others are disclosed in US Patent No. 6,978,921, entitled "Surgical Stapling Instrument Incorporating an E- beam Firing Mechanism. " As can be seen in FIG. 82 and 83, portion of body 1202 of firing member 1200 includes base portion 1206 that connect upwardly channel slot 1028 in elongate channel 1020. See FIG. 60. Similarly, the knife body includes a pair of laterally projecting upper ribs 1208. When triggered with the anvil closed 1100, the upper ribs 1208 extend distally within the longitudinal slot 1103 of the anvil, passing further through the anvil 1100. Any smaller upward deflection in the anvil 1100 is overcome by the downward force transmitted by the upper ribs 1208.

[0080] In general, the loads necessary for closing and extending the firing member, ie, "firing" the firing member could significantly exceed 200 lbs. However, such strength requirements may require internal threads 1204 in the firing element to accommodate fine threads of the powertype thread configuration, such as Acme threads. In addition, in order to provide sufficient support for the upper ribs 1208 to avoid jamming of the firing member 1200 when it is driven distally by the gripper, it may be desirable to engage at least 5-15 threads in the firing element with threads on the tool drive shaft at any time. However, standard manufacturing methods may not be suitable for making the corresponding threads in the body of the firing member 1202 in a 0.08 inch diameter of 0.150 inch diameter and which have a suitable thread depth.

[0081] FIG. 82-84 show the firing member 1200 ', which may solve at least some of the challenges outlined above. As can be seen in these figures, the portion of the body 1202 'of the firing member has an hollow shaft seat 1210 extending along it, which is sized to receive the tool shaft. The internal threads in this embodiment are formed by a series of rods 1214 that pass transversely through the holes 1212 in the shaft seat 1210 in the manner shown. As can be seen in FIG. 84, pins 1214 rest on a smaller thread pitch 1308 on the tool drive shaft 1300.

[0082] FIG. 85 depicts another firing member 1200 "that can also solve at least some of the manufacturing challenges discussed earlier. As can be seen in this figure, a portion of the body 1202" of the firing member 100 "has a hollow shaft seat 1210 extending along it which is of a suitable size for placing the tool shaft. A pair of windows 1216 was formed in the body portion 1202 "as shown. Internal threads 1220 in this embodiment have been formed on end caps 1218, which are inserted into windows 1216 and are fixed therein by welding, using binder and the like. FIG. 86 and 87 show another firing member 1200 "in which access to the socket 1210 is obtained through access windows 1230A, 1230B formed in a portion of the body 1202". For example, a pair of access windows 1230A is provided on one side of the socket portion 1210 to allow the formation of internal thread segments 1232 on the opposite wall of the socket 1210. Another access window 1230B is provided on the opposite side of the socket portion 1210 in such a way that the middle segment 1234 of internal thread it may be formed on the opposite wall between the 1232 internal thread segments. The thread segments 1232, 1234 cooperate to thread threads 1308 on the tool drive shaft 1300.

[0083] The gripper 1000 is configured to support with the option of removing the staple cartridge 1040. See FIG. 60. The staple cartridge 1040 includes a cartridge body 1042 that is configured for functional placement in an elongate channel 1020. The cartridge body 1042 has a longitudinal slot 1046 for receiving a firing member 1200. The cartridge body 1042 further defines an upper surface herein referred to as the surface of the cartridge 1044 . In addition, two lines of staggered staple holes 1048 are provided on each side of the longitudinal slot 1046. Staple holes 1048 functionally support respective staple drive members 1050 that support one or two surgical staples (not shown). A number of such staple drive element configurations are known and can be used without departing from the scope of various exemplary embodiments of the invention.

[0084] Embodiments of the firing member also use a wedge sled assembly 1250 for driving contact with the staple drive members operatively supported in the staple cartridge 1040. As can be seen in FIG. 60, the wedge shoe assembly 1250 includes at least two wedges 1252 that are arranged to contact the drive with the lines of staple drive members operatively supported in the staple cartridge 1040. When the firing member 1200 is directed in the distal direction, the wedge sled assembly 1250 moves with the firing member 1220 and the wedges 1252 push the drive members 1050 up towards the closed anvil 1100. When the drive members 1050 are directed up, the surgical staples are supported on them are directed past their respective holes 1048 for forming contact with the staple forming surface 1104 of the closed anvil 1100.

[0085] Various exemplary embodiments of the gripper disclosed herein may also utilize a unique and novel firing lock system that will prevent the physician from unintentionally extending or "firing" of the firing member when the cartridge is not present, the cartridge has not been properly positioned in the gripper and / or when the used cartridge remains installed in the gripper. For example, as detailed below, the fire lock system may interact with the tool drive shaft 1300 and / or the firing member 1200 to prevent the firing member 1200 from being unintentionally extended when one of the above-mentioned conditions occurs.

[0086] In the exemplary embodiment shown, the rotational movement of the tool drive shaft 1300 in the first rotational or "firing" direction will cause the firing member 1200 to be directed distally in the staple cartridge 1040 if the firing member 1200 is properly aligned with, for example, the longitudinal slot 1046 in the cartridge body 1042 (FIG. 60), the channel slot 1028 in the longitudinal channel 1020 and the slot 1103 of the anvil in the anvil 1100. Referring mainly to FIG. 90, longitudinal slot 1046, channel slot 1028, and / or anvil slot 1103 may guide the firing member 1200 as it travels along the path in the surgical gripper 1000, e.g., during a firing stroke. When the firing member 1200 is in a functional configuration, the channel slot 1028 is configured to receive the base portion 1206 of the firing member 1200, and the anvil slot 1103 is configured to receive the upper ribs 1208 of the firing member 1200. When a portion of the firing member 1200 is in the channel slot 1028 and / or the anvil slot 1103, the firing member 1200 may be aligned or substantially aligned with the axis A. The channel slot 1028 and / or the anvil slot 1103 may guide the firing member 1200 and keep the firing member 1200 aligned with the A axis as the firing member 1200 moves from the initial position to a secondary position relative to the cartridge body 1042.

[0087] As discussed briefly above, in various examples of the surgical staple cartridge, surgical staples are supported on movable staple drive members supported in the cartridge body. Various exemplary embodiments of the gripper utilize a 1250 wedge shoe assembly that is configured to contact the staple drive members when the wedge shoe assembly is directed distally in the staple cartridge to direct the staples out of their respective recesses in the cartridge body and to form contact with the closed anvil. In at least one exemplary embodiment, the wedge sled 1250 is disposed within the staple cartridge 1040. As a result, each new cartridge with 1040 staples has its own wedge sleds supported in it. When the physician correctly places the new staple cartridge 1040 in the longitudinal channel, the wedge sled 1250 is configured to embrace the tool drive shaft 1300 and connects the firing member 1200 as shown in, e.g., FIG. 60, 88 and 89. As can be seen in these figures, an exemplary embodiment of the wedge sled 1250 may include a sled body 1414, flange 1410, as well as wedges 1252. The sled body 1414 may be positioned around a portion of the tool drive shaft 1300 when the wedge sled assembly 1250 is placed in an elongated channel 1020. The sled body 1414 can be constructed in such a way that the sled body 1414 avoids contact with the tool drive shaft 1300 when the sled body 1414 is positioned around the tool drive shaft 1300. The sled body 1414 can have a contour 1412, for example, which is curved over and / or around the tool drive shaft 1300. In this embodiment, for example, the flange 1410 passes between the sled body 1414 and each of the wedges 1252. Furthermore, the sled body 1414 has a cutout 1415 that is configured to receive part of the body 1203 of the firing member. Referring mainly to FIG. 89, the flange 1410 may extend substantially parallel to the base portion 1206 of the firing member 1200, when the firing member 1200 connect the wedge slide assembly 1250.

[0088] When the new staple cartridge 1040 has been correctly installed in the longitudinal channel 1020, the initial actuation of the firing member 1200 (e.g. by turning the tool drive shaft 1300) causes the portion of the body of the firing member 1203 to enter the notch 1415 in the wedge sled 1250, resulting in alignment firing member 1200 with a longitudinal slot 1046 in the cartridge body 1042 (FIG. 60), channel slot 1028 in the longitudinal channel 1020 and anvil slot 1103 in the anvil 1100 to allow extension of the firing member 1250 in the staple cartridge 1040 in the distal direction. Thus, the sledge may also be referred to herein as the "leveling element ". If the 1040 staple cartridge has not been installed correctly in the longitudinal channel, activation of the firing member 1200 will not result in an alignment hook with a notch 1415 in the wedge sled 1250, and the firing member 1200 will remain out of alignment with the channel slot 1028 in the longitudinal channel 1020 and the anvil slot 1103 1100, thus preventing the firing member 1250 from firing.

[0089] After the staple cartridge 1040 has been properly installed in the longitudinal channel 1020, the physician shoots the firing member by applying a first rotational motion to the tool drive shaft 1300. When the firing member 1250 has been directed distally in the staple cartridge 1250 to its farthest position, reverse rotation is applied to the tool drive shaft 1300 to return the firing member 1250 to its initial position external to the surgical staple cartridge 1040 to allow removing the used cartridge from the oblong channel 1020 and installing a new staple cartridge in it. When the firing member 1250 is returned to its initial position, the wedge sled 1250 remains at the distal end of the staple cartridge and does not return with the firing member 1200. As a result, when the firing member 1200 moves proximately beyond the staple cartridge 1040 and slot 1103 of the anvil in the anvil, the rotational movement of the tool drive shaft 1300 causes the firing member 1200 to slightly rotate to the inactive position. This means that when the firing member 1200 is in an inactive (outside of the cartridge), in a situation where the doctor would remove the used cartridge 1040 and not replace it with a new cartridge, including the new 1250 wedge sled, then closed the anvil 1110 and attempted to release the firing member 1200, because no wedge sleds are available to align the firing member 1200, the firing member 1200 will not be able to extend further in the longitudinal channel 1020. As a result, this arrangement prevents the physician from unintentionally triggering the firing member 1200 when the cartridge is not present.

[0090] In such an exemplary embodiment, the firing member 1200 may be substantially aligned with the A axis when the firing member 1200 is positioned in a functional configuration in such a way that the firing member 1200 can travel along the path established in the gripper 1000. The A axis may be substantially perpendicular to the staple forming surface 1104 of the anvil 1100 and / or the surface of the cartridge 1044 of the staple cartridge 1040 (FIG. 60). In other exemplary embodiments, the A axis may be angled with respect to the staple forming surface 1104 of the anvil 1100 and / or the surface of the cartridge 1044 of the staple cartridge 1040. Furthermore, in at least one exemplary embodiment, the A axis may extend through the center of the surgical gripper 1000, and in other exemplary embodiments the A axis may be on each side of the surgical center of the gripper 1000.

[0091] FIG. 91-97 depict one exemplary embodiment of a 1400 surgical gripper that utilizes a unique and novel firing lock system. As can be seen in FIG. 91-95, when the firing member 1200 is in the initial position, the firing member 1200 is in an inactive configuration that prevents extension in the gripper due to the misalignment of the firing member 1200 with the channel slot 1028 and the anvil slot 1103. The firing member 1200 may be maintained in an inactive configuration by a firing lock generally designated by symbol 1418. Referring mainly to FIG. 91-93, in at least one embodiment, for example, firing lock 1418 includes a first locking groove or cutout 1402 that is formed in longitudinal channel 1020. However, in other exemplary embodiments, the first lock cutout 1402 may form an opening, for example, in the first jaw 1004, second jaw 1006, longitudinal channel 1020 and / or anvil 1100. In various exemplary embodiments, the first lock cutout 1402 is in the surgical gripper 1400 in such way that the first notch of the lock 1402 connect part of the firing member 1200 when the firing member 1200 is in an inactive configuration. The first notch of the lock 1402 may be in the vicinity, adjacent, and / or may be connected to the channel slot 1028 in the longitudinal channel 1020. Referring mainly to FIG. 91, the channel slot 1028 may have a slot width along its length. In at least one exemplary embodiment, the first lock cutout 1402 may extend from the channel slot 1028 in such a way that the combined width of the channel slot 1028 and the first lock cutout 1402 exceeds the width of the channel slot 1028. As can be seen in FIG. 91, when the firing member 1200 is in an inactive configuration, the base portion 1206 of the firing member 1200 moves to the first notch of the lock 1402, thereby preventing unintentional extension in the longitudinal channel 1020.

[0092] When the new staple cartridge 1040 has been correctly installed in the longitudinal channel 1020, the initiation of the firing stroke will cause the firing member to engage the wedge shoe 1250 placed in the staple cartridge 1040 that move the firing member 1200 for alignment with the longitudinal slot 1046 in the cartridge body 1042, the slot 1028 of the channel in the longitudinal channel 1020 and the slot 1103 of the anvil in the anvil 1100, to allow forward extension of the firing member 1250. When the firing member 1200 moves from the initial position to the secondary position relative to the staple cartridge 1040, the firing member 1200 may move past the first notch of the lock 1402. The first notch of the lock 1402 may have a length in approximately 0.25 inches. In certain other exemplary embodiments, the first notch of the lock 1402 may have, for example, a length of approximately from about 0.15 inches to about 0.25 inches, or, for example, approximately from about 0.25 inches to about 1 inch.

[0093] Referring mainly to FIG. 93 and 94, the surgical gripper 1400 may be constructed to receive the upper ribs 1208 of the firing member 1200 when the firing member 1200 is in an inactive configuration. For example, firing lock 1418 may include a second lock groove or cutout 1404 in anvil 1100. For example, in the exemplary embodiment shown, the second notch of the lock 1404 may be adjacent, adjacent, and / or may be connected to the anvil slot 1103 in the anvil 1100. The anvil slot 1103 may have a slot width along its length. In at least one exemplary embodiment, the second lock cutout 1404 may extend from the anvil slot 1103 such that the combined width of the anvil slot 1103 and the second lock cutout 1404 exceeds the width of the anvil slot 1103. The second notch of the lock 1404 may extend in length or distance in the surgical gripper 1400. The firing member 1200 may be constructed to connect the second notch of the lock 1404 along its length when the firing member 1200 is in an inactive configuration. When the firing member 1200 moves from the initial position to the secondary position relative to the staple cartridge 1040, the firing member 1200 may move past the second lock notch 1404. The second lock notch 1404 may be approximately 0.25 inches in length. In certain other exemplary embodiments, the second notch of the lock 1404 may have, for example, a length of approximately from about 0.15 inches to about 0.25 inches, or, for example, approximately from about 0.25 inches to about 1 inch. Referring mainly to FIG. 93, the first lock notch 1402 can run from the channel slot 1028 in the first X direction, and the second lock notch 1404 can run from the anvil slot 1103 in the second Y direction. In at least one exemplary embodiment, the first direction X may be substantially transverse to the second direction Y. In such exemplary embodiments, the base portion 1206 of the firing member 1200 may rotate to the first notch of the lock 1402, and the upper ribs 1208 of the firing member 1200 may rotate to the second the notches of the lock 1404 when the firing member 1200 moves to the inactive configuration.

