SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS BACKGROUND

[0001] The present invention relates to surgical instruments and, in various

embodiments, to surgical stapling and cutting instruments and staple cartridges for use therewith.

[0002] A stapling instrument can include a pair of cooperating elongate jaw members, wherein each jaw member can be adapted to be inserted into a patient and positioned relative to tissue that is to be stapled and/or incised. In various embodiments, one of the jaw members can support a staple cartridge with at least two laterally spaced rows of staples contained therein, and the other jaw member can support an anvil with staple- forming pockets aligned with the rows of staples in the staple cartridge. Generally, the stapling instrument can further include a pusher bar and a knife blade which are slidable relative to the jaw members to sequentially eject the staples from the staple cartridge via camming surfaces on the pusher bar and/or camming surfaces on a wedge sled that is pushed by the pusher bar. In at least one embodiment, the camming surfaces can be configured to activate a plurality of staple drivers carried by the cartridge and associated with the staples in order to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue gripped between the jaw members. In at least one embodiment, the knife blade can trail the camming surfaces and cut the tissue along a line between the staple rows. Examples of such stapling instruments are disclosed in U.S. Patent No.7,794,475, entitled SURGICAL STAPLES HAVING

COMPRESSIBLE OR CRUSHABLE MEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FOR DEPLOYING THE SAME, the entire disclosure of which is hereby incorporated by reference herein.

[0003] The foregoing discussion is intended only to illustrate various aspects of the related art in the field of the invention at the time, and should not be taken as a disavowal of claim scope. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows:

[0005] FIG.1 is a perspective view of a surgical stapling instrument in accordance with at least one embodiment comprising a handle, a shaft extending from the handle, an end effector, and an articulation joint rotatably connecting the end effector to the shaft;

[0006] FIG.2 is a partial elevational view of a shaft assembly for use with the handle of the surgical stapling instrument of FIG.1 illustrated in a latched configuration and illustrated with components removed for the purpose of illustration;

[0007] FIG.3 is a partial elevational view of the shaft assembly of FIG.2 illustrated in an unlatched configuration;

[0008] FIG.4 is a partial elevational view of the shaft assembly of FIG.2 removed from the handle of FIG.1;

[0009] FIG.5 is a partial perspective view of the shaft assembly of FIG.1 operably coupled to a handle in accordance with at least one embodiment;

[0010] FIG.6 is a detail view of the interconnection between the shaft assembly of FIG.1 and the handle of FIG.5;

[0011] FIG.7 is a perspective view of a latch system of the shaft assembly of FIG.1 illustrated in a latched configuration;

[0012] FIG.8 is an exploded view of the latch system of FIG.7;

[0013] FIG.9 is a cross-sectional perspective view of the latch system of FIG.7 in a latched, but unlocked configuration;

[0014] FIG.10 is a cross-sectional perspective view of the latch system of FIG.7 in a latched and locked configuration;

[0015] FIG.11 is a cross-sectional elevational view of a handle and a shaft assembly of a surgical instrument system comprising a shiftable transmission in accordance with at least one embodiment illustrating the transmission operably coupled to an articulation system configured to articulate an end effector; [0016] FIG.12 is a cross-sectional elevational view of the handle and shaft assembly of FIG.11 illustrating the transmission operably coupled to a firing system configured to operate the end effector;

[0017] FIG.13 is a cross-sectional elevational view of a handle and a shaft assembly of a surgical instrument system comprising a shiftable transmission in accordance with at least one embodiment illustrating the transmission operably coupled to an articulation system configured to articulate an end effector;

[0018] FIG.14 is a cross-sectional elevational view of the handle and shaft assembly of FIG.13 illustrating the transmission operably coupled to a drive system configured to operate the end effector;

[0019] FIG.15 is a cross-sectional view of the transmission of FIG.13;

[0020] FIG.16 is a partial cross-sectional view of a shaft assembly attached to a handle of a surgical instrument system including a transmission shiftable between an articulation operation mode and a firing operation mode in accordance with at least one embodiment;

[0021] FIG.17 is an elevational view of the transmission of FIG.16 in the articulation operation mode;

[0022] FIG.18 is an elevational view of the transmission of FIG.16 in the firing operation mode;

[0023] FIG.19 is a partial cross-sectional view of a shaft assembly attached to a handle of a surgical instrument system in accordance with at least one embodiment;

[0024] FIG.20 is a perspective view of an input actuator and a transmission configured to switch a shaft assembly between an articulation operation mode and a firing operation mode in accordance with at least one embodiment;

[0025] FIG.21 is an exploded view of the input actuator and the transmission of FIG. 20 and, in addition, an articulation actuator and a firing actuator of the shaft assembly;

[0026] FIG.22 is a cross-sectional perspective view of the input actuator assembled to the transmission of FIG.20 illustrating a lock collar of the transmission engaged with the articulation actuator and the firing actuator of the shaft assembly;

[0027] FIG.23 is a cross-sectional elevational view of the input actuator unassembled to the transmission of FIG.20; [0028] FIG.23A is a cross-sectional view of the transmission of FIG.20 taken along line 23A-23A in FIG.23 illustrating the lock collar of the transmission engaged with the articulation actuator and the firing actuator of the shaft assembly;

[0029] FIG.23B is an end view of the transmission of FIG.20 illustrating the lock collar in the configuration illustrated in FIGS.23 and 23A;

[0030] FIG.24 is a cross-sectional elevational view of the input actuator assembled to the transmission of FIG.20 illustrating the transmission in an articulation operation mode;

[0031] FIG.24A is a cross-sectional view of the transmission of FIG.20 taken along line 24A-24A in FIG.24 illustrating, one, the lock collar of the transmission engaged with the articulation actuator and the firing actuator of the shaft assembly and, two, the firing actuator clamped to the input actuator by the lock collar;

[0032] FIG.24B is an end view of the transmission of FIG.20 illustrating the lock collar in the configuration illustrated in FIGS.24 and 24A;

[0033] FIG.25 is a cross-sectional elevational view of the input actuator assembled to the transmission of FIG.20 illustrating the transmission in a firing operation mode;

[0034] FIG.25A is a cross-sectional view of the transmission of FIG.20 taken along line 25A-25A in FIG.25 illustrating, one, the lock collar of the transmission engaged with the firing actuator of the shaft assembly and not engaged with the articulation actuator of the shaft assembly and, two, the firing actuator clamped to the input actuator by the lock collar;

[0035] FIG.25B is an end view of the transmission of FIG.20 illustrating the lock collar in the configuration illustrated in FIGS.25 and 25A;

[0036] FIG.26 is a cross-sectional view of a shaft assembly for use with a surgical instrument in accordance with at least one embodiment;

[0037] FIG.27 is a cross-sectional plan view of the shaft assembly of FIG.26;

[0038] FIG.28 is a cross-sectional elevation view of the shaft assembly of FIG.26;

[0039] FIG.29 is an end view of the shaft assembly of FIG.26;

[0040] FIG.30 is a partial cross-sectional view of a handle of a surgical instrument;

[0041] FIG.31 is an end view of the handle of FIG.30; [0042] FIG.32 is a cross-sectional plan view of the shaft assembly of FIG.26 and the handle of FIG.30 in an unassembled condition;

[0043] FIG.33 is a cross-sectional plan view of the shaft assembly of FIG.26 assembled to the handle of FIG.30;

[0044] FIG.34 is a cross-sectional elevation view of the shaft assembly of FIG.26 assembled to the handle of FIG.30;

[0045] FIG.35 is a cross-sectional end view of the shaft assembly of FIG.26 about to be assembled to the handle of FIG.30;

[0046] FIG.36 is a cross-sectional end view of the shaft assembly of FIG.26 in the process of being assembled to the handle of FIG.30;

[0047] FIG.37 is a cross-sectional end view of the shaft assembly of FIG.26 almost assembled to the handle of FIG.30;

[0048] FIG.38 is a cross-sectional end view of the shaft assembly of FIG.26 assembled to the handle of FIG.30;

[0049] FIG.39 is a perspective view of a transmission of a surgical instrument configured to shift between a first operating mode and a second operating mode; and

[0050] FIG.40 is a perspective view of the transmission of FIG.39 shifted into its second operating mode.

[0051] Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner. DETAILED DESCRIPTION

[0052] Applicant of the present application owns the following patent applications that were filed on even date herewith which are each herein incorporated by reference in their respective entireties:

- U.S. Patent Application Serial No. _______, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER; Attorney Docket No. END7415USNP/140289; U.S. Patent Application Serial No. _______, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, Attorney Docket No.

END7418USNP/140292;

- U.S. Patent Application Serial No. _______, entitled LOCKING

ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, Attorney Docket No.

END7417USNP/140293;

- U.S. Patent Application Serial No. _______, entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON- MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, Attorney Docket No.

END7485USNP/140295;

- U.S. Patent Application Serial No. _______, entitled SURGICAL

INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS; Attorney Docket No. END7486/140296;

- U.S. Patent Application Serial No. _______, entitled SURGICAL

INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, Attorney Docket No. END7489USNP/140299; - U.S. Patent Application Serial No. _______, entitled SURGICAL

INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, Attorney Docket No. END7491USNP/140301; - U.S. Patent Application Serial No. _______, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM; Attorney Docket No. END7492USNP/140302; and

- U.S. Patent Application Serial No. _______, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM; Attorney Docket No. END7494USNP/140304.

[0053] Applicant of the present application owns the following patent applications that were filed on March 1, 2013 and which are each herein incorporated by reference in their respective entireties: U.S. Patent Application Serial No.13/782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now U.S. Patent Application Publication No.2014/0246471;

- U.S. Patent Application Serial No.13/782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Patent

Application Publication No.2014/0246472;

- U.S. Patent Application Serial No.13/782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0249557;

- U.S. Patent Application Serial No.13/782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Patent Application Publication No.2014/0246474;

- U.S. Patent Application Serial No.13/782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0246478;

- U.S. Patent Application Serial No.13/782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Patent Application

Publication No.2014/0246477;

- U.S. Patent Application Serial No.13/782,481, entitled SENSOR

STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Patent Application Publication No.2014/0246479;

- U.S. Patent Application Serial No.13/782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S. Patent Application Publication No.2014/0246475;

- U.S. Patent Application Serial No.13/782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Patent Application Publication No.2014/0246473; and

- U.S. Patent Application Serial No.13/782,536, entitled SURGICAL

INSTRUMENT SOFT STOP, now U.S. Patent Application Publication No.