[0094] Referring mainly to FIG. 92-94, when the firing member 1200 is set in an inactive configuration, respective portions of the firing member 1200 engage the first and second notch of the lock 1402, 1404. The firing member 1200 may be located at least partially in the first and second notch of the lock 1402, 1404 when firing 1200 is in an inactive configuration. The firing member 1200 may move to the first and second notch of the lock 1402, 1404 as the firing member 1200 moves to the inactive configuration. In addition, when the firing member 1200 is set in an inactive configuration, the firing member 1200 may detach from the first and second locking notches 1402, 1404.

[0095] A portion or portions of the surgical gripper 1400 may block the firing member 1200 and restrict or prevent movement of the firing member 1200 in the surgical gripper 1400 when the firing member 1200 is in an inactive configuration (see, for example, FIG. 95). For example, the first jaw 1004, the second jaw 1006, the elongate channel 1020 and / or the anvil 1100 may be configured to block the firing member 1200 when it is in a functional configuration. In some exemplary embodiments, the first lock cutout 1402 has a first locking surface or edge 1406 formed therein (FIGS. 91 and 92), and the second lock cutout 1404 has a second lock surface or edge 1408 formed therein (FIG. 94). Attempts to fire the firing member 1200 when the firing member 1200 is in an inactive configuration will result in contacting respective portions of the firing member 1200 with one or both of the first and second locking surfaces 1406, 1408 to prevent the firing member 1200 from moving from the initial position toward the secondary positions. In at least one exemplary embodiment, the surgical gripper 1400 need not have both a first locking edge 1406 and a second locking edge 1408.

[0096] FIG. 98-104 show an embodiment of a surgical gripper 1500 that uses another exemplary firing lock system according to the invention. For example, as can be seen in these figures, the surgical gripper 1500 may include a longitudinal channel 1020, a tool drive shaft 1300, and also a firing member 1200. The surgical gripper 1500 may also include a gripper drive housing 1510 (see for example

FIG. 100). As with the gripper drive housing 1010 described herein, the gripper drive housing 1510 may include a bearing sleeve 1511 and a third crown gear or housing drive member 768. The bearing sleeve 1511 may be constructed in such a way that the drive shaft tool bearing segment 1304 may be positioned with displacement within the bearing sleeve 1511. Bearing segment 1304 can move in the bearing sleeve 1511 when the tool drive shaft 1300 moves between the inactive position and the functional position, as described herein. The bearing sleeve 1511 may have a bore 1512 having a longitudinal cross-section, such as, for example, a cross-sectional shape, including an oval, ellipse, and / or semi-circles, having longitudinal and / or parallel sides between them. In such exemplary embodiments, the bearing segment 1304 may be located on or near the first side of the opening 1512, such as, for example, the first semicircle, when the tool drive shaft 1300 is in the inactive position. Furthermore, bearing segment 1304 may be located on or near the other side of the opening 1512, such as, for example, the second semicircle, when the tool drive shaft 1300 is in a functional position.

[0097] The tool drive shaft 1300 moves between the inactive position and the functional position. According to this document, the biasing element 1520 and / or part of the staple cartridge 1040 may, for example, move the tool drive shaft 1300 between an inactive position and a functional position. In the illustrated and other embodiments, the tool drive gear 1302 of the tool drive shaft 1300 may be engaged on the third ring gear 768 of the gripper drive housing 1510 when the tool drive shaft 1300 is in a functional position. The tool drive gear 1302 may be, for example, an external gear and the third ring gear 768 may be, for example, an internal gear. The tool drive gear 1302 can move to engage the third ring gear 768 as the tool drive shaft 1300 moves from the inactive position to the functional position. In addition, the tool drive gear 1302 may be disengaged from the third ring gear 768 when the tool drive shaft 1300 is in the inactive position. In at least one exemplary embodiment, the tool drive gear 1302 may move past the engagement with the third ring gear 768 when the tool drive shaft 1300 moves from the functional position to the inactive position. As with the other exemplary embodiments described herein, when the tool drive shaft 1300 is engaged on the third ring gear 768 in the gripper drive housing 1510, drive system 750 (FIG. 61) can drive the firing member 1200 in the longitudinal surgical channel 1020 gripper 1500, e.g. during a firing stroke.

[0098] Referring mainly to FIG. 101 and 102, the bearing segment 1304 may be located opposite the first side of the bore 1512 of the bearing sleeve 1511 when the tool drive shaft 1300 is in the inactive position. Retaining pin 1514 (FIG. 98, 100, 101 and 103) can be arranged to deflect bearing segment 1304 to the first side of bore 1512 in such a way that the tool drive shaft 1300 is, for example, kept inactive, and the tool drive gear 1302 is, for example, held outside meshing with the third 768 crown gear. In some exemplary embodiments, the retaining pin 1514 can be spring loaded in such a way that the retaining pin 1514 exerts a force on bearing segment 1304 to move the tool drive shaft 1300 toward the inactive position. The tool drive shaft 1300 may remain inactive until another force overcomes the force exerted by the retaining pin 1514 to displace the tool drive shaft 1300, e.g., toward the functional position and the tool drive gear 1302 to engage, for example, with a third crown gear 768 .

[0099] Referring mainly to FIG. 103 and 104, the bearing segment 1304 may be located opposite the other side 1512 of the bearing sleeve 1511 when the tool drive shaft 1300 is in the functional position. In various exemplary embodiments, the force exerted by the retaining pin 1514 (FIG. 98, 100, 101 and 103) can be overcome to move the bearing segment 1304 opposite the other side of the bore 1512 in such a way that the tool drive shaft 1300 is in a functional position and the tool drive gear 1302 is engaged on the third ring gear 768 According to this document, biasing member 1520 may exert a force on bearing segment 1304 that overcomes the force exerted by retaining pin 1515.

[0100] The surgical gripper 1500 may include a biasing member 1520 that can be moved between the first set of positions (see, for example, FIG. 103) and the second set of positions (see, for example, FIG. 101). The second set of positions may be away from the first set of positions relative to the gripper drive housing 1510. When the biasing member 1520 is in the first set of positions, the biasing member 1520 may be constructed to move the tool drive shaft 1300 to, for example, a functional position. When the biasing member 1520 is in the second set of positions, the biasing member 1520 may release the tool drive shaft 1300 in such a way that the tool drive shaft can, for example, return to the inactive position.

[0101] The biasing element 1520 may be an independent element being placed in the surgical gripper 1500. The biasing element 1520 may be held movable in the surgical gripper 1500 and may be operably hooked on the staple cartridge 1040. The staple cartridge 1040 may include the biasing element 1520. In some exemplary embodiments, the biasing member 1520 may be formed in an integrated manner with the wedge shoe assembly 1250 of the staple cartridge 1040, and the biasing member 1520 may be maintained movable within the staple cartridge 1040. In such exemplary embodiments, the biasing member 1520 may move in the longitudinal channel 1020 when the wedge sled assembly 1250 and / or the firing member 1200 moves in the longitudinal channel 1020, e.g., during a firing stroke.

[0102] Referring mainly to FIG. 99, biasing element 1520 may include biasing body 1522 and legs 1526 extending from biasing body 1522. Biasing body 1522 may be positioned around a portion of tool drive shaft 1300 in surgical gripper 1500. In some exemplary embodiments, the biasing body 1522 may be constructed such that the biasing body 1522 avoids contact with the tool drive shaft 1300 when the biasing body 1522 is disposed around the tool drive shaft 1300. The biasing body 1522 may, for example, have a contour 1524, which curves over and / or around the 1300 tool drive shaft. Legs 1526 may extend along part of the elongated channel 1020 and / or on each side of the tool drive shaft 1300. The biasing member 1520 may also include at least one extension or wedge 1528. According to this document, wedge 1528 may be movably connected to bearing sleeve 1511 and / or bearing segment 1304 to move the tool drive shaft to a functional position. The biasing element 1520 may also include at least one spring 1530. For example, spring 1530 may be deformed between the initial configuration (FIG. 101) and the deformed configurations (FIG. 103). The spring 1530 can hold the biasing member 1520 in a first set of positions relative to the gripper drive housing 1510 until the force deforms the spring 1530 from the initial configuration to the deformed configuration. As the spring 1530 moves from the initial configuration to the deformed configuration, the biasing member 1520 can move from the second set of positions to the first set of positions relative to the gripper drive housing 1510.

[0103] Referring mainly to FIG. 101, before inserting the staple cartridge 1040 (FIG. 103) into the longitudinal channel 1020, the spring 1530 may be in the initial configuration and the biasing element 1520 may be in the second set of positions. The retaining pin 1514 can hold the bearing segment 1304 opposite the first side of the bore 1512. In such exemplary embodiments, the tool drive shaft 1300 can be held in an inactive position by a retaining pin 1514.

[0104] Referring to FIG. 103, the installation of the staple cartridge 1040 in the longitudinal channel 1020 displaces the biasing element 1520 in a proximal direction opposite to the force of the springs 1530 to the first set of positions in which the wedge 1528 connects with the possibility of moving the bearing sleeve 1511 and the bearing segment 1304 deflects the bearing segment 1304 and tool drive gear 1302 of the tool drive shaft 1300 for meshing with the third gear 768. Then, firing the firing propulsion system as described herein will result in firing the firing member 1200. In some exemplary embodiments, a portion of the staple cartridge 1040 is configured to directly contact the biasing member 1520 to move the biasing member 1520 to the first set of positions. In other exemplary embodiments, a portion of the staple cartridge 1040 is configured to contact another element in the surgical gripper 1500, such as, for example, the firing member 1200, to operatively move the biasing member 1520 to the first set of positions. In further exemplary embodiments, the staple cartridge 1040 has a biasing member 1520 formed in an integrated manner with it.

[0105] In various exemplary embodiments, the biasing member 1520 may move in the longitudinal channel 1020 of the surgical gripper 1500 when the firing member 1200 and / or the wedge sled assembly 1250 are driven in the longitudinal channel 1020 by the tool drive shaft 1300, for example, during firing stroke, as described in this document. The biasing element 1520 may be integrally formed with and / or attached to the wedge shoe assembly 1250 of the 1040 staple cartridge. In such exemplary embodiments, when the staple cartridge 1040 is initially positioned in the longitudinal channel 1020, the wedge shoe 1250 and the biasing element 1520 may be placed in an initial position relative to the staple cartridge 1040 and / or elongated channel 1020. The initial position of the biasing member 1520 may correspond to the first set of positions in such a way that the biasing member 1520 connects with the movable sleeve 1511 of the bearing housing 1510 of the gripper drive to move the tool drive shaft 1300 to the inactive position as described herein. During the firing stroke, the 1250 wedge sled assembly and the deflecting element 1520 can be moved away from the initial or first set of positions. The biasing element 1520 can move to the second set of positions. As the biasing member 1520 moves past the first set of positions and into the second set of positions, the biasing member 1520 may no longer attach the bearing sleeve 1511 of the gripper drive housing 1510 to keep the tool drive shaft 1300 in a functional configuration. Although biasing element 1520 may not bias the tool drive gear 1302 of the tool drive shaft 1300 for engagement with the third crown gear 768 when biasing element 1520 moves to the second set of positions, channel slot 1028, anvil slot 1103, and / or longitudinal slot 1046 in the 1040 staple cartridge is used to guide the firing member 1200 in the firing position, which keeps the driving gear gear 1302 of the tool drive shaft 1300 in meshing with the third crown gear 768 and thereby prevents the tool drive shaft 1300 from being returned to the inactive position during the firing stroke.

[0106] In at least one exemplary embodiment, the firing member 1200 and / or the tool drive shaft 1300 may direct the wedge slide assembly 1250 and / or the biasing member 1520 to a second set of positions during the firing stroke. In various exemplary embodiments, after the firing stroke has been completed, the firing member 1200 may return to its initial position, however, the wedge shoe assembly 1250 including the biasing member 1520 may, for example, remain in the second set of positions. The firing member 1200 may return to a proximal position in the surgical gripper 1500, and the biasing member 1520 may remain distal in the surgical gripper 1500. When the firing member 1200 is in the initial position and the biasing member 1520 is in the second set of positions, the drive shaft tool bearing segment 1304 1300 may slide in the bearing sleeve 1511 in such a way that the tool drive shaft 1300 moves to the inactive position, and the tool driving gear 1302 moves out of engagement with the third ring gear 768. In various exemplary embodiments, the tool drive shaft 1300 may leave in an inactive position until the biasing member 1520 is attracted to the first set of positions and / or until the replacement biasing member 1520 is placed in the first set of positions. For example, the used staple cartridge 1040 is removed from the elongate channel 1020 and replaced with a replaceable staple cartridge 1040, which may include a biasing element 1520 in its first positions. When the replaceable staple cartridge 1040 is placed in the longitudinal channel 1020, its biasing member 1520 moves the tool driving gear 1302 to engage the third ring gear 768 and into a functional position. In such exemplary embodiments, the surgical gripper 1500 cannot be triggered again when there is no 1040 cartridge or a used 1040 cartridge is in the longitudinal channel 1020. In addition, if the staple cartridge has not been correctly positioned in the longitudinal channel 1020 such that the element biasing 1520 has not moved the tool drive shaft 1300 to mesh with the third crown gear 768, firing member 1200 cannot be triggered.

[0107] As described above, the surgical tool system may include a surgical housing, replaceable gripper assemblies that can be connected to the surgical housing for use during surgical technique and then disconnected from the housing after being used, as well as the motor and / or an actuator configured to fire the grippers. In different circumstances, the surgeon may choose from several different interchangeable grippers for use during the surgical procedure. For example, the surgeon may first select the first replaceable gripper configured to staple and / or incision the patient's body tissue, which has a staple cartridge length of approximately 15 millimeters ("mm") for making the first cut in the patient's body tissue. In such an embodiment, the cutting blade and / or sled driving the staples can be extended along the length of the staple cartridge approximately 15 mm through the propeller to cut and stitch approximately 15 mm of the patient's body tissue. The surgeon may then choose a second interchangeable gripper, also configured to staple and / or incision the patient's body tissue, which may have a staple cartridge length of approximately 30 mm to perform a second cut in the patient's body tissue. In such an embodiment, the cutting blade and / or sled driving the staples can be extended along the length of the staple cartridge of approximately 30 mm through the propeller to cut and stitch approximately 30 mm of the patient's body tissue. The surgeon may also choose an interchangeable gripper, configured to staple and / or cut a patient's body tissue, which has a staple cartridge length of approximately 45 mm to perform a cut in the patient's body tissue. In such an embodiment, the cutting blade and / or sled driving the staples can be extended along the length of the staple cartridge of approximately 45 mm through the propeller to cut and stitch approximately 45 mm of the patient's body tissue. The surgeon can also choose an interchangeable gripper that can also be configured to staple and / or cut a patient's body tissue that has a staple cartridge length of approximately 60 mm to perform a cut in the patient's body tissue. In such an embodiment, the cutting blade and / or sled driving the staples can be extended along the length of the staple cartridge of approximately 60 mm through the propeller to cut and stitch approximately 60 mm of the patient's body tissue. The gripper lengths 15 mm, 30 mm, 45 mm and / or 60 mm discussed above are examples. It is possible to use other lengths. In some embodiments, the first gripper may include a staple cartridge having a length of x, the second gripper may include a staple cartridge having a length of approximately 2 * x, the third gripper may include a staple cartridge having a length of approximately 3 * x, and the fourth the gripper may include a staple cartridge having a length of approximately 4 * x.

[0108] In some surgical tool systems using interchangeable grippers having different lengths, the propellers in each of the different interchangeable grippers may be the same except that the length of each propeller may be different to adapt to a different length of the associated interchangeable gripper . For example, a replaceable gripper, including a 30mm long staple cartridge, may require a propeller that is longer than a replaceable gripper lead, including a 15mm long staple cartridge. However, in any case of such surgical tool systems, any propeller that uses the same thread pitch and / or thread pitch, described in detail below, may require a motor to rotate the propeller shaft by a different number of turns depending on the length of the gripper used to fully release each gripper. For example, a propeller that provides a 30mm firing stroke may require twice as much revolutions to run fully compared to a propeller that provides a 15mm firing stroke. In such surgical instrument systems, electronic communication between the surgical housing and the replaceable gripper can be used to ensure that the electric motor in the surgical housing rotates by the correct number of revolutions for the length of the attached replaceable gripper. For example, the replaceable gripper may include an electronic circuit that can be identified by the surgical tool system in such a way that the surgical tool system can rotate the motor by the correct speed for the attached gripper. Additionally or instead of the foregoing, the replaceable gripper may include a sensor that detects when the gripper is fully activated. In this embodiment, the sensor may be in signal communication with the controller in a housing configured to stop the engine when a corresponding signal is received. Such electronic communication between the surgical housing and the replaceable gripper, although appropriate for the intended purposes, may result in greater complexity and / or cost to such surgical instrument systems.

[0109] As described above, grippers having different lengths can be used in the same surgical instrument system. In the surgical tool systems described above, the interchangeable grippers having different firing lengths include propellers that rotate by a different number of turns to accommodate different firing lengths. To adapt to the different RPM required for different propellers, the propeller motor runs for a longer or shorter time and / or a higher number of revolutions or a lower number of revolutions, depending on whether a longer firing length or a smaller firing length is required . The embodiments of the interchangeable grippers described below allow the surgical tool system, including a motor configured to rotate at a fixed or fixed number of turns, to operate the grippers having different firing lengths. Due to the engine running for a constant number of revolutions, the surgical tool system does not need to identify the length of the gripper. Each gripper in the embodiments described below includes a propeller with a thread pitch and / or thread rise that allows the gripper actuating portion, such as, for example, a cutting blade, to overcome the full length of the specified gripper at a constant engine speed.

[0110] Referring to FIG. 105, the propeller 1700 can be rotated in the first direction to move the cutting blade 1730 of the gripper 1740 in the distal direction indicated by the arrow E. In use, the propeller 1700 can be rotated a fixed or fixed number of times to extend the cutting blade 1730 to the full firing length, designated as length L in FIG. 105. For each rotation of the propeller 1700 in some embodiments, the cutting blade 1730 can be moved in the direction of arrow E by a size equal to the thread pitch, thread rise and / or the distance between adjacent thread turns 1708 on the propeller 1700, as described in detail below. In various embodiments, the first propeller may include a first set of properties that determine the first firing length, while the second propeller may include a second set of properties that define the second firing length, wherein the first set of properties may be different from the second set of properties.

[0111] Accordingly, referring to FIG. 106A, 107, 108A and 109A, the distance between the threads on the propeller can be proportional to the angle of the threads on the propeller. In other words, the angle at which the threads are arranged on the propeller can be a property of the propeller that determines the thread pitch and / or the pitch of the propeller thread. A longer propeller for use in a longer gripper can utilize a larger thread pitch and / or thread rise than a shorter propeller for use in a shorter gripper in embodiments where the propellers, as well as the propeller motor, rotate by a constant number of turns. Propeller 1700 in FIG. 106A has a single A thread disposed at an angle relative to longitudinal axis 1701 on the propeller 1700, wherein the A thread defines the thread pitch and / or the thread rise having the length X. FIG. 106B is a cross-sectional view of a 1700 propeller and a single A thread. In some embodiments, the 1700 propeller may have more than one thread as described in detail below.

[0112] FIG. 107A shows a propeller 1700 'that can have a first A' thread and a second B 'thread. FIG. 107B is a cross-sectional view of the propeller 1700 'in which the first thread A' and the second thread B 'are approximately 180 ° offset from each other on the propeller 1700'. In various embodiments, a propeller having a first A 'thread and a second B' thread may have a greater number of threads per unit length compared to a propeller using a single A 'or B' thread. In the case where the propeller has more than one thread, the distance from the first thread turn to the adjacent second thread turn is referred to as "thread pitch." The distance from one thread turn to the next turn of the same thread is called "thread rise". For single-lead propellers, the thread pitch and lead height are the same. For example, and also with reference to FIG. 107A, the distance from the thread turn A 'of the adjacent thread turn B' determines the thread pitch of the propeller 1700 '. The distance from the thread turn A 'to the next thread turn A' determines the thread height of the propeller 1700 '. As a result, the propeller thread pitch 1700 'in FIG. 107A is equal to X 'and the thread pitch is equal to X' / 2. The propeller 1700 shown in FIG. 106A and 106B have a single thread, so both thread pitch and thread rise are equal to X. The propeller thread height determines the length that will be covered, for example, by a firing member, such as cutting blade 1730 and / or staple drive, in the case of one turn of the propeller.

[0113] Returning to FIG. 107A, the first thread A 'and the second thread B' are arranged at an angle β to the longitudinal axis 1701 of the propeller 1700 '. The angle β is smaller than the angle α, and the pitch X of the propeller 1700 'in FIG. 107A is greater than the thread X pitch of propeller 1700 shown in FIG. 106A. For one turn of the 1700 'propeller, the cutting blade moves by the length of X' along the 1700 'propeller. For example, the thread rise X 'may be twice the thread pitch or thread rise X of the propeller 1700 shown in FIG. 106A, with the result that the cutting blade connected to the propeller 1700 'of FIG. 107A travels twice the distance with one turn of the 1700 'propeller compared to the cutting blade attached to the 1700 propeller of FIG. 106A.

[0114] FIG. 108A shows a 1700 "propeller, which has a first A" thread, a second B "thread, and a third C" thread, each passing at an angle γ to the longitudinal axis 1701 of the 1700 "propeller. FIG. 108B shows a view in 1700 "propeller cross section and shows threads A", B ", and C" approximately spaced 120 °. Angle γ is smaller than angle β in FIG. 107A, and thread elevation X "propeller 1700" in FIG. 108A is greater than the pitch X of the propeller 1700 'shown in FIG. 107A. Similarly, Fig 109A shows a 1700 '"propeller that may include a first A'" thread, a second B "" thread, a third C "" thread, and a fourth D "" thread, each of which passes at an angle δ with respect to longitudinal axis Z 1700 '"propeller. FIGURE 109B shows a cross-sectional view of 1700'" propeller and shows threads approximately 90 ° out of phase. The angle δ is smaller than the angle γ, and the thread rise X '"1700" propeller is larger than that of the 1700 "propeller in FIGURE 108A.

[0115] An exemplary surgical tool system may include a housing and a motor in the housing configured to rotate by a fixed number of revolutions, which results in rotating the propeller of the connected interchangeable gripper by, for example, 30 revolutions. The surgical tool system may further include a plurality of replaceable surgical stapler grippers, each of the grippers may include a cutting blade and / or a staple driver driven by a propeller. In at least one such embodiment, the first replaceable gripper may comprise a staple cartridge, for example having a length of 15 mm. The propeller 1700 shown in FIG. 2A and 2B can be used in the first interchangeable gripper. The thread height X can be set, for example, to 0.5 mm, which means that the cutting blade and / or staple drive element can cover a distance of 15 mm of the staple cartridge at 30 turns of the 1700 propeller. The second interchangeable gripper may include a staple cartridge, for example, 30 mm long, as well as a propeller, such as, for example, the 1700 "propeller shown in FIGS. 107A and 107B. The thread height X 'of the 1700' propeller may be determined, for example at 1.0 mm, which means that the cutting blade and / or staple driver can overcome a distance of 30 mm of the staple cartridge in 30 turns of a 1700 'propeller. Similarly, a third interchangeable gripper with a staple cartridge having, for example, a length of 45 mm, may include a propeller, such as, for example, the 1700 "propeller in FIGS. 108A and 108B, having a thread pitch X" of 1.5 mm, which means that the cutting blade and / or staple driver overcomes the length of 45 mm of the staple surface in 30 revolutions of the 1700 "propeller. A fourth interchangeable gripper with a staple cartridge, for example, 60 mm long, may include a propeller, such as, for example, a 1700 "" propeller in FIGS. 109A and 109B, having a 2.0 "X" "thread pitch, which means that the cutting blade and / or staple driver overcomes the length of 60 mm of the staple surface in 30 turns of the 1700 "propeller.

[0116] FIG. 110 shows the cutting blade 1730 of FIG. 105 removed from the rest of the gripper 1740. Cutting blade 1730 includes passage 1732 through which propeller 1700 passes. Side portions 1736 form internal walls of passage 1732 and may include recesses, such as, for example, grooves 1734, which are configured to receive threads 1708 on propeller 1700. Grooves 1734 are set at an angle ε that corresponds to thread angle 1708 on propeller 1700. For example, when threads 1708 are set to angle α, shown in FIG. 106A, then the angle ε of grooves 1734 can also be set to angle α. Accordingly, the angle ε of the grooves 1734 can be set, for example, to the angles β, δ and / or γ of the respective propeller used with them.

[0117] In various embodiments, according to the exploded view of FIG. 110, side portions 1736 may be attached to windows 1738 defined in shaft portion 1746 of cutting blade 1730. In some embodiments, cutting blade 1730 may include integrated side portions. In at least one embodiment, the side portions may have a corresponding groove angle ε corresponding to the angle of threads 1708 on the propeller 1700, which may be formed at passage 1732 at a central passage. Providing the right groove angle ε for the cutting blade 1730 for a particular propeller can be accomplished in a number of ways. In some embodiments, a typical cutting blade 1730 may be provided that does not include side parts 1736 attached to windows 1738 of shaft parts 1746, wherein various sets of side parts 1736 can be provided in such a way that the required set of side parts 1736 can be selected from various sets of side parts 1736, and then attached to a typical cutting blade 1730 in such a way that the assembly can be used with a particular propeller. For example, the first set of side parts 1736, when attached to the cutting blade 1730, can configure the cutting blade 1730 for use with the first propeller, and the second set of side parts 1736, when attached to the cutting blade 1730, can configure the cutting blade 1730 for use with a second propeller and so on. In certain other embodiments, the cutting blade 1730 may be provided with side portions formed in an integral manner therewith. In at least one such embodiment, the grooves 1734 can be formed, for example, using a tap at an angle ε that corresponds to the angle of the threads 1708 of a particular propeller 1700.

[0118] FIG. 111 shows a propeller 1700 connected to the propeller shaft 1750 via an intermediate gear 1720 sandwiched between them. The 1750 drive shaft is rotated by a motor. As described above, the engine can run a fixed or fixed number of revolutions and as a result the drive shaft 1750 can rotate by a constant number of revolutions R. In some embodiments, the number of revolutions R made by the drive shaft 1750 may be equal to a constant number of revolutions made by the engine. In alternative embodiments, the number of revolutions R made by the drive shaft

1750 may be greater or less than a constant number of revolutions made by the engine. In various embodiments, one or more gears spaced between the engine and drive shaft 1750 may cause the drive shaft 1750 to perform more turns or less turns than the engine. In some embodiments, the drive shaft 1750 may include an external spline gear 1752 surrounding and / or connected to the distal end 1754 of the drive shaft 1750. The outer spline gear 1752 can connect to the inner spline gear 1724 designated in the idler 1720 to transfer the rotational motion of the drive shaft 1750 to the idler 1720. As a result, in at least one embodiment, the idler 1720 can perform the same rotation R like 1750 drive shaft.

[0119] The idler 1720 may include a second idler 1722 that connects to the idler 1712 surrounding and / or attached to the proximal end 1702 of the propeller 1700. The second idler 1722 of the idler 1720 defines a first diameter D1 and the pinion 1712 at the proximal end 1702 the propeller 1700 determines the second diameter D2. The second diameter D2 may be different from the first diameter D1. When the first diameter D1 and the second diameter D2 are different, they may determine a gear ratio that is different from 1: 1. As can be seen in FIG. 111, in some embodiments, the diameter D1 may be larger than the diameter D2 in such a way that the propeller 1700 performs more rotations R 'than the number of rotations R made by the propeller 1750 and the idler 1720. In alternative embodiments, the diameter D1 may be smaller than the diameter D2 in such a way that the propeller 1700 will perform less rotations R 'than the number of rotations R made by the propeller 1750 and the idler 1720.

[0120] The gear ratio between the second gear 1722 of the idler 1720 and the gear 1712 of the propeller 1700 can be set such that the propeller 1700 performs a certain number of turns when the propeller shaft 1750 performs a constant number of turns. If the idler gear 1722 is part of the replaceable gripper assembly, then the gear ratio between the idler gear 1722 and the propeller 1700 in each of the replaceable gripper assemblies can be fixed in such a way that the surgical housing motor can perform a constant speed. For example, referring to FIG. 111, it can be assumed that the drive shaft 1750 performs a constant number of 30 revolutions and that the replaceable surgical stapler includes a 15 mm staple cartridge and if the gripper includes a propeller with a 0.25 mm thread rise, then the propeller will make 60 revolutions to extend the cutting blade and / or a 15 mm staple drive element in a staple cartridge. In at least one embodiment, the idler 1720 may have a size such that the second inner gear 1722 has a diameter D1, which is twice the diameter D2 of the outer gear 1712, propeller 1700. As a result, the propeller 1700 will perform 60 turns while the propeller shaft 1750 will make 30 turns. If the second removable surgical stapler includes a 30 mm staple cartridge, then the propeller with a 0.25 mm thread rise will rotate 120 turns to extend the cutting blade and / or staple driver 30 mm. The intermediate gear 1720 of the removable surgical stapler can be sized such that the second internal gear 1722 has a diameter D1, which is four times the diameter D2 of the outer gear 1712 of the propeller 1700. As a result, the 1700 propeller will make 120 turns while the 1750 propeller shaft will make 30 turns.

[0121] Returning to FIG. 105, in some embodiments, the firing path of the firing member, e.g., cutting blade 1730, can be linear. In some embodiments, the firing path may be curved and / or curvilinear. In certain embodiments, propeller 1708 may be flexible to allow propeller 1708 to follow lateral movements of the firing member for example along a curved and / or curvilinear path. In some embodiments, the firing member may be flexible or may include at least one flexible portion to allow portions of the firing member to displace laterally relative to propeller 1708, e.g., along a curved and / or curvilinear path, while the remaining firing member parts are not moved in side to propeller 1708. In some embodiments, the firing path may be defined by the distance traveled by the firing member along the firing path regardless of the total net displacement. In various other embodiments, the firing path may be defined by the total net displacement of the firing member independent of the firing path.