2014/0246476. [0054] Applicant of the present application also owns the following patent applications that were filed on March 14, 2013 and which are each herein incorporated by reference in their respective entireties:

- U.S. Patent Application Serial No.13/803,097, entitled ARTICULATABLE

SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Patent

Application Publication No.2014/0263542;

- U.S. Patent Application Serial No.13/803,193, entitled CONTROL

ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0263537;

- U.S. Patent Application Serial No.13/803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0263564;

- U.S. Patent Application Serial No.13/803,086, entitled ARTICULATABLE

SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent Application Publication No.2014/0263541;

- U.S. Patent Application Serial No.13/803,210, entitled SENSOR

ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0263538;

- U.S. Patent Application Serial No.13/803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0263554;

- U.S. Patent Application Serial No.13/803,066, entitled DRIVE SYSTEM

LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0263565;

- U.S. Patent Application Serial No.13/803,117, entitled ARTICULATION

CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0263553;

- U.S. Patent Application Serial No.13/803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.2014/0263543; and U.S. Patent Application Serial No.13/803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent Application

Publication No.2014/0277017.

[0055] Applicant of the present application also owns the following patent application that was filed on March 7, 2014 and is herein incorporated by reference in its entirety: - U.S. Patent Application Serial No.14/200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No.

2014/0263539.

[0056] Applicant of the present application also owns the following patent applications that were filed on March 26, 2014 and are each herein incorporated by reference in their respective entireties:

U.S. Patent Application Serial No.14/226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. Patent Application Serial No.14/226,099, entitled STERILIZATION

VERIFICATION CIRCUIT;

U.S. Patent Application Serial No.14/226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT;

U.S. Patent Application Serial No.14/226,117, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL;

U.S. Patent Application Serial No.14/226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES;

U.S. Patent Application Serial No.14/226,093, entitled FEEDBACK

ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. Patent Application Serial No.14/226,116, entitled SURGICAL

INSTRUMENT UTILIZING SENSOR ADAPTATION;

U.S. Patent Application Serial No.14/226,071, entitled SURGICAL

INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR;

U.S. Patent Application Serial No.14/226,097, entitled SURGICAL

INSTRUMENT COMPRISING INTERACTIVE SYSTEMS;

U.S. Patent Application Serial No.14/226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS; U.S. Patent Application Serial No.14/226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM;

U.S. Patent Application Serial No.14/226,081, entitled SYSTEMS AND

METHODS FOR CONTROLLING A SEGMENTED CIRCUIT;

U.S. Patent Application Serial No.14/226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION;

U.S. Patent Application Serial No.14/226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM; and

U.S. Patent Application Serial No.14/226,125, entitled SURGICAL

INSTRUMENT COMPRISING A ROTATABLE SHAFT.

[0057] Applicant of the present application also owns the following patent applications that were filed on September 5, 2014 and which are each herein incorporated by reference in their respective entireties:

- U.S. Patent Application Serial No.14/479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE;

- U.S. Patent Application Serial No.14/479,119, entitled ADJUNCT WITH

INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION;

- U.S. Patent Application Serial No.14/478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION;

- U.S. Patent Application Serial No.14/478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR

INTERPRETATION;

- U.S. Patent Application Serial No.14/479,110, entitled USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE;

- U.S. Patent Application Serial No.14/479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION;

- U.S. Patent Application Serial No.14/479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE; and

- U.S. Patent Application Serial No.14/479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION. [0058] Applicant of the present application also owns the following patent applications that were filed on April 9, 2014 and which are each herein incorporated by reference in their respective entireties:

- U.S. Patent Application Serial No.14/248,590, entitled MOTOR DRIVEN

SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S.

Patent Application Publication No.2014/0305987;

- U.S. Patent Application Serial No.14/248,581, entitled SURGICAL

INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Patent Application Publication No. 2014/0305989;

- U.S. Patent Application Serial No.14/248,595, entitled SURGICAL

INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent Application

Publication No.2014/0305988;

- U.S. Patent Application Serial No.14/248,588, entitled POWERED LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication No.2014/0309666; - U.S. Patent Application Serial No.14/248,591, entitled TRANSMISSION

ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0305991;

- U.S. Patent Application Serial No.14/248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Patent Application Publication No.2014/0305994;

- U.S. Patent Application Serial No.14/248,587, entitled POWERED SURGICAL STAPLER, now U.S. Patent Application Publication No.2014/0309665;

- U.S. Patent Application Serial No.14/248,586, entitled DRIVE SYSTEM

DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No.2014/0305990; and

- U.S. Patent Application Serial No.14/248,607, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now U.S. Patent Application Publication No.2014/0305992. [0059] Applicant of the present application also owns the following patent applications that were filed on April 16, 2013 and which are each herein incorporated by reference in their respective entireties:

- U.S. Provisional Patent Application Serial No.61/812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR; - U.S. Provisional Patent Application Serial No.61/812,376, entitled LINEAR CUTTER WITH POWER;

- U.S. Provisional Patent Application Serial No.61/812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;

- U.S. Provisional Patent Application Serial No.61/812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and

- U.S. Provisional Patent Application Serial No.61/812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

[0060] Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims.

[0061] The terms "comprise" (and any form of comprise, such as "comprises" and "comprising"), "have" (and any form of have, such as "has" and "having"), "include" (and any form of include, such as "includes" and "including") and "contain" (and any form of contain, such as "contains" and "containing") are open-ended linking verbs. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes" or "contains" one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that "comprises," "has," "includes" or "contains" one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

[0062] The terms“proximal” and“distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term“proximal” referring to the portion closest to the clinician and the term“distal” referring to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as“vertical”,“horizontal”,“up”, and“down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

[0063] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient’s body or can be inserted through an access device that has a working channel through which the end effector and elongated shaft of a surgical instrument can be advanced.

[0064] A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint.

[0065] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck.

Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

[0066] The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.

[0067] Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.

[0068] A surgical stapling assembly 100 is illustrated in FIG.1. The surgical instrument assembly 100 comprises a handle 110, a shaft assembly 120 attached to and extending from the handle 110, an end effector 130, and an articulation joint 140 which rotatably connects the end effector 130 to the shaft assembly 120. The handle 110 comprises a handle housing 115 and a pistol grip 112 extending from the handle housing 115. The handle 110 further comprises a closure actuator 114 configured to generate a closing motion and an opening motion which are transferred to the end effector 130 via the shaft assembly 120. The handle 110 also comprises an articulation actuator 116 configured to articulate the end effector 130 about the articulation joint 140. In at least one instance, the articulation actuator 116 is operable in a first direction to rotate the end effector 130 in a first direction and a second direction to rotate the end effector 130 in a second, or opposite, direction. The handle 110 further comprises a firing actuator configured to generate a firing motion which is also transferred to the end effector 130 via the shaft assembly 120.

[0069] The shaft assembly 120 comprises a proximal housing, or nozzle, 125 which is attachable to the handle housing 115. The shaft assembly 120 further includes a releasable latch 126 configured to releasably lock the shaft housing 125 to the handle housing 115. The shaft 120 also includes a closure tube 124 which is operably connected to the closure actuator 114 of the handle 110. When the closure actuator 114 is drawn toward the pistol grip 112, the closure actuator 114 is advanced distally toward the end effector 130. The closure actuator 114 is coupled to the closure tube 124 via a system of gears and/or racks, for example, such that the motion of the closure actuator 114 is transferred to the closure tube 124. In certain instances, the actuation of the closure actuator 114 can operate an electric motor which can move the closure tube 124. In either event, the handle 110 can include a lock configured to releasably hold the closure actuator 114 in its fully closed position. When the closure actuator 114 is released and moves away from the pistol grip 112, the closure tube 124 is pulled proximally away from the end effector 130. [0070] The end effector 130 comprises a first jaw 132 including a staple cartridge. The staple cartridge includes a cartridge body and a plurality of staples removably positioned in the cartridge body. The staple cartridge may be insertable into and readily removable from the first jaw 132 such that it can be replaced with another staple cartridge. In other instances, the staple cartridge may not be readily replaceable. In either event, the staples are ejected from the staple cartridge when a firing member is advanced distally by a firing motion generated when the firing actuator is actuated. The end effector 130 further comprises a second jaw 134 movable between an open position and a closed position in response to the opening motion and closing motion generated when the closure actuator 114 is operated. Other embodiments are envisioned in which the first jaw 132 is movable relative to the second jaw 134. The second jaw 134 is configured to clamp tissue against the staple cartridge when the second jaw 134 is moved into a closed position. The second jaw 134 comprises an anvil configured to deform the staples when the staples are ejected from the staple cartridge by the firing member. The firing member also includes a cutting portion, such as a knife, for example, which transects the tissue being stapled.

[0071] A handle 210 and a shaft assembly 220 of a surgical instrument system are illustrated in FIGS.2-4. The handle 210 is similar to the handle 110 in many respects. The handle 210 comprises a frame 218 and the shaft assembly 220 is releasably attached to the frame 218. The shaft assembly 220 is similar to the shaft assembly 120 in many respects. The shaft assembly 220 comprises a shaft frame 222, a housing, or nozzle, 225, and a latch system configured to releasably engage the handle frame 218. The latch system comprises an actuator 226 slidably mounted to the shaft frame 222. The actuator 226 is slidably mounted in a slot defined in the shaft frame 222 and is constrained by the sidewalls of the slot such that the actuator 226 is movable along a longitudinal path between a first, or proximal, position in which the actuator 226 is engaged with the handle frame 218 (FIG.2) and a second, or distal, position in which the actuator 226 is disengaged from the handle frame 218 (FIG.3). The actuator 226 comprises a lock extending proximally therefrom which is received in a lock cavity defined in the handle frame 218 when the actuator 226 is in its first, or engaged, position. [0072] The latch system of the shaft assembly 220 further comprises a latch 227. The latch 227 is rotatably mounted to the shaft frame 222 about a pivot 221and is movable between a first, or proximal, position (FIG.2) and a second, or distal, position (FIG.3). The latch system further comprises a biasing member, such as a spring 228, for example, which is positioned intermediate the latch 227 and the shaft frame 222. The spring 228 biases the latch 227 proximally into its first position and into contact with the actuator 226, as illustrated in FIG.2. The spring 228 also biases the actuator 226 proximally into its first position and into engagement with the handle frame 218, as also illustrated in FIG.2. When the actuator 226 is pushed distally toward its second position to disengage the actuator 226 from the handle frame 218, referring to FIG.3, the actuator 226 rotates the latch 227 into its second position against the biasing force applied by the spring 228.

[0073] When the actuator 226 is in its second, or distal, position, further to the above, the actuator 226 is unlocked from the handle frame 218. At such point, the shaft assembly 220 can be moved relative to the handle 210, as illustrated in FIG.3. In various instances, the shaft frame 222 and the handle frame 218 comprise co-operating features which limit the movement of the shaft assembly 220 relative to the handle 210. For instance, the co-operating features can be configured such that shaft assembly 220 is slid upwardly relative to the handle frame 218. Correspondingly, the co-operating features can be configured such that the handle frame 218 can slide downwardly relative to the shaft assembly 220. In fact, if a clinician is holding the shaft assembly 220 with one hand without holding the handle 210 of the surgical instrument in their other hand, the handle 210 may move suddenly when the actuator 226 is unlocked from the handle frame 218. To prevent the handle 210 from completely falling off of the surgical instrument, as described in greater detail further below, the shaft assembly 220 and the handle 210 include co-operating features which can stop, or at least pause, the relative movement between the shaft assembly 220 and the handle 210.