[0122] In various embodiments, a kit for use with a surgical tool system that includes various interchangeable grippers of different lengths may be provided. In some embodiments, the kit may include a selection of interchangeable grippers of different lengths from which the surgeon may choose for use during a surgical operation on a patient. The kit may also include several interchangeable grippers of any length. In some embodiments, the kit may comprise a sequence of interchangeable grippers of different lengths, the sequence being predefined for a particular surgical procedure. For example, a surgical procedure may first require a 15 mm incision, then a 15 mm incision and finally a 30 mm incision. The surgical kit for such a surgical procedure may include three interchangeable grippers configured to cut and staple a patient's body tissue. The first two interchangeable grippers may comprise an approximately 15 mm length, and the third interchangeable grippers may comprise an approximately 30 mm length.

[0123] FIG. 112-117 illustrate another exemplary longitudinal shaft assembly 2200 that has another exemplary quick coupler arrangement 2210. For example, in at least one embodiment, the quick coupler arrangement 2210 includes a proximal connector element 2212 in the form of a segment 2214 proximal to the outer tube that has a tubular toothed segment 354 that is configured to connect to the first drive system 350 as described above. As described above, the first drive system 350 is used to rotate the longitudinal roller assembly 2200 and the gripper 1000 operatively connected thereto about the longitudinal axis of the "LT-LT" tool. The proximal outer tube segment 2214 has a "tapered" portion of the distal end 2216 that is configured to receive the segment of the blocking tube 2220. The quick coupler system 2210 further includes a distal connector element 2217 in the form of a distal outer portion of the tube 2218 that is substantially similar to the portion 231 of the distal outer tube described above except that the distal outer portion of the tube 2218 includes the tapered portion of the proximal end 2219. A distal outer formation or dovetail connection 2226 is formed at the end of the proximal end portion 2219 of segment 2218 of the distal outer tube that is configured to drive the proximal outer formation or dovetail 2228 that is formed at the distal end portion 2216 of the segment 2214 proximal outer tube.

[0124] The exemplary embodiment shown in FIG. 112-117 uses the exemplary embodiment of the closing system 670 described above. The quick coupler 2210 system is configured to facilitate the functional joining of proximal closing transmission gear assemblies with respective further transmission drive assemblies. For example, as can be seen in FIG. 113, the longitudinal shaft assembly 2200 may include a first proximal closing gear drive assembly in the form of a first proximal closing rod segment 2230 and a first distal transmission drive assembly in the form of a first distal closing rod segment 2240 that are configured to connect to each other via a quick coupler system 2210 . This means that in at least one exemplary embodiment, the first proximal segment of the closing rod 2230 has a first closing connection formation or a dovetail connection segment 2234 formed at its distal end 2232. Similarly, the first distal closing rod segment 2240 has a second closing joint formation or dovetail connection segment 2244 formed at its proximal end 2242 that is adapted to a transverse sliding connection of the first dovetail connection segment 2234. Referring still to FIG. 113, the elongated shaft assembly 2200 may include a second proximal closing gear drive assembly in the form of a second proximal closing rod segment 2250 and a second distal transmission drive closing assembly in the form of a second distal locking rod segment 2260 that are configured to connect with each other by means of a quick coupler system 2210 . This means that in at least one exemplary embodiment, the second proximal closing bar segment 2250 has a third closing junction formation or a dovetail closing junction segment 2254 formed at its distal end 2252. Similarly, the distal second segment 2260 of the distal closing rod may have a fourth form of closing connection or a segment of the closing connection in the form of a dovetail 2264 formed at its proximal end 2262 of the distal second segment of the closing rod 2260 which is adapted to transversely connect the third segment of connection in the form of dovetail 2254 .

[0125] In the illustrated and other embodiments, the first proximal closing rod segment 2230 and the second proximal closing rod segment 2250 pass through the proximal drive shaft segment 380 '. The proximal drive shaft segment 380 'includes the proximal 387' transmission drive prism, and the distal drive shaft segment 540 'includes the 548' distal drive prism. When the proximal gear drive rotary assembly 387 'is operably connected to the distal gear drive rotary assembly 548', the drive shaft assembly 388 'is formed to transfer rotational control movements to the gripper 1000. In at least one exemplary embodiment, the proximal drive shaft segment 380 'is substantially similar to the proximal drive shaft segment 380 described above except that the distal end 381' of proximal drive shaft segment 38 'has a further dovetail 2270 formation on him. Similarly, the distal propeller shaft segment 540 'may be substantially similar to the distal propeller shaft segment 540 described above except that the proximal 2280 dovetail formation or connection is formed at its proximal end 542' that is adapted to the propulsion connection further propulsion in the form of a dovetail 2270 via a quick coupler 2210. The first distal closing rod segment 2240 and the further second closing rod segment 2260 may also run through the distal drive shaft segment 540 '.

[0126] Such exemplary embodiment may further include articulation 2300 that connects to the third and fourth drive cables 434, 454. As can be seen in FIG. 113, articulation joint 2300 includes a proximal articulation tube 2302 that has a proximal ball joint segment 2306 formed at its distal end 2304. The proximal articulation tube 2302 includes passages 2308 for receiving portions of cable ends 434A ', 434B', 454A ', 454B'. The proximal ball segment 2310 is supported with the ability to move on the proximal ball segment 2306. The proximal cable segments 434A ', 434B', 454A ', 454B' pass through passages 2308 for attachment to the proximal ball segment 2310. The proximal articulated tube 2302, the proximal ball joint segment 2310 and the proximal cable segments 434A ', 434B', 454A ', 454B' may together be referred to as the proximal part of the articulated drive of the 2314 transmission.

[0127] An exemplary articulation joint 2300 may also include a distal articulation tube 2320 that has a distal ball joint segment 2324 formed at its proximal end 2322. The distal segment 2324 of the ball joint has a first distal formation or connection in the form of a dovetail 2325 formed on it, which is adapted to drive the first proximal formation or connection in the form of a dovetail 2307 formed on the proximal segment of the ball joint 2306 such that when the first further connection in the form of a dovetail 2325 drive the first proximal connector in the form of a dovetail 2307, the distal segment 2324 of the ball joint and the proximal segment 2306 of the ball joint form the inner articulated ball assembly. In addition, the articulation joint 2300 further includes a distal segment of the ball 2330, which is supported on the distal segment 2324 of the ball joint and has a second distal formation or connection in the form of a dovetail 2332 formed on it, which is adapted to the drive connection of the second closer formation or connection in the form of a dovetail tail 2312 on the proximal segment 2310 ball joint. The distal segments of the cable 444, 445, 446, 447 are attached to the distal segment 2340 of the ball and pass through passages 2328 in the distal articulated pipe 2320. In the case of connection with each other, the closer segment 2310 of the ball joint and the distal segment of the ball joint 2324 form the articulated ball 2340, which is placed with the possibility of displacement on the inner articulated ball. The distal articulated tube 2320, the distal segment of the ball 2340, and the distal segments of the cables 444, 445, 446, 4447 may together be referred to as the proximal articulated drive assembly 2316.

[0128] As can be seen in FIG. 115, the distal parts of the longitudinal roller assembly 2200 may be connected in such a way that subsequent connection segments are held in alignment with each other by a distal connector 2217 or distal outer portion of the tube 2218 to form the distal connection assembly in the form of a dovetail generally designated 2290: 2226 , 2332, 2325, 2280, 2244 and 2264. Similarly, the longitudinal shaft assembly 2200 can be assembled in such a way that the proximal connector element 2212 or proximal outer tube segment 2214 maintains the subsequent connection segments in alignment with each other to form the proximal connection assembly in the form of a dovetail designated 2292: 2228: 2312, 2307 , 2270, 2234 and 2254.

[0129] The gripper 1000 may be operably coupled to the elongated shaft assembly 2200 as follows. To begin attachment, the physician moves the segment of the blocking tube 2220 to the first unlocked position shown in FIG. 115 and 116. As can be seen in these figures, the blocking tube segment has a stop segment 2224 formed at its distal end 2222. In the unlocked position, the abutment segment 2224 projects distally beyond the proximal dovetail assembly 2292 to form the abutment surface for the transverse connection of the distal dovetail assembly 2290 with the proximal dovetail assembly 2292. This means that the doctor can laterally align the dovetail 2290 with the proximal dovetail 2292 and then move the dovetail 2290 with the proximal 2292 dovetail the distal junction assembly in the form of swallow 2290 contacts the 2224 resistance segment, at which point all of the respective proximal and distant segments of the connection are simultaneously interconnected. Then, the physician can move the segment of the blocking tube 2220 distally to the second locked position as shown in FIG. 117. In this position, the blocking tube segment 2220 covers the quick coupler 2210 and prevents any lateral displacement between the distal dovetail assembly 2290 and the proximal dovetail assembly 2292.

[0130] Although the various exemplary embodiments described above are configured to be operably connected to and to be at least partially activated by a robotic system, components of the gripper and the longitudinal roller can be effectively used in conjunction with hand tools. For example, FIG. 118-120 show a hand-held surgical tool 2400 that can use the various components and systems described above to functionally actuate the gripper 1000 connected to it. In the exemplary embodiment shown in FIG. 118-120 quick coupler 2210 is used to connect the gripper 1000 to the longitudinal shaft assembly 2402. To facilitate the movement of the articulated gripper 1000 around the articulation connection 700, the proximal portion of the longitudinal shaft assembly 2402 includes an exemplary manually operated articulated drive 2410.

[0131] Referring to FIG. 121-123, in at least one exemplary embodiment, the articulated drive 2410 includes four axially displaced axial guides that are positioned with the ability to move on a segment 380 'of the proximal drive shaft between the proximal outer tube segment 2214 and the proximal drive shaft segment 380'. For example, the articulated link segment 434A 'is attached to the first articulated guide 2420 which has a first articulated rod of actuator 2422 projecting therefrom. The articulated link segment 434B' is attached to the second articulated guide 2430 which is directly opposite the first articulated guide 2420. The second articulated guide 2430 has a second articulated rod 2432 extending therefrom. The articulated link segment 454A 'is attached to the third articulated guide 2440, which has a third articulated rod 2442 projecting from it. The articulated link segment 454B' is attached to the fourth articulated guide 2450, which is directly opposite the third articulated guide 2440. The fourth articulated actuator rod 2452 protrudes from fourth articulated guide 2450. The articulated rods of the actuator 2422, 2432, 2442, 2452 facilitate the use of articulated steering movements relative to the articulated guides 2420, 2430, 2440, 2450 via articulation ring assembly 2460.

[0132] As can be seen in FIG. 121, the articulated rods of the actuator 2422, 2432, 2442, 2452 move movably through the clamping ball 2470 which is located on the segment 2404 of the proximal outer tube. In at least one embodiment, the fastening ball 2470 may be manufactured from segments that are joined together by means of appropriate fastening systems (e.g., welding, binder, screws and the like). As can be seen in FIG. 109, the articulated rods of the actuator 2422 and 2432 pass through the slots 2472 in the segment 2404 of the proximal outer tube and the slot 2474 in the mounting ball 2470 to allow axial movement of the articulated guides 2420, 2430 relative to them. Although not shown, the articulated rods of the 2442 actuator , 2452 passes through similar slots 2472, 2474 in segment 2404 of the proximal outer tube and mounting ball 2470. Each of the articulated rods of the actuator 2422, 2432, 2442, 2452 protrudes beyond the respective slots 2474 in the mounting ball 2470 for functional receiving in the respective mounting seats 2466 in the articulation ring assembly 2460. See FIG. 122.

[0133] In at least one exemplary embodiment, the articulation ring assembly 2460 is made of a pair of ring segments 2480, 2490 that are joined together, for example by welding, an adhesive, latches, screws and the like to form the articulation ring assembly 2460. Segments ring 2480, 2490 cooperate to form mounting seats 2466. Each of the articulated rods of the actuator has a mounting ball 2468 formed thereon, each of which is adapted to be positioned with displacement in a respective mounting seat 2466 in the articulation ring assembly 2460.

[0134] Various exemplary embodiments of articulated drive 2410 may further include an exemplary locking system 2486 configured to keep the articulation ring assembly 2460 in the actuated position. In at least one exemplary embodiment, the locking system 2486 includes a plurality of locking flaps formed on the articulation ring assembly 2460. For example, the ring segments 2480, 2490 may be made of a somewhat flexible polymeric material or rubber. Ring segment 2480 has a series of elastic proximal blocking flaps 2488 formed therein, and ring segment 2490 has a series of elastic proximal blocking flaps 2498 formed in it. Each blocking flap 2388 has at least one locking latch 2389 formed thereon, and each blocking flap 2398 has at least one locking tab 2399. The locking tabs 2389, 2399 can be used to establish the required amount of locking friction with the ball joint to hold the ball joint in position. In other exemplary embodiments, the locking tabs 2389, 2390 are configured to match the various locking recesses formed on the outer circumference of the mounting ball 2470.

[0135] Operation of articulated drive 2410 may be understood by reference to FIG. 122 and 123. FIG. 122 shows the articulated drive 2410 in the non-actuated position. In FIG. 123 the doctor manually tilted articulation ring assembly 2460 to cause axial displacement of articulation guide 2420 in the distal "DD" direction, thereby extending articulated link segment 434A 'in distal direction. Such displacement of the articulation ring assembly 2460 also results in the axial displacement of the articulation guide 2430 in the proximal direction, which ultimately causes the articulated cord 434B to be pulled out in the proximal direction. Such ejection and extraction of articulated cable segments 434A ', 434B' will result in articulated movement of the gripper 1000 relative to the longitudinal axis of the "LT-LT" tool as described above. To reverse the direction of the articulation, the physician simply reverses the direction of the articulation ring 2460, thereby causing the articulation guide 2430 to be moved farther "DD" and the articulation guide 2420 to be moved closer to the "PD". The articulation ring assembly 2460 can be similarly operated to apply the required push and pull movements to the articulated link segments 454A ', 454B'. The friction generated between the locking tabs 2389, 2399 and the outer circumference of the mounting ball serves to keep the articulated drive 2410 in position after the gripper 1000 has been articulated to the desired position. In alternative exemplary embodiments, when the locking tabs 2389, 2399 are positioned such that they are received in respective locking recesses in the mounting ball, the locking ball will be held in position.

[0136] In the exemplary and other embodiments shown, the longitudinal roller assembly 2402 operably connects to the handle assembly 2500. The exemplary embodiment of the handle assembly 2500 includes a pair of handle housing segments 2502, 2504 that are joined together to form various drive components and systems , which will be discussed in detail below. See for example FIG. 118 and 119. Handle housing segments 2502, 2504 may be connected to each other by bolts, latches, adhesive, and the like. When joined together, the handle segments 2502, 2504 can form a handle assembly 2500 that includes a portion of the pistol grip 2506.

[0137] To facilitate the selective rotation of the gripper 1000 about the longitudinal axis of the tool "LT = LT", the longitudinal roller assembly 2402 can connect to the first drive system, generally designated 2510. The drive system 2510 includes a manually rotatable rotary nozzle 2512 which is rotatable supported on the handle assembly 2500 in such a way that it can be rotated relative to it and moved axially between the locked position and the unlocked position.

[0138] The surgical tool 2400 may include a closing system 670, as described above, for applying opening and closing movements to the anvil 1100 of the gripper 1000. However, in such an exemplary embodiment, the closing system 670 is actuated by a closing trigger 2530 that is pivotally attached to handle frame assembly 2520 which is supported within handle housing segments 2502, 2504. The closing trigger 2530 includes an actuation portion 2532 that is pivotally attached to a pivot pin 2531 which is supported within the handle frame assembly 2520. See FIG. 124. Such an exemplary configuration facilitates rotational movement in and out of the pistol grip portion 2506 of the grip assembly 2500. As can be seen in FIG. 124, closing trigger 2530 includes a closing connector 2534 that is connected to the first rotary connector and gear assembly 695 by means of a closing wire 2535. As a result, by turning the closing trigger 2530 toward the pistol grip portion 2506 of the grip assembly 2500 to the non-actuated position, the closing connector 2534 and the closing wire 2535 cause displacement through the first rotary connector and the gear assembly 695 of the first closing rod segment 680 toward the distal "DD" to the anvil closure.

[0139] The surgical tool 2400 may further include a closing trigger lock system 2536 for holding the closing trigger in the actuated position. In at least one exemplary embodiment, the closing trigger lock system 2536 includes a closing lock member 2538 that is pivotally connected to the handle frame assembly 2520. As can be seen in FIG. 125 and 126, the locking interlock member 2538 has a locking arm 2539 formed thereon that is configured to displace on the arcuate portion 2537 of the closing connector 2532 when the closing trigger 2530 is moved toward the portion of pistol grip 2506. When the closing trigger 2530 has been rotated to the fully activated position, the locking arm 2539 drops behind the end of the closing connector 2532 and prevents the closing trigger 2530 from returning to its non-actuated position. As a result, the anvil 1100 will be locked in its closed position. In order to enable the closing trigger 2530 to be returned to its non-actuated position, resulting in the anvil being moved from the closed position to the open position, the physician simply rotates the closing lock element 2538 until the lock arm 2539 detaches from the end of the closing connector 2532, thereby allowing the closing connector to move. 2532 to the unlatched position.

[0140] The closing trigger 2532 is returned to the unlatched position by the closing return system 2540. For example, as can be seen in FIG. 124, one exemplary embodiment of a closing trigger system 2540 includes a closing trigger slide 2542 that is connected to the closing connector 2534 by means of a closing trigger yoke 2544. The slider trigger 2542 is slidably supported in the sliding cavity 2522 in the handle frame assembly 2520.

The closing trigger return spring 2546 is located inside the sliding cavity 2520 to apply a biasing force against the closing trigger slide 2542. As a result, when the physician actuates the closing trigger 2530, the closing trigger yoke 2544 moves the closing trigger slide 2542 toward the distal "DD", squeezing closing trigger return spring 2546. When the closing trigger lock system 2536 is disengaged and the closing trigger 2530 is released, the closing trigger return spring 2546 moves the closing trigger slide 2542 proximal to "PD" to thereby rotate the closing trigger 2530 to its initial non-actuated position.

[0141] The surgical tool 2400 may also use any of the various exemplary embodiments of the drive shaft described above. In at least one exemplary embodiment, the surgical tool 2400 uses a second drive system 2550 to apply rotational control motions to the proximal drive shaft assembly 380 '. See FIG. 128. The second propulsion system 2550 may include a motor assembly 2552 that is functionally supported in a portion of the pistol grip 2506. The motor assembly 2552 may be powered by a power supply 2554 that is removable attachable to the handle assembly 2500 or may be powered by an AC source. The second driving gear 2556 is operably coupled to the drive shaft 2555 of engine assembly 2552. The second driving gear 2556 is supported for engagement with the second rotary driven gear 2558, which is attached to a segment 380 'of the proximal drive shaft of the drive shaft assembly. For example, in at least one embodiment, the second drive gear 2556 may also move axially on the motor drive shaft 2555 relative to the motor assembly 2552 in the directions indicated by the "U" arrow in FIG. 128. A biasing element, e.g. a coil spring 2560 or similar element, is disposed between the second driving gear 2556 and the motor housing 2553 and serves to bias the second driving gear 2556 on the motor drive shaft 2555 for meshing with the first gear segment 2559 on the second driven wheel toothed 2558.

[0142] The second drive system 2550 may further include a firing trigger assembly 2570 that is movably connected, for example rotatably, to the handle frame assembly 2520. For example, in at least one exemplary embodiment, the firing member assembly 2570 includes a first rotary drive trigger 2572 that interacts with a corresponding switch / contact (not shown) that electrically connects to the engine assembly 2552 and which, when activated, causes the engine assembly 2552 to use first rotational drive motion relative to the second driven gear 2558. Furthermore, the firing trigger assembly 2570 further includes a retraction drive trigger 2574 that is rotatable relative to the first rotary drive trigger. The retraction drive trigger 2574 is operably connected to a switch / contact (not shown) which is in electrical communication with the motor assembly 2552 and which, when activated, causes the motor assembly 2552 to apply a second rotational drive motion to the second driven gear 2558. The first rotational drive motion results in a rotational motion of the drive shaft assembly and the tool drive shaft in the gripper to cause the displacement of the firing member in the gripper 1000. In turn, the second rotational drive motion is opposite to the first rotational drive motion and will ultimately result in the rotational movement of the drive shaft assembly and the tool drive shaft in a rotational direction, resulting in proximal displacement or retraction of the firing member in the gripper 1000.

[0143] The illustrated embodiment also includes a manually actuated safety member 2580 that is pivotally attached to the actuating portion 2532 of the closing trigger and is selectively rotated between a first "safe" position in which the safety member 2580 physically prevents rotation of the firing trigger assembly 2570, and a second "off" position in which the physician can freely rotate the 2570 firing trigger assembly. As can be seen in FIG. 124, a first recess 2582 is provided in the actuation portion 2532 of the closing trigger that corresponds to the first portion of the safety element 2580. When the safety element 2580 is in the first position, the latch (not shown) on the safety element 2580 is placed inside the first recess 2582. A second recess 2584 is also provided in the actuating portion 2532 of the closing trigger which corresponds to the second position of the safety element 2580. When the safety element 2580 is in the second position, the hook on the safety element 2580 is placed inside the second recess 2582.

[0144] In at least some exemplary embodiments, the surgical tool 2400 may include a mechanically operated inverting system, generally designated 2590, for mechanically applying reverse rotation to a segment 380 'of the proximal drive shaft in case the motor assembly 2552 fails or in the absence of battery power or battery outage. Such a mechanical reversing system 2590 can also be particularly useful, for example, when components of a drive shaft system operably connected to a segment 380 'of the proximal drive shaft are jammed or otherwise blocked in a way that would prevent reverse rotation of the drive shaft components solely by engine power. In at least one exemplary embodiment, the mechanically actuated reversing system 2590 includes a reversing mechanism 2592 that is pivotally mounted on a shaft 2524A formed on the chuck frame assembly 2520 in engagement with a second gear segment 2562 on a second driven gear 2558. See FIG. 126. As a result, reversing mechanism 2592 rotates freely on shaft 2524A as the second driven gear 2558 rotates segment 380 'of the proximal drive shaft of the drive shaft assembly.

[0145] In various exemplary embodiments, the mechanical inverting system 2590 further includes a manually actuated drive element 2594 in the form of a lever arm 2596. As can be seen in FIG. 129 and 130, the lever arm 2596 includes a portion of the yoke 2597 that has longitudinal slots 2598. Shaft 2524A passes through slot 2598A, and a second opposing shaft 2598B formed on handle housing assembly 2520 passes through the second longitudinal slot for attachment with the possibility of displaceable lever arm 2596. In addition, lever arm 2596 has an actuator rib 2597 formed thereon that can engage with reversing mechanism 2592. There is a latch or component that keeps the lever arm 2596 in a non-actuated state until the physician exerts considerable force to actuate it. It stops them from being accidentally activated in the event of a reversal. Other embodiments may use a spring to pivot the lever arm to a non-actuated state. Various exemplary embodiments of the mechanical inverting system 2590 further include a knife retractor button 2600 that is disposable with movement within the handle frame assembly 2520. As can be seen in FIG. 129 and 130, the knife retractor button 2600 includes a detachment flap 2602 that is configured to connect the top of the second drive gear 2556. The knife retractor button 2600 is deflected to the disengaged position by spring 2604 of the knife retractor. In the disconnected position, the disengagement flap 2602 is tilted beyond the engagement with the second drive gear 2556. As a result, until the physician wishes to activate the mechanical reversing system 2590 by pressing the button 2600 of the knife retractor, the second drive gear 2556 is in meshing with the first segment 2559 gear of the second driven gear 2558.

[0146] When the physician wishes to apply the inverting driving rotation to the segment 380 'of the proximal drive shaft, the physician presses the knife retractor button 2600 to disengage the first gear segment 2559 on the second driven gear 2558 from the second drive gear 2556. The physician then begins to apply a rotary ratchet motion to the manually actuated drive 2594, which causes the rib 2597 to drive the reversing gear 2592. The reversing mechanism 2592 is in mesh with the second gear segment 2562 on the second driven gear 2558. Further ratchet movement of the manually actuated drive element 2594 results in the application of a reversing driving rotation movement to the second gear segment 2562 and ultimately to the segment 380 'of the proximal drive shaft. The physician may continue to ratchet the 2594 drive member as many times as required to fully release or invert the associated gripper component (s). After the required amount of reverse rotation is applied to the segment 380 'of the proximal drive shaft, the physician releases the knife retractor button 2600 and the drive element 2594 to their respective initial or non-actuated positions, in which the 2597 rib is outside the attachment to the 2592 reversing mechanism, and the second drive gear 2556 is again meshed with the first gear segment 2559 on the second driven gear 2558.

[0147] The surgical tool 2400 can also be used with a gripper 1000 that includes a rotary gear 750 as described in detail above. As described above, when the drive shaft assembly is in the first axial position, the rotational movement applied to it results in a rotational movement of the entire gripper 1000 about the longitudinal axis of the "LT-LT" tool away from the articulated joint 700. When the drive shaft assembly is in the second position, the rotational movement applied to it results in a rotational movement of the tool drive shaft, which ultimately causes the firing member to be actuated in the gripper 1000.

[0148] The surgical tool 2400 may use the shifting system 2610 to selectively move the segment 380 'of the proximal drive shaft which displaces the shaft gear 376 to and from engagement with the first rotatable driven gear 374. For example, the segment 380' of the proximal drive shaft is supported with the possibility of moving the handle frame assembly 2520 such that the proximal drive shaft segment 380 'can move axially and rotate therein. In at least one exemplary embodiment, the shifting system 2610 further includes a shifter yoke 2612 that is slidably supported by the handle frame assembly 2520. See FIG. 124 and 127. The proximal drive shaft segment 380 'has a pair of flanges 386 (shown in FIGS. 124 and 128), which means that the displacement of the shifter yoke 2612 on the handle frame assembly 2520 results in the axial displacement of the segment 380' of the proximal drive shaft. In at least one embodiment, the shifting system 2610 further includes a shifter button assembly 2614 that operably engages the shifter yoke 2612 and passes through the slot 2505 in the handle housing segment 2504 of the handle assembly 2500. See FIG. 135 and 136. The shift spring 2616 is attached to the handle frame assembly 2520 in such a way that connect segment 380 'of the proximal drive shaft. See FIG. 127 and 134. Spring 2616 serves to provide the physician with an audible click and tactile feedback when the shift button assembly 2614 is slidably positioned between the first axial position shown in FIG. 135, wherein the rotational movement of the drive shaft assembly results in a rotational movement of the gripper 1000 about the longitudinal axis of the tool "LTLT" relative to the articulation 700 (as shown in FIG. 67) and the second axial position shown in FIG. 136, wherein the rotational movement of the drive shaft assembly results in an axial displacement of the firing member in the gripper (as shown in FIG. 66). As a result, this configuration allows the physician to easily slide the shift button assembly 2614, while maintaining the handle assembly 2500.

[0149] FIG. 137-147 show a lockable articulation joint 2700 which in one exemplary embodiment is substantially the same as the articulation joint 700 described above except for the differences discussed below. In one exemplary embodiment, articulation 2700 is locked and unlocked by articulation lock system 2710. Articulation 2700 includes a proximal seat tube 702 that is connected to the distal end 233 of portion 231 of the distal outer tube and defines a proximal ball seat 704 therein. See FIG. 137. The proximal ball element 706 that is attached to the segment 712 of the intermediate articulated tube is positioned with displacement in the proximal ball socket 704 in the proximal seat tube 702. As can be seen in FIG. 137, the proximal ball element 706 has a central drive passage 708 that allows segment 540 to pass through it a distal drive shaft. In addition, the proximal ball element 706 has four articulated passages 710 that facilitate the passage of segments 444, 445, 446, 447 of the distal line. As can further be seen in FIG. 137, intermediate tube segment 712 has an intermediate ball socket 714 formed therein. The intermediate ball socket 714 is configured to retain the gripper ball 722 formed on the gripper connector tube 720. The segments 444, 445, 446, 447 of the distal cord pass through passages of the cord 724 formed in the gripper ball 722 and are connected to it by means of protrusions 726 placed inside respective passages 728 in the gripper ball 722. Other clamping systems can be used to attach segments 444, 445, 446, 447 of the distal cord to the gripper ball 722.

[0150] As can be seen in FIG. 137, one exemplary embodiment of the articulation lock system 2710 includes a wire or blocking element 2712 that passes through portion 231 of the distal outer tube of the longitudinal shaft assembly and the proximal socket tube 702. Locking wire 2712 has a proximal end 2720 that is attached to the transfer disk 2722, which is operably supported in the handle portion 2500 (generally indicated by the dashed line in FIG. 137). For example, the transfer disk 2722 is mounted on the spindle shaft 2724, which is connected to the protrusion 2726 formed in the handle 2500. The actuator cord or wire 2730 is attached to the transfer disk 2722 and can be manually actuated (i.e. pushed or pulled out) by a physician. In other embodiments, in which the surgical tool is attached to the robotic system, the actuator cord 2730 may be configured to receive control motions from the robotic system to actuate the transfer disk 2722.