[0074] The handle frame 218 comprises a notch 219 defined therein and the latch 227 comprises a projection 229 extending therefrom which is positionable in the notch 219. When the projection 229 is positioned in the notch 219, as illustrated in FIG.2, the projection 229 and the notch 219 prevent the shaft assembly 220 from being moved relative to and detached from the handle 210. Stated another way, the projection 229 and the notch 219 co-operate to lock the shaft assembly 220 to the handle 210. When the actuator 226 is pushed distally, as illustrated in FIG.3, the latch 227 is rotated away from the handle frame 210 and the projection 229 is removed from the notch 219. At such point, some relative movement between the shaft assembly 220 and the handle 210 is possible; however, the shaft assembly 220 cannot be completely detached from the handle 210. More specifically, the act of disengaging the projection 229 from the notch 219 causes a catch 223 extending from the latch 227 to become aligned with a lock shoulder 213 defined in the handle frame 218. Thus, when the clinician attempts to remove the shaft assembly 220 from the handle 210 after pushing the actuator 226 distally, the catch 223 contacts the lock shoulder 213 and the relative movement between the shaft assembly 220 and the handle 210 is stopped. In order to completely remove the shaft assembly 220 from the handle 210, the clinician can release the actuator 226 and/or push the actuator proximally such that the latch 227 rotates forward toward the handle frame 218 and the catch 223 rotates away from the lock shoulder 213. At such point, the shaft assembly 220 is no longer locked to the handle 210 and the shaft assembly 220 can be removed from the handle 210. In such instances, an additional manipulation of the shaft assembly 220 is required to completely release the shaft assembly 220 from the handle 210.

[0075] Further to the above, the projection 229 and the notch 219 comprise a first locking system and the catch 223 and the lock shoulder 213 comprise a second locking system. The first locking system is positioned on a first side of the latch pivot 221 and the second locking system is positioned on a second side of the latch pivot 221.

Referring to FIG.2 once again, the first locking system is in a locked state when the latch 227 is in its first position; however, the second locking system is in an unlocked state when the latch 227 is in its first position. Referring to FIG.3 once again, the first locking system is in an unlocked state when the latch 227 is in its second position; however, the second locking system is in a locked state when the latch 227 is in its second position. As a result of the above, the removal of the shaft assembly 220 from the handle 210 comprises several steps. In at least one instance, the steps comprise sufficiently disengaging the projection 229 from the notch 219, sufficiently moving the shaft assembly 220 relative to the handle 210 such that the projection 229 is no longer aligned with the notch 219, sufficiently disengaging the catch 223 from the lock shoulder 213, and then removing the shaft assembly 220 from the handle 210.

[0076] Further to the above, requiring a step during the removal process which is in addition to the steps of releasing the actuator 226 and removing the shaft assembly 220 from the handle 210 can prevent the handle 210 from falling off of the surgical instrument when the actuator 226 is released. For instance, in the event that a clinician is holding the shaft assembly 220 with one hand and not holding the handle 210 with their other hand when they actuate the actuator 226, the handle 210 may initially move relative to the shaft assembly 220; however, such movement is stopped by the interaction between the catch 223 and the lock shoulder 213. This arrangement creates a pause during the removal process. This arrangement also requires the clinician to make an additional manipulation to the surgical instrument after releasing the actuator 226 before the shaft assembly 220 can be completely removed from the handle 210.

[0077] The issue of the handle falling off of a surgical instrument discussed above could be avoided if the clinician handling the surgical instrument was consistently attentive and placed their other hand on the handle when releasing the shaft assembly. In various instances, the removal procedure of a shaft assembly from the handle could encourage the clinician to place their other hand on the handle while removing the shaft assembly from the handle. In at least one instance, the actuator can include a sensor, such as a capacitive sensor, for example, that can detect when a clinician is touching the actuator, presumably to actuate the actuator and remove the shaft assembly from the handle. The actuator sensor can be in communication with a control system of the handle which can include a microprocessor, for example, and can be in communication with a portion of the handle that can be illuminated. In at least one instance, the handle can include a light emitting diode (LED) which can be turned on by the control system. In certain instances, the gripping portion, or pistol grip, of the handle can be illuminated. When the actuator sensor detects that a clinician is touching the actuator, the control system can illuminate the illuminable portion of the handle thereby suggesting to the clinician that they should place their other hand on the handle, if they have not already done so. Such an arrangement can be utilized in addition to or in lieu of the arrangement described above.

[0078] In addition to or in lieu of the above, a surgical instrument can require a clinician to place their hand on the handle of the surgical instrument before the shaft assembly of the surgical instrument can be removed from the handle.

[0079] A surgical instrument assembly 300 is illustrated in FIGS.5-10. The surgical instrument assembly 300 includes a handle 310 which can be used with any suitable shaft assembly, such as the shaft assembly 120, for example. The handle 310 is similar to the handle 110 and/or the handle 210 in many respects. The handle 310 includes an articulation actuator 116 configured to operate an articulation drive which articulates the end effector 130, a closure actuator 114 configured to operate a closure drive which closes the end effector 130, and a firing actuator 111 configured to operate a firing drive which fires the staples from the staple cartridge 132. Other embodiments are envisioned in which a handle can include an actuator which operates the articulation drive, the closure drive, and/or the firing drive. In any event, the handle 310 further comprises an actuator 117 configured to re-center, or de-articulate, the end effector 130 and/or retract the firing drive of the surgical instrument assembly 300.

[0080] Further to the above, the shaft assembly 120 includes an actuator 126 configured to releasably lock the shaft assembly 120 to the handle 310 when the actuator 126 is in a first, or proximal, position. As discussed above, the actuator 126 is movable between its first, or proximal, position and a second, or distal, position to unlock the shaft assembly 120 from the handle 310. As described in greater detail further below, the shaft assembly 120 further comprises an actuator lock configured to prevent the actuator 126 from being moved distally unless an actuator lock release, such as an actuator lock release 311, for example, is operated on the handle 310.

[0081] The actuator lock, referring to FIGS.7-10, comprises a solenoid 395 including a housing and a movable lock shaft 396, for example. The housing of the solenoid 395 is positioned in a cavity 397 defined in an actuator housing 391. The actuator housing 391 is mounted to the frame of the shaft assembly 120 and includes an actuator seat 399 defined therein within which the actuator 126 is slidably positioned. The actuator seat 399 comprises a longitudinal guide slot 393 defined therein and the actuator 126 includes a longitudinal guide rail 392 slidably positioned in the guide slot 393. The guide rail 392 and the guide slot 393 are sized and configured to limit the movement of the actuator 126 relative to the actuator seat 399 to a predetermined path, such as along a longitudinal path, for example.

[0082] The guide rail 392 comprises a lock notch 394 defined therein which, referring primarily to FIGS.9 and 10, is aligned with the lock shaft 396 of the solenoid 395 when the actuator 126 is in its first, or proximal, position. In use, the lock shaft 396 is extendable through an alignment aperture 398 by the solenoid 395 between an unlocked position (FIG.9) and a locked position (FIG.10) to engage the lock notch 394 of the actuator 126. When the lock shaft 396 of the solenoid 395 is positioned in the lock notch 394, as illustrated in FIG.10, the lock shaft 396 prevents the actuator 126 from being moved into its second, or distal, position. When the actuator lock release 311 on the handle 310 is operated, the solenoid 395 retracts the lock shaft 396 from the lock notch 394 and, as a result, the actuator 126 can be moved into its second, or distal, position to unlock the shaft assembly 120 from the handle 310.

[0083] As discussed above, the actuator lock release 311 of the handle 310 is operated to retract the actuator lock shaft 396 of the actuator lock, or solenoid, 395. The actuator lock release 311 comprises a depressible button, for example; however, any suitable actuator could be utilized. The depressible button includes a finger-accessible portion and a switch. When the finger-accessible portion is depressed, the finger- accessible portion can close the switch, for example; however, alternative embodiments are envisioned in which the finger-accessible portion can open the switch when depressed. In either event, the switch can be part of an electrical circuit in signal communication with a microprocessor of a control system which can detect when the actuator lock release 311 has been depressed. The depressible button can further comprise a spring configured to bias the finger-accessible portion into an undepressed position, for example.

[0084] In various instances, the solenoid 395 can include a biasing member, such as a spring, for example, configured to bias the actuator lock shaft 396 into its retracted, or unextended, position. When the actuator lock shaft 396 is in its retracted position, further to the above, the actuator 126 can be moved distally when assembling the shaft assembly 120 to the handle 310 and then released to lock the actuator 126 to the frame of the handle 310. The shaft assembly 120 and the handle 310 can both include one or more electrical contacts which are mated, or placed in electrical contact with each other, when the shaft assembly 120 is assembled to the handle 310. In embodiments where the microprocessor and the control system are in the handle 310, attaching the shaft assembly 120 to the handle 310 places the solenoid in communication with the microprocessor and the control system. In embodiments where the microprocessor and the control system are in the shaft assembly 120, attaching the shaft assembly 120 to the handle 310 places the actuator lock release 311 in signal communication with the microprocessor and the control system.

[0085] Further to the above, the microprocessor and the control system can detect when the electrical contacts on the shaft assembly 120 have been mated with the electrical contacts on the handle 310 and, correspondingly, when the shaft assembly 120 has been attached to the handle 310. The microprocessor is configured to apply a sufficient voltage potential to the solenoid 395 to move the actuator lock shaft 396 from its unextended position to its extended position to engage the lock notch 394 and lock the actuator 126 in its first, or proximal, position. At such point, the shaft assembly 120 is locked to the handle 310 and the instrument assembly 300 is ready for use.

[0086] Further to the above, the microprocessor can apply a sufficient voltage potential to the solenoid 395 to hold the actuator lock shaft 396 in its extended position. As a result, further to the above, the shaft assembly 120 cannot be disassembled from the handle 310 without operating the actuator lock release 311. Upon detecting that the actuator lock release 311 has been operated, the microprocessor can discontinue applying a voltage potential to the solenoid 395 and allow the solenoid spring to return the lock shaft 396 to its retracted position. Alternatively, the microprocessor can reverse the voltage potential applied to the solenoid 395 and drive the lock shaft 396 back to its retracted position. In either event, the lock shaft 396 is disengaged from the lock notch 394 and the actuator 126 can be moved distally to unlock the shaft assembly 120 from the handle 310.