[0151] As can be seen in FIG. 143-146, the locking wire 2712 has a pair of release wedges 2714, 2716 formed at its distal end 2715. The first release wedge 2714 is configured to operatively connect to the ends 2742, 2744 of the distal locking ring 2740, which is located on the intermediate articulated tube 712. its normal "locked" state, as shown in FIG. 143, the distal locking ring 2740 exerts a circumferential locking or compressive force against the intermediate articulated tube 712 to compress the intermediate articulated tube 712 on the gripper ball 722 to prevent it from moving in the seat 714. As can be seen in FIG. 143-146, ends 2742, 2744 of distal locking ring 2740 are narrowed to define a conical or V-shaped hole 2746 configured between them to receive the first release wedge 2714 between them.

[0152] As can further be seen in FIG. 143-146, the second locking wedge 2716 is configured to connect to the ends 2752, 2754 of the proximal locking ring 2750, which is disposed on the proximal seat tube 702. In its normal "locked" state, as shown in FIG. 143, the proximal blocking ring 27450 exerts a circumferential locking or compressive force against the proximal seat tube 702 to compress the proximal seat tube 702 on the proximal ball member 706 to prevent it from moving in the proximal ball seat 704. As can be seen in FIG. 143-146, ends 2752, 2754 of the proximal blocking ring 2750 are narrowed to define a conical or V-shaped hole 2756 between them configured to receive a second release wedge 2714 between them.

[0153] When the articulation 2700 is unlocked by activating the articulation lock system 2710, the gripper 1000 can be selectively articulated in the various ways described above by actuating segments 444, 445, 446, 447 of the distal cord. The actuation of the articulation lock system 2710 can be understood by reference to FIG. 138, 139 and 143-146. FIG. 143 shows the positions of the first and second unlocking wedges 2714, 2716 with respect to the distal and proximal locking rings 2740, 2750. In this state, the locking ring 2740 prevents movement of the gripper ball 722 in the seat 714, and the locking ring 2750 prevents movement of the proximal ball element 706 in the seat 704 . To unlock the articulation 2700, the actuation cable 2726 is pulled proximal "PD", which ultimately results in the locking wire 2712 being pushed outwardly "DD" to the position shown in FIG. 144. As can be seen in FIG. 144, the first unlocking wedge 2714 has been moved distally between the ends 2742, 2744 of the distal locking ring 2740 to expand the ring 2740 to ease the compressive force applied to the intermediate articulated tube 712 to allow movement of the gripper ball 722 in the seat 714. Similarly, the second unlocking wedge 2716 has been moved distally between the ends 2752, 2754 of the proximal locking ring 2750 to expand the ring 2750 to ease the compressive force applied to the proximal seat tube 702 to allow movement of the proximal ball member 706 in seat 704. In the unlocked position can be activated to apply actuating movements to segments 444, 445, 446,

447 distal cord in the methods described above to move the articulated gripper 1000, as shown in FIG. 138 and 139. For example, FIG. 143 and 144 show the position of the first and second locking wedges 2714, 2716 when the gripper 1000 has been articulated to the position shown in FIG. 138. Similarly FIG. 145, 146 show the position of the first and second locking wedges 2714, 2716 when the gripper 1000 has been pivoted to the position shown in FIG. 139. After the physician pivots the gripper into the desired position, the physician (or robotic system) pushes the actuating cord to rotate the transfer disk 2722 and moves the locking wire 2712 to the position shown in FIG. 143, 145, thereby allowing the locking rings 2740, 2750 to move to their clamped or locked position to keep the gripper 1000 in the locked position.

[0154] FIG. 148-156 show another embodiment of the gripper 2800, which in one exemplary embodiment is substantially identical to the gripper 1000 except for the differences discussed below. The gripper 2800 includes the anvil assembly 2810, which is opened and closed by applying a rotational closing movement to it. Anvil assembly 2810 is pivotably supported on longitudinal channel 2830 for selective displacement between an open position (FIG. 148 and 149) and the closed position (FIGS. 150-153). The elongated channel 2830 may be substantially identical to the elongated channel 1020 described above except for the differences described below. For example, in the embodiment shown, the elongate channel 2830 has a gripper housing 2832 formed thereon, which can be connected to the gripper coupling tube 720 by a carrier 734 in the form of a ring, as described above. As can be seen in FIG. 148, the gripper connector housing 2832 supports the rotary gear assembly 2860 functionally.

[0155] As can be seen in FIG. 148 and 149, the anvil assembly 2810 includes a pair of anvil pivots 2812 (only one pivot can be visible in FIG. 148) that are positioned with displacement in the respective slots of the pivot 2814 formed in the longitudinal channel 2830. The bottom side of the anvil assembly 2810 further has a formed on it an open slope 2816 of the anvil to the rotary connection of the rotary pin 1201 'of the anvil on the firing element 1200'. The firing member 1200 'may be substantially identical to the firing member 1200 described above except for the differences noted. In addition, the anvil assembly 2810 further includes a locking bolt 2818 that is configured to operably couple to a rotary locking shaft 2910 that receives rotational closing motions from the rotatable gear assembly 2860, which will be discussed in detail below. The firing member 1200 'is rotatably arranged on a tool drive shaft 1300 that is rotatably supported in an elongated channel 2830 that is configured to support a surgical staple cartridge therein (not shown). The tool drive shaft 1300 has a bearing segment 1304 formed thereon that is pivotally supported in the bearing sleeve 2834 formed in the gripper connector housing 2832.

[0156] In the exemplary embodiment shown, the rotatable gear assembly 2860 includes a rotatable drive shaft 2870 that passes longitudinally through the longitudinal shaft assembly for functional engagement with the tool attachment portion (if the gripper 2800 is powered by a robotic system) or with the supply trigger of the handle assembly ( if the 2800 gripper is to be operated manually). For these articulated embodiments, the portion of rotatable drive shaft 2870 that passes through articulation 700 may include any of the flexible drive shaft assemblies described herein. If no articulation is used, the rotary drive shaft may be stiff. As can be seen in particular in FIG. 148 and 149, rotary drive shaft 2870 has a rotatable drive head 2872 formed thereon or attached thereto which has a first gearwheel 2874 formed thereon. In addition, rotatable drive head 2872 also has a second gear 2876 formed on it that engages in selective engagement with the 2882 shifter gear connected to the 2880 rotary shifter shaft. [0157] The shifter shaft 2880 may include any of the rotary drive shaft assemblies described above and passes through the longitudinal shaft assembly for functional engagement with the tool mounting portion 300 (if the gripper 2800 is driven by a robotic system) or the handle assembly (if the gripper is to be operated manually ). In each case, the shifter shaft 2800 is configured to receive longitudinal sliding motions to move the longitudinal gear 2882 of the shifter in rotational drive head 2872 and rotational drive motions to rotate the gear 2882 of the shifter, which will be discussed in detail below. [0158] As can further be seen in FIG. 148 and 149, the rotary gear assembly 2860 further includes a transfer gear assembly 2890 that has a body 2892, a portion of which is pivotally supported in a cavity 2873 in a rotational drive head 2872. The body 2892 has a spindle 2894 that rotates through spindle mounting hole 2838 formed in partition 2836 in housing 2832 of the gripper connector. The body 2892 further has a shifter gear 2896 formed in it for selective engagement with the shifter gear 2882 on the rotary shifter shaft 2880. The transmission gear 2900 is attached to the transmission spindle 2902 which projects from the body 2892 and is slidably positioned in the arcuate slot 2840 in the septum 2836. See FIG. 155 and 156. The transmission gear 2900 is in meshing engagement with the first crown gear 2874 formed in the rotational drive head 2872. As can be seen in FIG. 153-156, arcuate slot 2840 has a centrally spaced flexible hook 2842. Hook 2842 is formed on the stiffening shelf 2844 formed by slot undercut 2846 formed adjacent to arcuate slot 2840, as shown in FIG. 155.

[0159] The rotary closing shaft 2910 has a bearing portion 2912 that is pivotally supported by a corresponding hole in the septum 2836. The rotary closing shaft 2910 further has a closing drive gear 2914 that is configured to selectively engage with the transmission gear 2900. The tool drive shaft The 1300 also has a tool drive gear 1302 that is configured to selectively engage with a 2900 transmission gear.

[0160] Operation of the gripper 2800 will be described below with reference to FIG. 148-155.FIG. 148 and 149 show the gripper 2800 with the anvil assembly 2810 in the open position. To move the anvil assembly 2810 to the closed position shown in FIG. 150, the shifter shaft 2880 is positioned so that the shifter gear 2882 is in meshing with the crown gear 2896 of the shifter in body 2892. The shifter shaft 2880 can be rotated to cause the body 2892 to rotate to attract the transfer gear 2900 to engage with the closing drive gear 2914 on the closing shaft 2910. See FIG. 153. In this position, the locking latch 2842 holds the transfer spindle 2902 in that position. Then, rotational drive shaft 2870 is rotated to apply rotation to the transfer gear 2900, which ultimately causes the closing shaft 2910 to rotate. When the closing shaft 2910 rotates, the rotatable portion of the spindle 2916 that is in engagement with the locking pin 2818 on the anvil assembly 2810 results in the anvil assembly 2810 moving closer, causing the anvil assembly 2810 to rotate on the rotating pin 1201 'of the anvil on the 1200' firing element 1200 ' . This action causes the anvil assembly 2810 to rotate to the closed position shown in FIG. 150. When the physician wishes to direct the firing member 1200 'downstream of the longitudinal channel 2830, the shift shaft 2880 is rotated again to rotate the gear spindle 2902 to the position shown in FIG. 154. Again, the locking latch 2842 holds the transfer spindle 2902 in this position. Then, rotary drive shaft 2870 is rotated to apply rotation to the drive gear 1302 on the tool drive shaft 1300. Rotational movement of the tool drive shaft 1300 in one direction causes the firing member 1200 'to be directed away "DD". The rotational movement of the tool drive shaft 1300 in the opposite direction will cause the firing member 1200 'to retract in the proximal "PD" direction. As a result, in those applications in which the firing member 1200 'is configured to cut and fire staples within the staple cartridge mounted in the longitudinal channel 2830, after the firing member 1200' has been directed to its farthest position within the longitudinal channel 2830, the rotational drive motion applied to the tool drive shaft 1300 by the rotary drive shaft assembly 2870 is inverted to retract the firing member 1200 'back to its initial position shown in FIG. 150. In order to release the target tissue from the gripper 2800, the physician again rotates the shift roller 2800 to again attract the transfer gear 2900 to engage with the drive gear 2914 on the closing drive shaft 2910. Then, reverse rotation is applied to the transmission gear 2900 by the rotary drive shaft 2870 to cause the closing drive shaft 2910 to rotate the drive spindle 2916, thereby causing the anvil assembly 2810 to move further and rotate to the open position shown in FIG. 148 and 149. When the physician wishes to rotate the entire gripper 2800 around the longitudinal axis of the "LT-LT" tool, the shifter shaft is moved longitudinally to attract the shifter gear 2882 for simultaneous meshing with the second gear 2876 on the 2872 rotational head and the gearwheel 2896 gear body 2892, as shown in FIG. 152. Then, the rotational movement of the rotary drive shaft 2880 causes the entire gripper 2800 to rotate about the longitudinal axis of the "LT-LT" tool relative to the gripper coupling tube 720.

[0161] FIG. 157-170 illustrate another embodiment of a gripper 3000 that uses a pull-back motion to open and close the anvil assembly 3010. Anvil assembly 3010 is pivotally supported on longitudinal channel 3030 for selective movement between the open position (FIGS. 168 and 169) and the closed position (FIGS. 157, 160 and 170). The elongate channel 3030 may be substantially identical to the elongated channel 1020 described above except for the differences described below. The elongate channel 3030 may be connected to the gripper drive housing 1010 in the manner described above. The gripper drive housing 1010 may be connected to the gripper connector tube 720 by a carrier 734 in the form of a ring as described above. As can be seen in FIG. 157, the gripper drive housing 1010 may support the drive assembly 748 and the rotary gear 750 as described above.

[0162] As can be seen in FIG. 160, the anvil assembly 3010 includes a pair of anvil pivots 3012 (only one pivot can be visible in FIG. 160) that are positioned with displacement in the respective pivot slots 3032 formed in the longitudinal channel 3030. The bottom side of the anvil assembly 2810 further has molded on it open cutouts 3016 of the anvil for rotatably connecting the upper ribs 1208 on the firing element 3100. See FIG. 168. The firing member 3100 may be substantially identical to the firing member 1200 described above except for the differences noted. In the embodiment shown, the gripper 3000 further includes an anvil spring 3050 that is configured to apply a biasing force to the anvil pivots 3012.

One form of anvil spring 3050 is shown in FIG. 159. As can be seen in this figure, the anvil spring 3050 may be made of metal wire and may have two opposing spring arms 3052 that are configured to support the anvil pivots 3012 when the anvil pivots are placed in their respective pin slots 3032. In addition, as can also be seen in FIG. 159, the anvil spring 3050 has two fastening loops 3054 formed therein, which are adapted to be supported on the respective pins 3034 of springs formed on the longitudinal channel 3030. See FIG. 158. As described in the following detailed description, the anvil spring 3050 is configured to rotate on spring pins 3034 in the longitudinal channel 3030. As can be seen in particular in FIG. 158, part 3035 of each side wall of the longitudinal channel is recessed to provide clearance for moving the anvil spring 3050.

[0163] As can be seen in FIG. 157 and 160-170, the gripper 3000 further includes a closing tube 3060 that is supported with the ability to be displaced on the longitudinal channel 3030 for selective longitudinal displacement on it. To facilitate the longitudinal displacement of the closing tube 3060, the embodiment shown in FIG. 157 and 160-170 includes a closing solenoid 3070 that is connected to the closing tube 3060 by a connecting arm 3072 that is pivotally attached or otherwise connected to the closing tube 3030. When the solenoid is actuated, the connecting arm 3072 is driven in the distal direction, which drives the closing tube 3060 distally at the end of the longitudinal channel 3030. As the closing tube 3060 moves distally, it causes the anvil assembly 3010 to rotate to the closed position. In an alternative embodiment, the solenoid may include an annular solenoid attached to the distal end of the gripper drive housing 1010. The closing tube can be made of a metal material that can be attracted and magnetically repelled by an annular solenoid, resulting in longitudinal displacement of the closing tube.

[0164] In at least one embodiment, the gripper 3060 further includes a unique anvil locking system 3080 to keep the anvil assembly 3010 locked in position when it is closed on the target tissue. In one embodiment, as can be seen in FIG. 157, the anvil locking system 3080 includes the anvil lock bar 3082, which extends across the longitudinal channel 3030 in such a way that its ends are positioned in the respective windows 3036 of the lock bar formed in the longitudinal channel 3030. See FIG. 158. Referring to FIG. 161, when the closing tube 3060 is in its farthest "closed" position, the ends of the locking rod 3082 extend laterally outwardly through the windows 3036 of the locking rod and extend beyond the proximal end of the closing tube 3060 to prevent it from moving proximately out of position. Lock bar 3082 is configured to connect contact 3076 of the solenoid supported in the gripper drive housing 1010. The 3076 solenoid contact is connected to a control system to control the 3070 solenoid. The control system includes a power source provided by a battery or other power source in a robotic system or handle assembly, as the case may be.