[0087] As discussed above, a clinician must place their hand on the handle 310 in order to remove the shaft assembly 120 from the handle 310. As a result, the possibility of the handle 310 falling onto the ground when removing the shaft assembly therefrom is reduced. In some instances, such an arrangement may be intuitive to the clinician. In other instances, the clinician may not understand why the actuator 126 cannot be moved distally to unlock the shaft assembly 120. The handle 310 can include a means for indicating to the clinician that they need to grab the handle before removing the shaft assembly from the handle 310. For instance, in at least one embodiment, the actuator lock release 311 can further include a LED in signal communication with the

microprocessor which can be operated to blink off and on, for example, when the microprocessor detects that the clinician is attempting to remove the shaft assembly 120 without operating the actuator lock release 311. Such an embodiment can also utilize a capacitive sensor on the actuator 126, discussed above, which can detect when a clinician is touching the actuator 126.

[0088] In various instances, further to the above, the shaft assembly 120 can include a first capacitive sensor configured to detect when a clinician is touching the actuator 126, for example, and the handle 310 can include a second capacitive sensor configured to detect when the clinician, or another clinician, is touching the handle 310. The first capacitive sensor and the second capacitive sensor are in communication with a microprocessor and a control system of the surgical instrument system when the shaft assembly 120 is assembled to the handle 310. When the microprocessor determines that the shaft assembly 120 and the handle 310 are both being touched by a clinician, the microprocessor can unlock the actuator 126, as discussed above. In certain instances, a portion of the handle housing 115 can comprise the second capacitive sensor. For example, the pistol grip 112 can comprise the second capacitive sensor. In at least one instance, at least a portion of the pistol grip 112 can be comprised of a translucent material and can include a LED in communication with the microprocessor which blinks off and on when the microprocessor determines that a clinician is touching the actuator 126 but not the pistol grip 112.

[0089] Further to the above, a control system of a surgical instrument can determine when the necessary safety criteria to unlock the shaft assembly have been met. The control system may require that end effector of the shaft assembly be in an

unarticulated position, or an at least a substantially unarticulated position, before unlocking the shaft assembly. In some instances, the control system can automatically re-center the end effector when all of the other safety criteria have been met and the clinician attempts to detach the shaft assembly from the handle. In certain instances, the control system may require that the end effector of the shaft assembly be in an open, or unclamped, configuration before unlocking the shaft assembly. In some instances, the control system can automatically re-open the end effector when all of the other safety criteria have been met and the clinician attempts to detach the shaft assembly from the handle.

[0090] In certain instances, the surgical instrument can include a haptic feedback system which can indicate to a clinician that some additional step needs to be performed before the shaft assembly will be unlocked from the handle. For example, the handle can include an electric motor configured to produce a haptic or vibratory response if the control system does not sense that the handle is being held by a clinician.

[0091] As discussed above, an electronic lock can be utilized to lock a shaft assembly to a handle until at least two removal steps are undertaken in order to reduce the possibility of the handle unintentionally falling off of the shaft assembly, or vice versa. As also discussed above, an electronic lock can be used in combination with a mechanical lock, wherein the actuation of the electronic lock and the mechanical lock satisfies the two removal steps. Various embodiments are contemplated in which two mechanical locks could be utilized without utilizing an electronic lock. In at least one such embodiment, a first mechanical lock could be present on the shaft assembly and a second mechanical lock could be present on the handle, for example. Certain embodiments are contemplated in which two electronic locks are utilized, for example.

[0092] As discussed above, a surgical instrument system can comprise various systems which provide feedback to facilitate the proper removal of a shaft assembly from a handle. In various instances, a surgical instrument system can comprise various systems which provide feedback to a clinician that the shaft assembly has been properly assembled to a handle. In at least one such instance, the latch system can provide an audible click indicating that the latch has been properly seated. In certain instances, the handle can include a haptic feedback system which can indicate to the clinician that the shaft assembly has been properly seated.

[0093] A surgical instrument system 400 is illustrated in FIGS.11 and 12. The surgical instrument system 400 includes a handle 410 and a shaft assembly 420. The shaft assembly 420 is removably attachable to the handle 410. The shaft assembly 420 includes a frame 422, an articulation transfer bar 441, and a firing transfer bar 451. The handle 410 comprises a housing 415, an articulation drive 440 operably engageable with the shaft articulation transfer bar 441, and a firing drive 450 operably engageable with the shaft firing transfer bar 451. The articulation drive 440 and the articulation transfer bar 441 are configured to articulate an end effector of the shaft assembly 420. The firing drive 450 and the firing transfer bar 451 are configured to fire staples removably stored in a staple cartridge positioned in the end effector of the shaft assembly 420, for example.

[0094] The articulation drive 440 and the firing drive 450 of the surgical instrument system 400 comprise separate and distinct actuation systems. Moreover, the articulation drive 440 and the firing drive 450 are not operable at the same time.

The articulation drive 440 and the firing drive 450 are selectively drivable by an electric motor 460. The articulation drive 440 comprises an articulation rack 444 defined thereon and the firing drive 450 includes a firing rack 454 defined thereon which are selectively couplable with the electric motor 460. As described in greater detail further below, the handle 410 comprises an actuation system configured to switch the handle 410 between an articulation operating mode and firing operating mode.

[0095] The actuation system of the handle 410 comprises a lever 413 rotatably coupled to a frame of the handle 410. The lever 413 is rotatable about a pivot 412 between a first position and a second position. The lever 413 comprises a lever arm 414 extending therefrom which is coupled to a switch collar 467. The switch collar 467 comprises an inner cavity 465 which is configured to receive, but is not operably engaged with, a spline portion 463 of a rotatable drive shaft 462. The switch collar 467 further comprises a pin 466 extending therefrom which is positioned in a slot 411 defined in the lever arm 414. When the lever 413 is rotated between a first position (FIG.11) and a second position (FIG.12), the lever arm 414 drives the switch collar 467 upwardly along the spline portion 463 of the shaft 462. When the lever 413 is returned back to its first position (FIG.11), the lever arm 414 drives the switch collar 467 downwardly along the spline portion 463 of the shaft 462.

[0096] The actuation system of the handle 410 further comprises a drive gear 464. The drive gear 464 comprises a splined inner cavity 469 which is operably engaged with the spline portion 463 of the drive shaft 462 and, as a result, the drive gear 464 is rotatable with the drive shaft 462. The drive shaft 462 is rotatably mounted within the handle 410 and is rotatable about a longitudinal axis by the electric motor 460. In various instances, the speed of an output shaft of the electric motor 460 may need to be reduced, or geared down. In such instances, a gear speed reduction system 461 can be utilized in order to drive the drive shaft 462 at a desired speed. In any event, the drive gear 464 is rotatably mounted to the switch collar 467 and is rotatable relative to the switch collar 467.

[0097] Further to the above, the drive gear 464 is translatable with the switch collar 467. When the lever 413 is in its first position, referring to FIG.11, the drive gear 464 is operably engaged with the articulation rack 444 of the articulation drive 440. In such instances, the handle 410 is in an articulation operation mode and the electric motor 460 is actuatable to move the articulation drive 440 proximally to articulate the end effector of the shaft assembly 420 in a first direction and distally to articulate the end effector of the shaft assembly 420 in a second direction. When the lever 413 is in its second position, referring to FIG.12, the drive gear 464 is operably engaged with the firing rack 454 of the firing drive 450. In such instances, the handle 410 is in a firing operation mode and the electric motor 460 is actuatable to move the firing drive 450 distally to advance a firing member and fire the staples from the staple cartridge positioned in the end effector and proximally to retract the firing member.

[0098] The articulation rack 444 of the articulation drive 440 and the firing rack 454 of the firing drive 450 can be spaced sufficiently apart such that the drive gear 464 is not engaged simultaneously with the articulation rack 444 and the firing rack 454. As a result, the articulation drive 440 and the firing drive 450 are not operable at the same time. Thus, the articulation drive 440 and the firing drive 450 are operated in a separate and distinct manner. Moreover, the articulation drive 440 can be locked into position when the handle 410 is in its firing operation mode. For instance, the lever 413 comprises a lock 416 extending therefrom which is not engaged with the articulation drive 440 when the lever 413 is in its first position (FIG.11) and is moved into engagement with the articulation drive 440 when the lever 413 is rotated into its second position (FIG.12). The articulation drive 440 further comprises an array of lock recesses 446 defined therein which are engageable by the lock 416. Once the lock 416 is positioned in a lock recess 446, the articulation drive 440 cannot be moved proximally or distally and, as a result, the end effector of the shaft assembly 420 cannot be articulated in either the first direction or the second direction. In certain circumstances, the handle 410 can include a releasable lock configured to hold the lever 413 in its second position in order to resist back-driving forces transmitted through the end effector to the articulation drive 440, for example.

[0099] A surgical instrument system 500 is illustrated in FIGS.13-15. The surgical instrument system 500 comprises a handle 510 which is similar to the handle 410 in many respects. The handle 510 comprises a lever 513 which is rotatable about pivot 412 between a first position (FIG.13) and a second position (FIG.14) to switch the handle 510 between an articulation operation mode and a firing operation mode. The lever 513 comprises a lever arm 514 extending therefrom which is coupled to a switch collar 567. The switch collar 567 comprises an inner cavity 565 which is configured to receive, but is not operably engaged with, the spline portion 463 of the rotatable drive shaft 462. The switch collar 567 further comprises a pin 566 extending therefrom which is positioned in a slot 511 defined in the lever arm 514. When the lever 513 is rotated between a first position (FIG.13) and a second position (FIG.14), the lever arm 514 drives the switch collar 567 upwardly along the spline portion 463 of the shaft 462. When the lever 513 is returned back to its first position (FIG.13), the lever arm 514 drives the switch collar 567 downwardly along the spline portion 463 of the shaft 462.

[0100] The actuation system of the handle 510 further comprises a drive gear 564. The drive gear 564 comprises a splined inner cavity 569 which is operably engaged with the spline portion 463 of the drive shaft 462 and, as a result, the drive gear 564 is rotatable with the drive shaft 462. The drive gear 564 is rotatably mounted to the switch collar 567 and is rotatable relative to the switch collar 567. The drive gear 564 includes a cylindrical portion that extends through the inner cavity 565 of the switch collar 567. The drive gear 564 further comprises a collar 568 extending from the cylindrical portion of the drive gear 564 and is positioned on the bottom side of the switch collar 567. The drive gear 564 and the collar 568 define a bearing therebetween which facilitates relative rotational movement between the drive gear 564 and the switch collar 567. Moreover, the drive gear 564 comprises a first surface which is engageable by the switch collar 567 to move the drive gear 564 upwardly and the collar 568 comprises a second drive surface which is engageable by the switch collar 567 to move the drive gear 564 downwardly.

[0101] Further to the above, the drive gear 564 is translatable with the switch collar 567. When the lever 513 is in its first position, referring to FIG.13, the drive gear 564 is operably engaged with the articulation rack 444 of the articulation drive 440. In such instances, the handle 510 is in an articulation operation mode and the electric motor 460 is actuatable to move the articulation drive 440 proximally to articulate the end effector of the shaft assembly 420 in a first direction and distally to articulate the end effector of the shaft assembly 420 in a second direction. When the lever 513 is in its second position, referring to FIG.14, the drive gear 564 is operably engaged with the firing rack 454 of the firing drive 450. In such instances, the handle 510 is in an firing operation mode and the electric motor 460 is actuatable to move the firing drive 450 distally to advance a firing member and fire the staples from the staple cartridge positioned in the end effector and proximally to retract the firing member.

[0102] The articulation rack 444 of the articulation drive 440 and the firing rack 454 of the firing drive 450 can be spaced sufficiently apart such that the drive gear 564 is not engaged simultaneously with the articulation rack 444 and the firing rack 454. As a result, the articulation drive 440 and the firing drive 450 are not operable at the same time and, thus, the articulation drive 440 and the firing drive 450 are operated in a separate and distinct manner. Moreover, the articulation drive 440 can be locked into position when the handle 510 is in its firing operation mode. For instance, the switch collar 567 comprises a lock portion which is not engaged with the articulation drive 440 when the lever 513 is in its first position (FIG.13) and is moved into engagement with the articulation drive 440 when the lever 513 is rotated into its second position (FIG.14). Once the lock collar 567 is engaged with the articulation rack 444, the articulation drive 440 cannot be moved proximally or distally and, as a result, the end effector of the shaft assembly 420 cannot be articulated in either the first direction or the second direction. In certain circumstances, the handle 510 can include a releasable lock configured to hold the lever 513 in its second position in order to resist back-driving forces transmitted through the end effector to the articulation drive 440, for example.

[0103] As discussed above, the shaft assembly 420 comprises an articulation transfer bar 441 and a firing transfer bar 451 which are attachable to the articulation drive 440 and the firing drive 450, respectively, when the shaft assembly 420 is assembled to the handle 410, for example. More specifically, the proximal end 455 of the firing transfer bar 451 is assembled to the distal end 453 of the firing drive 450 at the same time, or at substantially the same time, that the proximal end 445 of the articulation transfer bar 441 is assembled to the distal end 443 of the articulation drive 440. To facilitate the concurrent attachment of the articulation actuation system and the firing actuation system, the shaft assembly 420 comprises means for holding the articulation transfer bar 441 and the firing transfer bar 451 in position relative to one another before and/or during the assembly of the shaft assembly 420 to the handle 410. In at least one instance, a detent can be utilized to releasably secure the articulation transfer bar 441 to the firing transfer bar 451, for example. The detent can include a protrusion 442 extending from the articulation transfer bar 441 into a groove 452 defined in the firing transfer bar 451. The detent need only provide a sufficient retention force between the articulation transfer bar 441 and the firing transfer bar 451 to hold them together during the assembly of the shaft 420 to the handle 410. The movement of either the articulation transfer bar 441 or the firing transfer bar 451 during the use of the shaft assembly 420, as described above, can overcome the retention force provided by the detent. In the instances where the detent may not be readily overcome, the act of switching the handle 410 between its articulation operation mode and its firing operation mode can lock the articulation drive system in place, as described above, and, when the firing drive system is advanced distally, the firing transfer bar 451 can break free of the articulation transfer bar 441. In such instances, the detent may transfer the motion of the articulation drive system to the firing drive system during the articulation operation mode of the handle 410; however, such transferred movement to the firing drive system is insufficient to fire the staples from the staple cartridge in the end effector of the shaft assembly 420.

[0104] As discussed above, the surgical instrument systems 400 and 500 can include systems for shifting the surgical instrument systems between an articulation operation mode and a firing operation mode. Such systems could be adapted to shift a surgical instrument system between any two suitable operating modes. For example, between a closure operation mode and an articulation operation mode. Also, for example, between a closure operation mode and a firing operation mode.

[0105] A surgical instrument system 600 is illustrated in FIGS.16-18. The surgical instrument system 600 comprises a handle 610 and a shaft assembly 620 removably attached to the handle 610. The shaft assembly 620 comprises a shaft spine, or frame, 622 and an actuatable closure tube 624 configured to close an end effector of the shaft assembly 620. The shaft assembly 620 further comprises any suitable closure drive system configured to actuate the closure tube 624. The closure drive system can be operated by a closure trigger 614 extending from the handle 610, for example. The shaft assembly 620 further comprises an electric motor 660 configured to switch the shaft assembly 620 between an articulation operation mode and a firing operation mode and, in addition, an electric motor 670 configured to operate an articulation drive system and a firing drive system of the shaft assembly 620, as described in greater detail further below.

[0106] Further to the above, the electric motor 660 is configured to shift a transmission 665 between an articulation position (FIG.17) and a firing position (FIG.18) to place the shaft assembly 620 in its articulation operation mode and its firing operation mode, respectively. When the transmission 665 is in its articulation position, an articulation bar 640 can be moved proximally and/or distally by the transmission 665 in order to articulate the end effector of the shaft assembly 620, as described in greater detail further below. The transmission 665 is moved proximally and/or distally by a firing bar 650 which is moved proximally and/or distally by the electric motor 670. Referring primarily to FIG.17, the transmission 665 includes a longitudinal aperture 669 defined therein and the firing bar 650 extends through the longitudinal aperture 669. The aperture 669 includes an inwardly-extending drive shoulder 667 which is positionable in a drive slot 659 defined in the firing bar 650 when the transmission 665 is in its articulation position. When the transmission 665 is in its articulation position and the firing bar 650 is advanced distally by the electric motor 670, a proximal sidewall of the drive slot 659 can abut the drive shoulder 667 and push the transmission 665 distally. Correspondingly, a distal sidewall of the drive slot 659 can abut the drive shoulder 667 and push the transmission 665 proximally when the firing bar 650 is retracted proximally by the electric motor 670.

[0107] Further to the above, the transmission 665 comprises an annular drive slot 666 defined therein and the articulation bar 640 comprises a proximal end 646 positioned in the annular drive slot 666. When the transmission 665 is advanced distally by the electric motor 670 and the firing rod 650, as discussed above, a proximal sidewall of the drive slot 666 contacts the proximal end 646 of the articulation bar 640 and advances the articulation bar 640 distally to articulate the end effector in a first direction. When the transmission 665 is retracted proximally by the electric motor 670 and the firing rod 650, as discussed above, a distal sidewall of the drive slot 666 contacts the proximal end 646 of the articulation bar 640 and retracts the articulation bar 640 proximally to articulate the end effector in a second direction. The proximal end 646 of the

articulation bar 640 can be closely received between the proximal sidewall and the distal sidewall of the annular drive slot 666; however, the sidewalls of the annular drive slot 666 can slide relative to the proximal end 646 when the transmission 665 is rotated between its articulation position and its firing position.

[0108] As discussed above, the electric motor 660 is configured to switch the shaft assembly 620 between its articulation operation mode (FIG.17) and its firing operation mode (FIG.18). The electric motor 660 comprises a rotatable output shaft 661 and a drive gear 662 mounted to the output shaft 661 such that the rotation of the output shaft 661 is transferred to the drive gear 662. The drive gear 662 is meshingly engaged with an intermediate gear 663 such that the rotation of the drive gear 662 is transferred to the intermediate gear 663. The intermediate gear 663 is rotatably supported on a gear shaft 668 within the handle 610 and is meshingly engaged with a gear array 664 extending from the transmission 665. The gear array 664 can be mounted to and/or integrally formed with the transmission 665 such that the rotation of the intermediate gear 663 is transferred to the transmission 665. The transmission 665 is rotatably supported within a longitudinal aperture 625 defined in the shaft frame 622. The transmission 665 is also slidably supported within the longitudinal aperture 625 to accommodate the proximal and distal translation of the transmission 665 discussed above.

[0109] Further to the above, the electric motor 660 is rotatable in a first direction to rotate the transmission 665 from its articulation position (FIG.17) to its firing position (FIG.18) and, correspondingly, a second, or opposite, direction to rotate the

transmission 665 from its firing position (FIG.18) to its articulation position (FIG.17). When the transmission 665 is in its firing position, referring to FIG.18, the drive shoulder 667 is no longer positioned in the drive slot 659. Rather, the drive shoulder 667 is aligned with a flat surface 657 defined on the firing rod 650 and, as a result, the firing rod 650 is movable relative to the transmission 665 by the electric motor 670. Stated another way, the rotation of the transmission 665 into its firing position places the shaft assembly 620 in its firing operation mode and the proximal and/or distal movement of the firing rod 650 is not transferred to the transmission 665 and the articulation bar 640. As such, the firing rod 650 can be advanced distally to fire the staples removably stored in a staple cartridge positioned in the end effector of the shaft assembly 620, for example.

[0110] Once the firing rod 650 has been advanced distally, the drive slot 659 defined in the firing rod 650 is no longer aligned with the drive shoulder 667 of the transmission 665. As a result, the transmission 665 cannot be rotated from its firing position (FIG. 18) to its articulation position (FIG.17) until the firing rod 650 is retracted sufficiently to realign the drive slot 659 with the drive shoulder 667. At such point, the electric motor 660 can rotate the transmission 665 back into its articulation position and return the shaft assembly 620 into its articulation operation mode. Upon comparing FIGS.17 and 18, it can be seen that the gear array 664 does not extend around the entirety of the transmission 665; however, the intermediate gear 663 can remain meshingly engaged with the gear array 664 throughout the rotation of the transmission 665. Moreover, referring primarily to FIG.16, the gear array 664 extends longitudinally along the outside surface of the transmission 665 such that the intermediate gear 663 remains meshingly engaged with the transmission 665 as the transmission 665 is moved proximally and/or distally by the electric motor 670.

[0111] As discussed above, the shaft assembly 620 is attachable to and detachable from the handle 610. Prior to assembling the shaft assembly 620 to the handle 610, the articulation drive system and the firing drive system of the shaft assembly 620 can be coupled together to reduce the possibility of the articulation drive system and/or the firing drive system becoming unintentionally displaced. Such unintentional

displacement can occur when the shaft assembly 620 is being shipped and/or when a clinician is handling the shaft assembly 620, for example. The shaft assembly 620 can be shipped and assembled to the handle 610 when the shaft assembly 620 is in its articulation operation mode such that the drive shoulder 667 of the transmission 665 is engaged with the drive slot 659 of the firing rod 650. As a result, the articulation bar 640 and the firing rod 650 are coupled together and the possibility of either the articulation drive system of the firing drive system being back-driven, for example, would be reduced owing to the resistive and frictional forces present in the two drive systems.