[0165] The firing member 3100 is rotatably arranged on a tool drive shaft 1300 that is rotatably supported in an elongated channel 2830 that is configured to support a surgical staple cartridge therein (not shown). The tool drive shaft 1300 has a bearing segment 1304 formed thereon, which is pivotally supported in the bearing sleeve 2834 formed in the gripper joint housing 2832 and operably coupled to the rotary gear 750 as described above. The rotational movement of the tool drive shaft 1300 in one direction causes the firing member 3100 to drive distally in the longitudinal channel 3030, and the rotational movement of the tool drive shaft 1300 in the opposite direction will cause the firing member 1200 to retract in the proximal "PD" direction. As can be seen in FIG. 157 and 160-170, the firing member 3100 has an actuation rod 3102 configured to connect the lock rod 3082, as will be discussed in detail below. [0166] The anvil blocking system 3080 further includes an anvil withdrawing assembly 3090 to selectively remove the anvil for the wedge locking engagement against the closing tube 3060 when the closing tube 3060 has been moved to its farthest position in which the distal end of the closing tube 3060 contacts the projection 3013 anvils formed on the anvil assembly 3010. In one embodiment, the anvil pull assembly 3090 includes a pair of anvil pull cables 3092 that are attached to the proximal end of the anvil assembly 3010 and protrude in a proximal direction through the longitudinal roller assembly to the tool attachment portion or handle assembly, as the case may be. The pull cables 3092 can be attached to the actuator mechanism on the handle assembly or can be connected to one of the drive systems on the tool attachment portion that is configured to apply tension to the 3092 cables.

[0167] The operation of the gripper 3000 will be described below. FIG. 168 and 169 show the anvil assembly 3010 in the open position. FIG. 168 shows the firing member 3100 in the closest position in which a new staple cartridge (not shown) can be mounted in the longitudinal channel 3030. The closing tube 3060 is also in its closest non-actuated position. In addition, as can be seen in FIG. 167, when the firing member 3100 is in its closest position, the actuation rod 3102 has deflected the latch rod to engage with the solenoid contact 3076, which enables the solenoid to be activated for the next closing sequence. As a result, to start the closing process, the rotary drive shaft 752 is actuated to move the firing member 3100 to its initial position shown in FIG. 169. In this position, the actuating rod 3102 has been moved proximal to such a extent that the lock rod 3082 can be moved out of engagement with the 3076 solenoid contact such that when energy is supplied to the solenoid control circuit, the solenoid connector 3072 is lengthened. The control energy is then applied - automatically or via a switch or other control mechanism in the 3070 solenoid handle assembly, which causes the closing tube 3060 to move distally until the distal end of the closing tube 3060 makes contact with the projection 3013 on the anvil assembly 3010 to cause rotation the anvil assembly closed at the firing element 1200 "as shown in FIG. 162. As can be seen in this figure, the locking rod 3082 is positioned to prevent the closing tube 3060 from moving closer. In this position, the physician then applies tension to the pull cables 3092 to pull the proximal end of the anvil assembly 3010 to wedge the closure tube 3060 to lock the anvil assembly 3010 in the closed position. Then, the firing member 1200 "can be moved distally through the tissue clamped in the gripper 3000. Upon completion of the firing process, the tool drive shaft is rotated in the opposite direction to return the firing member 3100 to its initial position, wherein the actuating rod 3102 contacts the lock rod 3082 again to bend it to contact the solenoid contact 3076 and pull the lock rod ends 3082 to 3036 windows in the 3030 longitudinal channel. In such a position, when energy is supplied to the solenoid control system, solenoid 3070 retracts the closure tube 3060 closer to its initial or open position shown in FIG. 167 and 168. When the closing tube 3060 moves proximately beyond engagement with the anvil assembly 3010, the anvil spring 3050 applies a biasing force to the anvil pivots 3012 to bias the anvil assembly to the open position shown in FIG. 168.

[0168] FIG. 171-178 show another example of a 3200 longitudinal shaft assembly that has another example of a 3210 quick coupler system. For example, in at least one embodiment, the quick coupler arrangement 3210 includes a proximal connector member 3212 in the form of a proximal outer tube segment 3214 that, in one arrangement, may have a tubular toothed segment 354 that is configured to connect to the first drive system 350 in the manner described above, when the device is to be controlled by a robot. However, in a further embodiment, the proximal outer tube segment 3214 may connect to the manually actuated rotatable nozzle 2512 attached to the handle assembly as described above. As described above, the first drive system 350 in use controlled by a robot or rotary nozzle 2512 in a hand-held arrangement are used to rotate the longitudinal shaft assembly 3200 and the gripper connected to it about the longitudinal axis of the "LT-LT" tool. See FIG. 171. The proximal outer tube segment 3214 has a "tapered" portion of the distal end 3216 that is configured to receive a locking collar.

[0169] In the exemplary embodiment shown in FIG. 171-178 longitudinal roller assembly 3200 includes a 380 "proximal drive shaft segment that can be substantially identical to the proximal drive shaft segment 380 described above except for the differences discussed below and can be configured to receive rotational and axial control movements from a robot system or chuck assembly in various ways disclosed in this document. The illustrated embodiment can be used with the articulated connection 700 as described above and includes articulated links 434 and 454 that can be connected to the drives controlling the articulation in various ways described herein. Closer filling material 3220 is provided in segment 3214 of the proximal outer tube to provide axial support for some of the ends of the articulated cable 434A, 434B, 454A, 454B. Each part of the 434A, 434B, 454A, 454B articulated cable end passes through the respective proximal articulated passage 3222 provided in the proximal filler material 3220. Each part of the 434A, 434B, 454A, 454B articulated cable end also has a proximal articulated clamp 3224 attached to it. configured to move in a suitable 3222 articulated passage. Closer articulated clamps 3224 can be made of metal or polymer material and each has a pair of flexible clamp arms 3226, each of which has a fastener connector 3228 formed thereon. Similarly, the segment 380 "of the proximal drive shaft is positioned with the possibility of displacement of the shaft in passage 3230 in the proximal filler material 3220. A drive shaft connection clamp 3240 is disposed thereon. In one exemplary embodiment, the drive shaft connection clamp 3240 is formed with the central portion 3242 of the pipe joint and two flexible clamp arms 3244, each of which has a fastener connector 3248.

[0170] As can further be seen in FIG. 171, 172 and 176-178 quick coupler system 3210 further includes a distal connector element 3250 in the form of a distal outer tube segment 3252 that is substantially similar to distal outer tube portion 231 described above except that the distal outer tube segment 3252 includes a narrowed proximal portion endings 3254. The distal outer tube segment 3252 is operably connected to a gripper 1000, the various types of which are disclosed herein, and includes a distal drive shaft segment 540 "that may be substantially similar to the distal drive shaft segment 540 described above except for the differences shown below. Further filler material 3260 is provided in segment 3252 of the distal outer tube to provide axial support for segments 444, 445, 446, 447 of the distal articulated cord. Each segment 444, 445, 446, 447 of the distal articulated cord passes through a corresponding distal articulated passage 3262 provided in the distal filling material 3260. Each segment 444, 445, 446, 447 of the distal articulated cable further has a post 3270 articulated bayonet attached to it, which is configured to move between the arms 3226 of the respective proximal articulated terminal 3224. Each post 3270 of the articulated bayonet is configured for a locking connection through fastener connectors 3228 on respective clamp arms 3226. Similarly, the segment 540 "of the distal drive shaft is positioned with the possibility of further displacement of the shaft 3264 in the distal filling material 3260. The post 3280 of the bayonet of the distal drive shaft is connected to the proximal end of the segment 540" of the distal drive shaft so that it can protrude in proximal beyond the 3270 posts of the distal bayonet. FIG. 172 shows the position of the bayonet post 3280 of the distal drive shaft (broken lines) relative to the 3270 bayonet posts of the articulated dipstick. The distal propeller shaft bayonet post 3280 is configured to lock through the fastener connectors 3248 on the respective clamp arms 3244 at the propeller shaft coupling clamp 3240.

[0171] As can be seen in FIG. 171-178, exemplary quick coupler arrangement 3210 further includes an axially displaceable lock flange 3290 that is disposed with displaceable proximal end portion 3254 of segment 3252 of the distal outer tube. As can be seen in particular in FIG. 174, one form of the lock flange 3290 includes an outer lock sleeve 3292 that is sized to be slidably positioned on the constricted portions 3216, 3254 of the segment 3214 proximal outer tube and segment 3254 distal outer tube respectively. The outer lock sleeve 3292 is connected to the central lock body 3294 via a 3295 bridge. The 3295 bridge is configured to slide in the distal slot 3255 in the narrowed portion 3254 of the segment 3254 of the distal outer tube and in the proximal slot 3217 in the narrowed portion 3216 of the proximal segment of the outer tube, which is positioned slidably in the narrowed portion of the end 3254 of the segment 3252 of the distal outer tube and it can also slide slidably to the constricted portion 3216 of segment 3214 proximal to the outer tube. As can further be seen in FIG. 174, the central locking body 3294 has multiple passages 3296 for receiving articulated posts and clamps. Similarly, the central block body 3294 has a central passage 3298 of the drive shaft for placement therein with the ability to move a 540 "segment of the distal drive shaft.

[0172] The use of an exemplary quick coupler system 3210 will be described below. Referring first to FIG. 171 and 172, the distal connector 3250 is axially aligned with the proximal connector 3212 in such a way that the bridge 3295 is aligned with the slit 3217 in the narrowed portion 3216 of the segment 3214 proximal to the outer tube, and the distal drive shaft bayonet post 3280 is aligned with the central portion 3242 pipe connector on terminal 3240 connection of a proximal drive shaft. Then, the distal member of the coupling 3250 is pulled to engage with adhesion to the proximal connector member 3212 to cause the bayonet post 3280 to slide the distal drive shaft into the central tubular segment 3214 and finally to the locking engagement with the fastener couplers 3248 on the proximal drive shaft coupling 3240. This action also causes a locking connection of each bayonet post 3270 through the fastener connectors 3228 on the proximal articulated joint terminals 3224, as shown in FIG. 176. It should be noted that when the bayonet post 3280 of the distal drive shaft is inserted between the clamp arms 3244, the clamp arms 3244 bend outwardly until the fastener connectors 3248 engage the projection 3281 on the 3280 post. Similarly, when each of the posts 3270 of the distal articulated bayonet is inserted between their respective connector arms 3226, the connector arms 3226 bend outwardly until the fastener connectors 3228 engage the projection 3271 on the 3270 post. After the segment 540 "of the distal drive shaft is connected to the segment of the proximal drive shaft 380" and the segments 444, 445, 446, 447 of the distal articulated link are connected to the parts of the articulated end of the 434A, 434B, 454A, 454B, respectively, the user may then move the outer lock sleeve 3292 closer to the position shown in FIG. 177 and 178. In this position, the central lock body 3294 prevents the clamp arms 3244, 3226 from bending out to thereby lock the distal connector 3250 with the proximal connector 3212. To disconnect the distal 3250 from the proximal connector 3212, the user moves the outer sleeve 392 to the position shown in FIG. 175 and 176, and then breaks the connector elements 3250, 3212. When opposing axial separating movements are applied to the 3250, 3212 link elements, the clamping arms 3244 and 3226 may be bent beyond the engagement on the distal propeller bayonet post and further articulated dipstick posts, respectively.

Non-limiting Examples [0173] One exemplary embodiment includes a surgical tool for use with a robotic system that includes a tool drive assembly that is operably connected to a robotic system control unit that operates based on operator input signals and is configured to roboticly generate output motions. In at least one exemplary embodiment, the surgical tool includes a drive system that is configured to connect to a corresponding portion of the drive system of the robot system tool to receive robot-generated output motions. The drive shaft assembly operably connects to the drive system and is configured to receive robot-generated exit motions from the drive system and to apply control motions to the surgical gripper that operably engages the drive shaft assembly. The manually operated control system operably connects to the drive shaft assembly to selectively apply manually generated control movements to the drive shaft assembly.

[0174] In combination with another general exemplary embodiment, a surgical tool for use with a robotic system is provided that includes a tool drive assembly that is operably connected to a robot control unit that operates based on input from an operator and is configured to provide at least one rotary output motion for at least one rotary body portion supported on the tool drive assembly. In at least one exemplary embodiment, the surgical tool includes a surgical gripper that includes at least one component part that can move selectively between the first and second positions relative to the at least one other component component in response to control motions applied thereto. The elongate shaft assembly is operably connected to the surgical gripper and includes at least one portion driven by a gear transmission that is operably connected to at least one portion of the displaceable component. The tool attachment portion is operably connected to the longitudinal shaft assembly and is configured to be operably connected to the tool drive assembly after being connected to each other. At least one exemplary embodiment further includes a tool attachment portion that includes a drive member that is pivotally mounted on the tool attachment portion and is configured to be coupled to a corresponding one of at least one rotatable body portion of the tool drive assembly to receive appropriate rotational output motions therefrom. The drive system is in functional engagement with the driven element to apply to it robot-generated actuating movements to cause at least one of the at least one gear-driven part to be subject to at least one control movement relative to the component with the possibility of selective movement. The manually operated inverting system is operatively connected to the longitudinal roller assembly for the selective application of manually generated steering movements.

[0175] According to another exemplary general embodiment, a surgical tool for use with a robotic system is provided that includes a tool drive assembly that is operably connected to a robot control unit that operates based on input from the operator and is configured for robotic rotational generation exit movements. In at least one exemplary embodiment, the surgical tool includes a rotary drive system that is configured to connect to a respective portion of the drive unit of the robot system tool to receive from it rotational output movements generated by the robot. The rotary drive shaft assembly operably connects to the rotary drive system and is configured to receive robot-generated rotary output motions from the rotary drive system and apply rotational drive motions to the surgical gripper that operably connects to the rotary drive shaft assembly. The manually operated inverting system connects functionally to the rotary drive shaft assembly to selectively apply manually generated rotary drive movements to the rotary drive shaft assembly.

[0176] Another exemplary embodiment includes a surgical stapling device that includes an elongated roller assembly that has a distal end and defines a longitudinal axis of the tool. The device further includes a gripper that includes an elongated channel assembly that includes a portion that is configured to functionally support the surgical staple cartridge therein. The anvil is supported with the possibility of displacement relative to the longitudinal assembly of the channel. The surgical stapling device further includes a swivel connection that connects the longitudinal shaft assembly to the distal end of the longitudinal shaft assembly to facilitate the selective rotational movement of the longitudinal shaft assembly about the longitudinal axis of the tool relative to the distal end of the longitudinal shaft assembly.

[0177] Another exemplary embodiment includes a swivel retaining assembly for connecting the first part of the surgical tool to the second part of the surgical tool. In at least one exemplary embodiment, the rotatable retaining connection assembly includes a first annular raceway in the first portion and a second annular raceway in the second portion that is configured to substantially align with the first annular raceway when the second portion is connected to the first portion. The carrier in the form of a ring is supported inside the aligned first and second raceways.