[0112] In addition to or in lieu of the passive resistance forces discussed above, the electric motor 660 and/or the electric motor 670 can actively resist the unintentional articulation of the end effector of the shaft assembly 620, for example, prior to the shaft assembly 620 being assembled to the handle 610. When the shaft assembly 620 is shipped and handled when it is in its articulation operation mode, external forces applied to the end effector will tend to push the firing rod 650 distally and/or pull the firing rod 650 proximally, depending on the direction in which the end effector is rotated by the external forces. The shaft assembly 620 can include a control system configured to monitor the movement of the firing rod 650 and actuate the electric motor 670 in an appropriate direction to resist the displacement of the firing rod 650. For instance, the control system can include a linear encoder configured to monitor the linear

displacement of the firing rod 650 and a microprocessor 680 in signal communication with the linear encoder which can control the electric motor 670 to stop the unintentional movement of the firing rod 650 and/or reset the position of the firing rod 650 to an unarticulated, or home, position. [0113] Further to the above, the shaft assembly 620 can include a power supply, such as a battery, for example, configured to supply electrical power to the electric motor 670 and/or the microprocessor 680. The microprocessor 680 can be configured to continuously and/or intermittently monitor the position of the firing rod 650. The microprocessor 680 can control the position of the firing rod 650 via the electric motor 670 in order to maintain the firing rod 650 in an unarticulated position prior to the shaft assembly 620 being assembled to the handle 610. After the shaft assembly 620 has been assembled to the handle 610, the microprocessor 680 can control the position of the firing rod via the electric motor 670 as dictated by the operation of an articulation actuator on the handle 610, for example. Stated another way, the microprocessor 680 is configured to detect whether or not the handle assembly 620 has been assembled to the handle 610 and can operate the shaft assembly 620 in a first operating mode when the microprocessor 680 determines that the shaft assembly 620 has not been assembled to the handle 610 and a second operating mode when the microprocessor 680 determines that the shaft assembly 620 has been assembled to the handle 610. In at least one instance, the handle assembly 620 comprises electrical contacts 682 which are, one, in signal communication with the microprocessor 680 and, two, engaged with electrical contacts 683 on the handle 610 when the shaft assembly 620 is assembled to the handle 610. The engagement of the electrical contacts 682 with the electrical contacts 683 can create resistance changes in an electrical circuit, for example, which are detectable by the microprocessor 680.

[0114] As discussed above, the shaft assembly 620 can include a power supply, such as a battery, for example. Other embodiments are envisioned in which the shaft assembly 620 does not have a power supply and the shaft assembly 620 is operably coupled with a power supply when shaft assembly 620 is assembled to the handle 610. In at least one embodiment, the microprocessor 680 can perform a diagnostic check on the shaft assembly 620 once it receives power from the handle 610. In at least such embodiment, the microprocessor 680 can center the end effector if the end effector has been unintentionally articulated prior to the shaft assembly 620 being assembled to the handle 610, for example. [0115] A surgical instrument 700 is illustrated to FIG.19. The surgical instrument 700 comprises a handle 710 and a shaft assembly 720 which is attachable to and detachable from the handle 710. The shaft assembly 720 comprises an articulation actuator 740 which is operably engaged with an electric motor 760 of the handle 710 when the shaft assembly 720 is assembled to the handle 710. The electric motor 760 includes a rotatable output shaft 761 and a worm gear 762 mounted to the output shaft 761. The articulation actuator 740 comprises a proximal end 741 which includes a worm rack 742 which is mated with the worm gear 762. In order to assemble the worm rack 742 with the worm gear 762, in at least one instance, the shaft assembly 720 can be assembled to the handle 710 in a lateral direction such that the worm rack 742 slides relative to the worm gear 762. In any event, the teeth of the worm rack 742 and the worm gear 762 extend at a lateral angle which can inhibit or prevent the back-driving of the end effector and the articulation system of the shaft assembly 720.

[0116] A surgical instrument system including an input actuator 850, an articulation bar 841, a firing bar 851, and a transmission collar 860 is illustrated in FIGS.20-25B. In at least one instance, a handle can include the input actuator 850 and a shaft assembly can include the transmission collar 860, the articulation bar 841, and the firing bar 851. The shaft assembly can be attachable to and detachable from the handle. The firing bar 851 includes a coupling aperture 853 configured to receive a distal end 852 of the firing bar 851 when the shaft assembly is attached to the handle. The coupling aperture 853 is defined between two proximally-extending lock arms 854 of the firing bar 851. When the firing bar 851 is pushed onto the input actuator 850, the lock arms 854 can splay outwardly to receive the distal end 852 of the input actuator 850 and resiliently return back into an unsplayed position once the distal end 852 is seated in the coupling aperture 853. Each lock arm 854 includes a lock tooth 857 defined at the proximal end thereof which at least partially snaps behind the distal end 852 when the distal end 852 is seated in the coupling aperture 853. Such an arrangement may be sufficient to maintain the position of the input actuator 850 and the firing bar 851 relative to each other; however, the firing bar 851 is not sufficiently clamped to the input actuator 850 to articulate the end effector of the shaft assembly and/or fire the staples stored in a staple cartridge positioned in the end effector, for example. [0117] As discussed above, the firing bar 851 is assembled to the input actuator 850 by pushing the firing bar 851 onto the input actuator 850 in an axial direction. The transmission collar 860 can hold the firing bar 851 in place when the firing bar 851 is attached to the input actuator 850. Moreover, the transmission collar 860 can hold the articulation bar 841 in place, at least when the transmission collar 860 is in its first position as described in greater detail further below.

[0118] The transmission collar 860 is movable between a first position (FIGS.23-23B) in which the input actuator 850 is engageable with the firing bar 851, as discussed above, a second position (FIGS.24-24B) in which the transmission collar 860 clamps the firing bar 851 onto the input actuator 850 and locks the articulation bar 841 to the firing bar 851, and a third position (FIGS.25-25B) in which the transmission collar 860 unlocks the articulation bar 841 from the firing bar 851 and the input actuator 850 can advance the firing bar 851 to fire the staples stored in the end effector of the shaft assembly, for example. The transmission collar 860 is rotatable in a direction 869 between its first position (FIGS.23-23B), its second position (FIGS.24-24B), and its third position (FIGS.25-25B). The transmission collar 860 comprises inwardly- extending clamp teeth 864a-864d positioned around the perimeter thereof which are rotated into and out of engagement with the lock arms 854 of the firing bar 851, depending on the position of the transmission collar 860. Each lock arm 854 comprises a cantilever beam which is contacted at the free end thereof by the clamp teeth 864a- 864d to deflect the lock arms 854 inwardly. The clamp teeth 864a-864d are positioned at the proximal end of the transmission collar 860 and are not engageable with the articulation bar 841 regardless of the position of the transmission collar 860.

[0119] When the transmission collar 860 is in its first position, referring to FIGS.23- 23B, the clamp teeth 864a-864d are not engaged with the lock arms 854 of the firing bar 851. As such, referring primarily to FIG.23B, the lock arms 854 are not deflected inwardly by the clamp teeth 864a-864d to clamp the firing bar 851 to the input actuator 850. When the transmission collar 860 is rotated into its second position, referring to FIGS.24-24B, the lock teeth 864a, 864b, and 864c are rotated into engagement with the lock arms 854. Upon comparing FIG.23B and FIG.24B, it can be seen that the articulation collar 860 has been rotated approximately 180 degrees and that the lock teeth 864a, 864b, and 864c have deflected the lock arms 854 inwardly. In such a position, the lock arms 854 of the firing bar 851 have been clamped to the input actuator 850. As illustrated in FIG.24B, the lock arms 854 are clamped inwardly until the lock teeth 857 of the lock arms 854 are in contact with one another, for example. At such point, the transmission 860 is in an articulation operation mode and the input actuator 850 can push the firing bar 851 distally and/or pull the firing bar 851 proximally to articulate the end effector of the shaft assembly, as described in greater detail further below.

[0120] The firing bar 851 further comprises a circumferential lock slot 855 defined in the outer surface thereof. The firing bar 851 comprises a hemi-spherical cross-section and the lock slot 855 extends around the entire outer surface of the firing bar 851.

Similarly, the articulation bar 841 further comprises a circumferential lock slot 845 defined in the outer surface thereof. The articulation bar 841 also comprises a hemi- spherical cross-section and the lock slot 845 extends around the entire outer surface of the articulation bar 841. The transmission collar 860 comprises an inwardly-extending drive lock 865 concurrently positioned in the lock slot 855 of the firing bar 851 and the lock slot 845 of the articulation bar 841 when the transmission collar 860 is in its first position, as illustrated in FIG.23A. In such instances, the articulation bar 841 is locked to the firing bar 851 when the shaft assembly is attached to the handle and the firing bar 851 is engaged with the input actuator 850. When the transmission collar 860 is rotated from its first position toward its second position, referring to FIG.24A, the drive lock 865 is slid out of engagement with the firing bar 851 and, as the transmission collar 860 is rotated into its second position, the drive lock 865 slides within the lock slot 845 until the drive lock 865 is concurrently re-engaged with the firing bar 851 and the articulation bar 841 once again.

[0121] When the transmission collar 860 is in its second position, the drive lock 865 is closely received between the sidewalls of the articulation bar lock slot 845 and the firing bar lock slot 855. In such instances, the proximal and/or distal movement of the input actuator 850 is transmitted to the articulation bar 841 via the drive lock 865 of the transmission collar 860. When the articulation bar 841 is advanced distally by the input actuator 850, the articulation bar 841 articulates the end effector of the shaft assembly in a first direction and, when the articulation bar 841 is pulled proximally by the input actuator 850, the articulation bar 841 articulates the end effector in a second direction. It should be appreciated that the firing bar 851 and the articulation bar 841 are being moved together in unison when the movement of the input actuator 850 is transmitted to the articulation bar 841 via the transmission collar 860. Although the firing bar 851 is being displaced to articulate the end effector, the movement of the firing bar 851 during the articulation operation mode is insufficient to fire the staples from the staple cartridge. When the operator of the surgical instrument is satisfied with the position of the end effector, the transmission collar 860 can be rotated into its third position to shift the transmission collar 860 from its articulation operation mode into its firing operation mode. In various instances, the shaft assembly can include an articulation lock configured to hold the end effector in position.

[0122] When the transmission collar 860 is rotated into its third position, referring to FIGS.25A and 25B, the clamp tooth 864a is rotated out of engagement with the lock arms 854, the clamp teeth 864b and 864c are re-positioned relative to the lock arms 854 but remain engaged with the lock arms 854, and the lock arm 864d is rotated into engagement with the lock arms 854. As a result, the transmission collar 860 holds the lock arms 854 in their clamped positions when the transmission collar 860 is rotated between its second position and its third position. Moreover, the drive lock 865 is rotated out of the lock slot 845 of the articulation bar 841 when the transmission collar 860 is rotated from its second position into its third position. As a result, the longitudinal movement of the input actuator 850, the firing bar 851, and the transmission collar 860 is not transferable to the articulation bar 841. At such point, the firing bar 851 can be advanced distally by the input actuator 850 to fire the staples from the staple cartridge during a firing stroke. It should be appreciated that the input actuator 850, the firing bar 851, and the transmission collar 860 move relative to the articulation bar 841 during the firing stroke. In order to accommodate this relative movement during the firing stroke, the articulation bar 841 can include a longitudinal clearance slot 846 defined therein configured to permit the distal end 852 of the firing bar 850 to slide relative thereto. The articulation bar 841 can also include a longitudinal clearance slot 844 defined therein configured to permit the lock tooth 864a of the transmission collar 860 to slide relative thereto during the firing stroke.