[0178] In connection with another exemplary general embodiment, a rotatable retaining connection assembly is provided for connecting the surgical gripper to the elongated shaft of the surgical tool. In at least one exemplary embodiment, the rotatable retaining connection assembly includes a cylindrical portion of the connector on the surgical gripper. An annular race is provided around the perimeter of the connector part. The seat is provided on an elongated shaft and is sized to receive a cylindrical connector part so that the cylindrical connector part can rotate freely with respect to the socket. A second annular raceway is provided on the inside wall of the seat and is configured to substantially align with the first annular raceway when a portion of the cylindrical joint is placed in the seat. A socket connected to the second ring race is provided in the socket. A ring-shaped support that has a free end can be inserted through the window into the first and second aligned raceways.

[0179] In combination with another exemplary general embodiment, a method is provided for rotatably connecting a first portion of a surgical tool to a second portion of a surgical tool. In various exemplary embodiments, the method comprises forming a first ring race in a first portion and forming a second ring race in a second portion. The method further includes introducing the first part into the second part in such a way that the first and second annular raceways are in substantial alignment, and inserting the ring-like carrier into the aligned first and second annular raceways.

[0180] Another exemplary embodiment includes a drive shaft assembly for a surgical tool that includes a plurality of displaceable lock segments that are connected to each other to form a flexible hollow tube. The flexible secondary restraining element is installed in a flexible restraining engagement with a plurality of displaceable locking connection segments to hold the locking connection segments in a displaceable locking engagement while simultaneously deflecting the drive shaft assembly.

[0181] According to another exemplary general embodiment, a composite drive shaft assembly for a surgical tool is provided that includes a plurality of displaceable locking segments that are cut to form a hollow tube by a laser and which have a distal end and a proximal end. The flexible secondary restraining element is in a flexible restraining engagement with a plurality of displaceable locking segments to maintain the locking connection segments in a displaceable locking coupling while flexing the drive shaft assembly.

[0182] According to another exemplary general embodiment, a drive shaft assembly for a surgical tool is provided that includes a plurality of displaceable locking connection segments in which at least some of the connection segments include a portion of a ball joint that is formed of six substantially arcuate surfaces. The socket portion is sized to accept the displaceable ball portion of an adjacent connection segment. An empty passage passes through each part of the ball joint to form a passage in the drive shaft assembly. The drive shaft assembly may further include a flexible secondary restraining element installed in the flexible restraint engagement with a plurality of displaceable locking connection segments to retain the segments of the lock connection in a displaceable locking engagement while simultaneously deflecting the drive shaft assembly.

[0183] Another exemplary embodiment includes a method of forming a flexible drive shaft assembly for a surgical tool. In various exemplary embodiments, the method includes providing a hollow shaft and cutting multiple segments of the lockable joint with displacement to form a hollow shaft using a laser. The method further includes installing a secondary restraining member on an hollow shaft to retain the displaceable locking segments with displacement, while facilitating deflection of the drive shaft assembly.

[0184] In combination with another exemplary embodiment, a method of forming a flexible drive shaft assembly for a surgical tool is provided. In at least one exemplary embodiment, the method includes providing a hollow shaft and cutting multiple segments of the lockable joint with displacement to form a hollow shaft using a laser. Each connection segment includes a pair of opposing projections, each projection having a narrowed outer circumference which is placed in a respective socket which has a narrowed inner wall portion which cooperates with the narrowed outer circumference of the respective projection to hold the respective projection movable.

[0185] Another exemplary general embodiment includes a rotary drive system for a surgical tool that has a surgically gripper operatively connected thereto. In one exemplary embodiment, the rotary drive system includes a rotary drive system that is configured to generate rotational drive motions. The drive shaft assembly operably interfaces with the rotary drive system and can selectively move axially between the first position and the second position. The rotary gear operably connects to the drive shaft assembly and surgical gripper in such a way that when the drive shaft assembly is in the first axial position, the use of one of the rotational drive motions against the drive shaft assembly via the rotary drive system causes the rotational drive to use the first rotary motion to the surgical gripper and when the drive shaft assembly is in a second axial position, the use of a rotational drive movement against the drive shaft assembly through the rotary drive system causes the second rotary control to apply the rotary control movement to the surgical gripper.

[0186] In connection with another exemplary general embodiment, a surgical tool for use with a robotic system is provided that includes a tool drive assembly that is operably connected to a robot control unit that operates based on operator input signals and is configured to generate movements output. In at least one exemplary embodiment, the surgical tool includes a tool attachment portion that is configured to operably connect to a portion of the robotic system. The rotary drive system is functionally supported by the tool attachment part and connects to the tool drive assembly to receive appropriate exit movements from it. The longitudinal shaft assembly functionally passes from the tool attachment portion and includes a drive shaft assembly that operably connects to the rotary drive system. The drive shaft assembly can selectively move axially between the first position and the second position. The surgical tool further includes a surgical gripper that is pivotally connected to the elongated roller assembly for selective rotation about it. The rotary gear operably connects to the drive shaft assembly and surgical gripper in such a way that when the drive shaft assembly is in the first axial position, the use of one of the rotational drive motions against the drive shaft assembly via the rotary drive system causes the rotational drive to use the first rotary motion to the surgical gripper and when the drive shaft assembly is in a second axial position, the use of a rotational drive movement against the drive shaft assembly through the rotary drive system causes the second rotary control to apply the rotary control movement to the surgical gripper.

[0187] In connection with another exemplary general embodiment, a surgical tool is provided that includes a handle assembly and a drive motor that is operably supported by the handle assembly. The elongated shaft assembly operatively passes from the handle assembly and includes a drive shaft assembly that operably engages the drive motor and can move axially between the first position and the second position. The surgical gripper is pivotally connected to the elongated shaft assembly for selective rotation about it. The rotary gear operably connects to the drive shaft assembly and surgical gripper in such a way that when the drive shaft assembly is in the first axial position, the use of rotational drive motion toward the drive shaft assembly through the drive motor causes the rotary gear to use the first rotary control motion for surgical the gripper and when the drive shaft assembly is in the second axial position, the use of a rotational drive motion on the drive shaft assembly through the drive motor causes a second rotary control movement to be applied to the surgical gripper by the rotary gear.

[0188] Various exemplary embodiments also include a differential lock system for a surgical tool that includes a surgical gripper that is powered by a rotary drive shaft assembly that can move between multiple distinct axial positions. In at least one embodiment, the differential lock system includes at least one retaining formation on a rotary drive shaft assembly that corresponds to each of its separate axial positions. At least one blocking element is operably supported with respect to the rotational drive shaft assembly for locking engagement with at least one retaining formation when the rotary drive shaft assembly is moved to its associated separate axial positions.

[0189] In conjunction with another exemplary general embodiment, a differential lock system for a surgical tool is provided that includes a surgical gripper powered by a rotary drive shaft assembly that can move between a first axial position and a second axial position. In at least one exemplary embodiment, the differential lock system includes a differential housing that is operably coupled to the rotary drive shaft assembly and a surgical gripper. At least one spring deflected locking element is operably supported by the differential housing for locking engagement with the first portion of the rotary drive shaft assembly when the rotary drive shaft assembly is in the first axial position and at least one spring deflected locking element is further configured to be coupled blocking the second part of the rotating drive shaft assembly, when the rotary drive shaft assembly is in a second axial position.

[0190] In conjunction with another exemplary general embodiment, a differential lock system for a surgical tool is provided that includes a surgical gripper powered by a rotary drive shaft assembly that can move between a first axial position and a second axial position. In at least one exemplary embodiment, the differential lock system includes a differential housing that is operably coupled to the rotary drive shaft assembly and a surgical gripper. At least one spring element is provided on a portion of the rotary drive shaft assembly, each spring element defining a first retaining position that corresponds to the first axial position of the rotary drive shaft assembly and a second retaining position that corresponds to the second axial position of the rotating drive shaft assembly. The locking element is functionally supported by the differential housing and corresponds to each of the at least one spring element to engage the locking element with it in such a way that the locking element locks the respective spring element in the first fixing position when the rotary drive shaft assembly is in the first position axial, and the locking element interlocking connect the respective spring element in the second retaining position, when the rotary drive shaft assembly is in a second axial position.

[0191] Various other exemplary embodiments include a surgical tool that includes a gripper and a proximal rotary transmission drive assembly that is operably connected to a source of rotary and axial control motions. The proximal rotary gear drive assembly may slide longitudinally in response to axial steering movements applied to it. The surgical tool further includes a further rotary gear drive assembly that is operably coupled to the gripper to apply rotary control motions to it. The proximal axial gear drive assembly is operatively connected to another source of axial steering movements. The further axial gear drive assembly is operatively connected to the gripper to apply axial steering movements to it. The tool further includes a coupling system for simultaneously connecting and disconnecting the proximal rotary gear drive assembly and the distal rotary gear drive assembly and the proximal gear drive assembly and the distal axial gear drive assembly.

[0192] In conjunction with another general aspect, a coupling system is provided for connecting the gripper, comprising a plurality of downstream transmission drive assemblies that are configured to apply multiple control motions to the gripper, to respective assemblies of the proximal gear drive communicating with the source of the motions. In one exemplary embodiment, the coupling system includes a proximal fastening formation at the distal end of each proximal gear drive assembly and a proximal fastener element that is configured to functionally support each proximal gear drive assembly in such a way that the proximal fastening formations are maintained in substantially aligned alignment. Further fastening formation is provided at the proximal end of each further transmission drive assembly. Each further fastening formation is configured to functionally connect the proximal fastening formation at the distal end of the respective proximal gear drive when pulled to the coupling engagement. The further element of the connector is operably connected to the gripper and is configured to functionally support each further drive of the transmission to keep the further fastening formations in a substantially connected alignment. The locking flange may move from the unlocked position in which the further transmission drive assemblies can be disengaged from the respective proximal transmission drive assemblies to the locked position in which the further transmission drive assemblies are kept in engagement with their respective proximal transmission assemblies.

[0193] In combination with another general aspect, a surgical tool is provided that includes a gripper that is configured to perform surgical operations in response to motive motions applied to it. The exemplary form of the tool further includes a source of propulsion motions and a first proximal gear assembly that operably connects to the source of motive motions to receive appropriate first motive motions from it. The second proximal gear drive assembly is operably connected to the source of motive motions to receive appropriate second motive motions from it. The first transmission further drive assembly is operably connected to the gripper and is configured to receive the respective first drive motions from the first proximal transmission drive assembly when it is operatively connected to it. The second transmission further drive assembly is operably connected to the gripper and is configured to receive the corresponding second drive motions from the second proximal transmission drive assembly when it is operatively connected thereto. The tool further includes a coupling system that includes a first connector element that operably supports the first and second proximal gear assembly. The coupling system further includes a second connector element that operably supports the first and second further transmission drive assembly and is configured for axial alignment with the first connector element such that when the second connector element is aligned with the first connector element, the first transmission further drive assembly is in axial alignment with the first closer gear assembly for functional engagement with it, and the second further gear drive assembly is in alignment with the second proximal gear drive assembly for functional engagement with it. The locking collar is positioned with displacement on one of the first and second connector elements and is configured to displace between the locked position in which the first and second further transmission drive assembly can be disengaged from the first and second closer proximal drive assembly respectively, and the locked position, wherein the first and second further gear drive assemblies are maintained in functional engagement with the first and second proximal gear drive assemblies, respectively.

[0194] According to a further general aspect, there is provided a surgical cartridge that includes a cartridge body that defines a path for operatively receiving a surgical firing member. The surgical cartridge further includes an alignment element that is operably supported in the cartridge body and is configured to move the firing member from an inactive configuration in which the firing member is not aligned with the path, to a functional configuration in which the firing member is aligned with the path, when the firing member is directed to contact it.

[0195] According to another general aspect, a gripper for a surgical tool is provided. In at least one embodiment, the gripper includes a support element that has a slot and a lock notch that is adjacent the slot. The gripper further includes a firing member that can move between the inactive configuration and the functional configuration, wherein the firing member is aligned with the gap and is constructed for movement in the gap when it is in the functional configuration and the firing member is connected to the notch of the lock and not is aligned with the gap when in an inactive configuration.

[0196] Another exemplary embodiment includes a surgical organ that includes an elongated channel that is configured to support a removable insert therein. In at least one embodiment, the cartridge includes a cartridge body and an alignment element that is supported to be moved within the cartridge body to move therein from the first position to the second position. The surgical tool also includes a firing member that is operatively supported relative to the longitudinal channel to move between an initial position and an end position when actuating movements are applied thereto. The firing member is not able to move from its initial position to its final position unless the firing member is in functional engagement with the alignment element in the cartridge body.

[0197] Another exemplary embodiment includes a gripper for a surgical tool. In at least one embodiment, the gripper includes an elongated channel that is configured to support the removable insert therein. The firing member is operably supported relative to the elongated channel to move between the start and end positions. The tool drive shaft is in functional engagement with the firing member to move the firing member between the start and end position when actuating motions from the propulsion system are applied thereto. The tool drive shaft can move from the inactive position in which the tool drive shaft is outside the functional engagement with the drive system to the functional position in which the tool drive shaft is in the functional engagement with the drive system. The gripper further includes an alignment element that is movably supported to contact the tool drive shaft to move the tool drive shaft from an inactive position to a functional position when the insert is installed in an elongated channel.

[0198] Another exemplary embodiment includes a surgical tool that includes an elongated channel and a cartridge that is supported for removal in the elongated channel. The firing member is operably supported relative to the elongated channel to move between the start and end positions. The tool drive shaft is in functional engagement with the firing member to move the firing member between the start and end position when actuating motions from the propulsion system are applied thereto. The tool drive shaft can move from the inactive position in which the tool drive shaft is outside the functional engagement with the drive system to the functional position in which the tool drive shaft is in the functional engagement with the drive system. The surgical tool further includes a leveling element that can be moved to contact the tool drive shaft to move the tool drive shaft from an inactive position to a functional position when the cartridge is installed in an elongated channel. [0199] The devices disclosed herein may be designed to be disposed of after one use or may be designed to be used repeatedly. In any case, however, the device may be regenerated for reuse after at least one use. Regeneration can include any combination of the steps to disassemble the device, clean or replace individual components, and then reassemble. In particular, the device can be dismantled, and any number of individual components or parts of the device can be selectively replaced or removed in any combination. After cleaning and / or replacing individual parts, the device can be reassembled for further use in a regeneration facility or by a surgical team immediately prior to surgery. Those skilled in the art will be aware that device regeneration may involve a number of different techniques for dismantling, cleaning / replacing components, and reassembly. The use of such techniques, as well as the resulting refurbished equipment, is within the scope of this application.

[0200] Although the present invention has been described herein in connection with certain exemplary embodiments disclosed, many modifications and changes to these exemplary embodiments are possible. For example, different types of grippers can be used. In addition, if materials have been disclosed for certain components, other materials may be used.

Ethicon Endo-Surgery, LLC, Puerto Rico Proxy:

100

EP 2 866 682 B1

Z-15623/17