[0123] When the firing bar 851 has been advanced distally during the firing stroke, the lock slot 855 of the firing bar 851 is no longer aligned with the lock slot 845 of the articulation bar 841. As such, the transmission collar 860 cannot be returned to its second position until the firing bar 851 is retracted and the lock slot 855 is realigned with the lock slot 845. When the transmission collar 860 has been returned to its second position, the drive lock 865 is engaged with the articulation bar 841 once again and the input actuator 850 can be operated to de-articulate or re-center the end effector. In order to uncouple the shaft assembly from the handle, the transmission collar 850 can be rotated back into its first position to unclamp the lock arms 854 from the input actuator 850.

[0124] A shaft assembly 920 for use with a surgical instrument assembly is illustrated in FIGS.26-38. The shaft assembly 920 is removably attachable to a handle 910 (FIGS.30-38). The shaft assembly 920 comprises a proximal end 921 attachable to the handle 910 and a distal end 929 attached to an end effector 930. The shaft assembly 920 further comprises an articulation joint 940 configured to permit the end effector 930 to be articulated. In at least one instance, the articulation joint 940 comprises a flexneck, for example. The shaft assembly 920 further comprises a closure tube 924 configured to be moved distally to move a jaw of the end effector 930 between an open position and a closed position, for example. The shaft assembly 920 also includes a firing member 950 which is configured to be moved distally to fire staples removably stored in a staple cartridge positioned in the end effector 930, for example. The firming member 950 is operably engaged with a flexible knife bar 959 which extends through the articulation joint 940.

[0125] The shaft assembly 920 further comprises an articulation actuation system. The articulation actuation system comprises a first articulation actuator 960 and a second articulation actuator 970. The first articulation actuator 960 comprises a proximal end 961 at the proximal end 921 of the shaft assembly 920 and a distal end 969 at the distal end 929 of the shaft assembly 920. The distal end 969 of the first articulation actuator 960 is engaged with the end effector 930 such that the first articulation actuator 960 can articulate the end effector 930 about the articulation joint 940. The second articulation actuator 970 comprises a proximal end 971 at the proximal end 921 of the shaft assembly 920 and a distal end 979 at the distal end 929 of the shaft assembly 920. The distal end 979 of the second articulation actuator 970 is engaged with the end effector 930 such that the second articulation actuator 970 can articulate the end effector 930 about the articulation joint 940.

[0126] Further to the above, referring to FIGS.26-29, the proximal end 961 of the first articulation actuator 960 and the proximal end 971 of the second articulation actuator 970 are cambered inwardly to engage and clamp the firing member 950 when the shaft assembly 920 is not attached to the handle 910. In such instances, the first articulation actuator 960, the second articulation actuator 970, and the firing member 950 are less likely to be unintentionally displaced when the shaft assembly 920 is assembled to the handle 910, for example. The firing member 950 comprises a lock recess 953 defined therein. In various instances, the lock recess 953 can be annular and can extend around the firing member 950. The first articulation actuator 960 comprises a first lock tooth 963 which is positioned in the lock recess 953 when the shaft assembly 920 is not attached to the handle 910. Similarly, the second articulation actuator 970 comprises a second lock tooth 973 which is positioned in the lock recess 953 when the shaft assembly 920 is not attached to the handle 910. The lock recess 953, the first lock tooth 963, and the second lock tooth 973 are configured such that relative longitudinal movement is not permitted between the firing member 950, the first articulation actuator 960, and the second articulation actuator 970 until the shaft assembly 920 is assembled to the handle 910, as discussed in greater detail further below.

[0127] Further to the above, referring primarily to FIGS.26 and 32, the firing member 950 is positioned intermediate the first articulation actuator 960 and the second articulation actuator 970. The first articulation actuator 960 comprises a first recess 964 configured to receive at least a portion of the firing member 950 therein when the shaft assembly 920 is not attached to the handle 910. Similarly, the second articulation actuator 970 comprises a second recess 974 configured to receive at least a portion of the firing member 950 therein when the shaft assembly 920 is not attached to the handle 910. In various instances, the first articulation actuator 960 and the second articulation actuator 970 can co-operate to envelop at least a portion of the firing member 950 when the shaft assembly 920 is not attached to the handle 910. In at least one such instance, the sidewall of the first recess 964 and the sidewall of the second recess 974 can bear against the firing member 950.

[0128] When the shaft assembly 920 is assembled to the handle 910, referring primarily to FIGS.33 and 34, the first articulation actuator 960 and the second articulation actuator 970 are displaced outwardly, or laterally, away from the firing member 950. When the articulation actuators 960 and 970 are displaced laterally away from the firing member 950, the first lock tooth 963 and the second lock tooth 973 are moved out of the lock recess 953. Moreover, the firing member 950 is no longer positioned in the first recess 964 of the first articulation actuator 960 or the second recess 974 of the second articulation actuator 970. At such point, the firing member 950, the first articulation actuator 960, and/or the second articulation actuator 970 can be moved relative to one another. A progression of the shaft assembly 920 being assembled to the handle 910 is depicted in FIGS.35-38 and described in greater detail further below.

[0129] FIG.35 depicts the shaft assembly 920 positioned above the handle 910.

Referring primarily to FIGS.30 and 31, the handle 910 includes a shaft receiver 913 which is configured to receive the proximal end 921 of the handle assembly 920.

Referring primarily now to FIG.28, the proximal end 921 of the shaft assembly 920 comprises a cut-out 923 defined in the closure tube 924 which is configured to nest with the shaft receiver 913, as illustrated in FIG.34. As also illustrated in FIGS.28 and 34, the firing member 950 of the shaft assembly 920 is assembled to a firing rod 915 of the handle 910 when the shaft assembly 920 is assembled to the handle 910. The firing member 950 comprises a proximal end, or head, 951 which is received within a recess 911 defined in the firing rod 915. The firing member 950 further comprises a narrowed portion, or neck, 952 which is received within a corresponding narrow portion of the recess 911. Once the proximal head 951 of the firing member 950 has been positioned in the recess 911 in the firing rod 915, the firing rod 915 can move the firing member 950 distally to eject the staples from the staple cartridge positioned in the end effector 930, for example, and then retract the firing member 950 proximally to reset the firing system.

[0130] Referring again to FIG.35, the first articulation actuator 960 further comprises a first cam surface 966 defined thereon which contacts the firing rod 915 when the shaft assembly 920 is assembled to the handle 910. Similarly, the second articulation actuator 970 further comprises a second cam surface 976 defined thereon which contacts the firing rod 915 when the shaft assembly 920 is assembled to the handle 910. When the shaft assembly 920 is moved downwardly onto the handle 910, as illustrated in FIG.36, the first cam surface 966 and the second cam surface 976 contact the firing rod 950 wherein, owing to the interaction of the cam surfaces 966 and 976 with the firing rod 950, the first articulation actuator 960 and the second articulation actuator 970 splay laterally away from the firing rod 950. In such instances, the first articulation actuator 960 becomes aligned with a first articulation driver 916 of the handle 910 and the second articulation actuator 970 becomes aligned with a second articulation driver 917 of the handle 910.

[0131] Further to the above, the first articulation actuator 960 comprises a first drive aperture 962 defined therein which becomes aligned with a first drive pin 912 extending from the first articulation driver 916 when the first articulation actuator 960 is deflected laterally, as illustrated in FIG.36. Similarly, the second articulation actuator 970 comprises a second drive aperture 972 defined therein which becomes aligned with a second drive pin 912 extending from the second articulation driver 917 when the second articulation actuator 970 is deflected laterally, as also illustrated in FIG.36. As the shaft assembly 920 is further seated onto the handle 910, referring now to FIG.37, the drive pins 912 engage the drive apertures 962, 972. At such point, the first articulation actuator 960 is operably engaged with the first articulation driver 916 and the second articulation actuator 970 is operably engaged with the second articulation driver 917. Also, at such point, the firing member 950 has not yet been operably engaged with the firing rod 915, which does not occur until the shaft assembly 920 has been fully seated onto the handle 910, as illustrated in FIG.38. In various alternative embodiments, the firing member 950 can be operably engaged with the firing rod 915 at the same time that the articulation actuators 960, 970 are operably engaged with the articulation drivers 916, 917, respectively. In other alternative embodiments, the firing member 950 can be operably engaged with the firing rod 915 before the articulation actuators 960, 970 are operably engaged with the articulation drivers 916, 917, respectively.

[0132] When the shaft assembly 920 is uncoupled from the handle 910, the drive apertures 962, 972 of the articulation actuators 960, 970 are disengaged from the drive pins 912 of the articulation drivers 916, 917. Similarly, the proximal head 951 of the firing member 950 is disengaged from the recess 911 defined in the firing rod 915 when the shaft assembly 920 is uncoupled from the handle 910. In such instances, the articulation actuators 960, 970 are no longer held in their splayed or lateral positions by the firing rod 915. The articulation actuators 960, 970 can resiliently return to their cambered positions to re-engage and re-clamp the firing member 950. The articulation actuators 960, 970 can be re-locked to the firing member 950 when the lock teeth 963, 973 of the articulation actuators 960, 970 re-engage the lock recess 953 defined in the firing member 950.

[0133] A shiftable transmission 1000 is illustrated in FIGS.39 and 40. The shiftable transmission 1000 is configured to shift a surgical instrument between a first operating mode and a second operating mode. In at least one instance, the first operating mode comprises an articulation operating mode for articulating an end effector of the surgical instrument and the second operating mode comprises a firing operating mode for ejecting staples removably stored in a staple cartridge positioned in the end effector. A handle of the surgical instrument, for example, can comprise an input actuator 1020 which is configured to supply an input motion to the transmission 1000. The input actuator 1020 comprises a distal end 1022 coupled to a proximal end 1012 of a transmission link 1010. The distal end 1022 of the input actuator 1020 comprises a dovetail slot 1024 and the proximal end 1012 of the transmission link 1010 comprises a dovetail projection 1014 slidably positioned in the dovetail slot 1024. The dovetail slot 1024 and the dovetail projection 1014 comprise a slidable dovetail joint which constrains the motion of the transmission link 1010 relative to the input actuator 1020. In various instances, the movement of the transmission link 1010 is constrained to a shifting axis 1019, for example. [0134] The transmission link 1010 of the transmission 1000 is shiftable between a first position (FIG.39) and a second position (FIG.40). The transmission link 1010 is movable by any suitable means. In certain instances, the transmission link 1010 is positioned in a shaft assembly of a surgical instrument wherein the shaft assembly can further include an actuator configured to move the transmission link 1010 between its first position (FIG.39) and its second position (FIG.40). In at least one instance, the actuator can comprise a solenoid which can push the transmission link 1010 into its second position and pull the transmission link into its first position, for example. When the transmission link 1010 is in its first position, the transmission link 1010 operably engages the input actuator 1020 with an articulation actuator 1060, as described in greater detail below. As also described in greater detail below, the transmission link 1010 operably engages the input actuator 1020 with a firing actuator 1050 when the transmission link 1010 is in its second position.

[0135] The transmission link 1010 comprises a distal end 1011 which is selectively engageable with a proximal end 1061 of the articulation actuator 1060. More particularly, in at least one instance, the proximal end 1061 of the articulation actuator 1060 comprises a toothed end 1063 which is slidably received in a toothed recess 1013 defined in the distal end 1011 of the transmission link 1010 when the transmission link 1010 is in its first position. In such instances, the input actuator 1020 can push the transmission link 1010 and the articulation actuator 1060 distally to articulate the end effector in a first direction and pull the transmission link 1010 and the articulation link 1060 proximally to articulate the end effector in a second, or opposite, direction. When the transmission link 1010 is operably engaged with the articulation actuator 1060, the transmission link 1010 may not be engaged with the firing actuator 1050. As a result, the transmission link 1010 may not move the firing actuator 1050 when the transmission link 1010 moves the articulation actuator 1060. In various instances, the input actuator 1020 can be advanced distally a distance S to articulate the end effector without contacting the firing actuator 1050.

[0136] When the transmission link 1010 is moved into its second position, further to the above, the distal end 1011 of the transmission link 1010 is engaged with a proximal end 1051 of the firing actuator 1050. More particularly, in at least one instance, the proximal end 1051 of the firing actuator 1050 comprises a toothed end 1053 which is slidably received in the toothed recess 1013 defined in the distal end 1011 of the transmission link 1010 when the transmission link 1010 is in its second position. In such instances, the input actuator 1020 can push the transmission link 1010 and the firing actuator 1050 distally to fire the staples removably stored in the staple cartridge in the end effector. Correspondingly, the input actuator 1020 can pull the transmission link 1010 and the firing actuator 1050 proximally to retract the firing actuator 1050. When the transmission link 1010 is operably engaged with the firing actuator 1050, the transmission link 1010 may not be engaged with the articulation actuator 1060. As a result, the transmission link 1010 may not move the articulation actuator 1060 when the transmission link 1010 moves the firing actuator 1050. In various instances, the input actuator 1020 can be advanced distally a distance S to fire the staples without contacting the articulation actuator 1060. Examples

[0137] Example 1 - A surgical instrument system comprising a handle and a shaft assembly removably attached to the handle, the shaft assembly comprising an end effector, a release actuator comprising a lock, wherein the release actuator is movable between a first position and a second position, wherein the lock is engaged with the handle when the release actuator is in the first position, and wherein the lock is disengaged from the handle when the release actuator is in the second position, and a catch configured to engage the handle as the shaft assembly is being detached from the handle, wherein the catch is disengaged from the handle upon an additional manipulation of the release actuator.

[0138] Example 2 - The surgical instrument system of Example 1, wherein the handle comprises a handle frame, wherein the handle frame comprises a recess, and wherein the catch is configured to engage the recess when the shaft assembly is being removed from the handle.

[0139] Example 3 - The surgical instrument system of Examples 1 or 2, further comprising a biasing member configured to bias the release actuator into the first position. [0140] Example 4 - The surgical instrument system of Examples 1, 2, or 3, wherein the end effector comprises a staple cartridge, and wherein the staple cartridge comprises a cartridge body and a plurality of staples removably stored therein.

[0141] Example 5 - A surgical instrument system, comprising a handle comprising a first release actuator and a shaft assembly removably attached to the handle, the shaft assembly comprising an end effector, a second release actuator comprising a lock, wherein the second release actuator is movable between a first position and a second position, wherein the lock is engaged with the handle when the second release actuator is in the first position, and wherein the lock is disengaged from the handle when the second release actuator is in the second position, and a lock stop configured to prevent the second release actuator from being moved from the first position to the second position unless the first release actuator on the handle and the second release actuator on the shaft assembly are actuated simultaneously.

[0142] Example 6 - The surgical instrument system of Example 5, further comprising a lock stop actuator positioned in the shaft assembly, wherein the lock stop actuator is configured to move the lock stop between an engaged position and a disengaged position, wherein the lock stop is engaged with the second release actuator when the lock stop is in the engaged position, and wherein the lock stop is disengaged from the second release actuator when the lock stop is in the disengaged position.

[0143] Example 7 - The surgical instrument system of Example 6, wherein the lock stop actuator comprises a solenoid.

[0144] Example 8 - The surgical instrument system of Examples 5, 6, or 7, wherein the end effector comprises a staple cartridge, and wherein the staple cartridge comprises a cartridge body and a plurality of staples removably stored therein.

[0145] Example 9 - A surgical instrument system comprising an end effector, a shaft, an articulation joint, wherein the end effector is rotatable relative to the shaft about the articulation joint, and a handle. The handle comprises a first output, a second output, an electric motor; a transmission comprising a transmission input operably coupled to the electric motor and a transmission output selectively engageable with the first output and the second output, and a trigger system configured to shift the transmission to operably disengage the transmission output from the first output and operably engage the transmission output with the second output, wherein the trigger system is configured to lock the first output in position when the transmission output is operably engaged with the second output.

[0146] Example 10 - The surgical instrument system of Example 9, wherein the first output comprises an articulation drive, wherein the electric motor is configured to move the first output and articulate the end effector when the transmission output is operably engaged with the first output.

[0147] Example 11 - The surgical instrument system of Examples 9 or 10, wherein the end effector comprises a staple cartridge, wherein the staple cartridge includes a cartridge body and staples removably stored in the cartridge body.

[0148] Example 12 - The surgical instrument system of Example 11, wherein the second output comprises a firing drive, wherein the electric motor is configured to move the second output and eject the staples from the staple cartridge when the transmission output is operably engaged with the second output.

[0149] Example 13 - The surgical instrument system of Examples 9, 10, 11, or 12, wherein the first output is releasably engageable with the second output.

[0150] Example 14 - A surgical instrument system comprising a handle comprising a housing and a handle contact and a shaft assembly attachable to the handle, the shaft assembly comprising an end effector, an articulation joint, wherein the end effector is rotatable about the articulation joint, an articulation actuator operably connected to the end effector, an electric motor configured to drive the articulation actuator, a control system configured to operate the electric motor to articulate the end effector, and a shaft contact configured to engage the handle contact when the shaft assembly is assembled to the handle, wherein the control system is configured to detect whether the shaft contact is engaged with the handle contact and prevent the articulation of the end effector prior to the shaft contact engaging the handle contact.

[0151] Example 15 - The surgical instrument system of Example 14, wherein the control system is configured to prevent the operation of the electrical motor prior to the shaft contact being engaged with the handle contact.

[0152] Example 16 - The surgical instrument system of Examples 14 or 15, wherein the shaft assembly comprises a power source, wherein the control system is configured to supply electrical power to the electric motor from the power source prior to the shaft assembly being assembled to the handle, and wherein the control system is configured to operate the electric motor to maintain the end effector in an unarticulated

configuration.

[0153] Example 17 - The surgical instrument system of Example 14, further

comprising a power source, wherein the control system is configured to supply electrical power to the electric motor from the power source, and wherein the control system is configured to operate the electric motor to maintain the end effector in a desired articulated configuration.

[0154] Example 18 - The surgical instrument system of Examples 14, 15, 16, or 17, wherein the end effector comprises a staple cartridge, wherein the staple cartridge includes a cartridge body and staples removably stored in the cartridge body.

[0155] Example 19 - A surgical instrument system comprising a handle comprising a housing, an electric motor comprising an output shaft, and a worm gear mounted to the output shaft, and a shaft assembly attachable to the handle, the shaft assembly comprising an end effector, an articulation joint, wherein the end effector is rotatable about the articulation joint, and an articulation actuator operably connected to the end effector, wherein the articulation actuator comprises a rack engageable with the worm gear when the shaft assembly is attached to the handle.

[0156] Example 20 - The surgical instrument system of Example 19, wherein the shaft assembly comprises a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end, and wherein the shaft assembly is assembled to the handle in a direction which is transverse to the longitudinal axis and the worm gear.

[0157] The entire disclosures of:

U.S. Patent No.5,403,312, entitled ELECTROSURGICAL HEMOSTATIC

DEVICE, which issued on April 4, 1995;

U.S. Patent No.7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on February 21, 2006; U.S. Patent No.7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on September 9, 2008;

U.S. Patent No.7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on December 16, 2008;

U.S. Patent No.7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which issued on March 2, 2010;

U.S. Patent No.7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which issued on July 13, 2010;

U.S. Patent No.8,393,514, entitled SELECTIVELY ORIENTABLE

IMPLANTABLE FASTENER CARTRIDGE, which issued on March 12, 2013;

U.S. Patent Application Serial No.11/343,803, entitled SURGICAL

INSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Patent No.7,845,537;

U.S. Patent Application Serial No.12/031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed February 14, 2008;

U.S. Patent Application Ser. No.12/031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed February 15, 2008, now U.S. Patent No.7,980,443;

U.S. Patent Application Serial No.12/235,782, entitled MOTOR-DRIVEN

SURGICAL CUTTING INSTRUMENT, now U.S. Patent No.8,210,411;

U.S. Patent Application Serial No.12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Patent No.8,608,045;

U.S. Patent Application Serial No.12/647,100, entitled MOTOR-DRIVEN

SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed December 24, 2009; now U.S. Patent No.8,220,688;

U.S. Patent Application Ser. No.12/893,461, entitled STAPLE CARTRIDGE, filed September 29, 2012, now U.S. Patent No.8,733,613;

U.S. Patent Application Ser. No.13/036,647, entitled SURGICAL STAPLING INSTRUMENT, filed February 28, 2011, now U.S. Patent No.8,561,870; U.S. Patent Application Serial No.13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Patent Application Publication No.2012/0298719;

U.S. Patent Application Serial No.13/524,049, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on June 15, 2012; now U.S. Patent Application Publication No.2013/0334278;

U.S. Patent Application Serial No.13/800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on March 13, 2013;

U.S. Patent Application Serial No.13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on March 13, 2013;

U.S. Patent Application Publication No.2007/0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed January 31, 2006; and

U.S. Patent Application Publication No.2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed April 22, 2010, now U.S. Patent No.8,308,040, are hereby incorporated by reference herein.

[0158] Although the various embodiments of the devices have been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations.

[0159] The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

[0160] Preferably, the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

[0161] While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

[0162] Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.