Flexible drive member

A surgical tool can comprise an end effector, a shaft, an articulation joint rotatably connecting the end effector to the shaft, and a translatable drive member which can at least partially extend through the articulation joint. The drive member can be resiliently flexible or bendable to accommodate the articulation of the end effector. The drive member can comprise a body including a plurality of articulation joints defined therein. The articulation joints can be intrinsic to the drive member body and can form an array or lattice of articulation joints. The drive member can also comprise a drive thread extending around the body. The drive thread can be configured to outwardly constrain the portions of the body when the drive member is articulated. The drive member can also comprise a flexible inner core extending therethrough which can be configured to inwardly constrain the articulated body portions.

Interchangeable end effector coupling arrangement

A surgical tool can comprise an interchangeable end effector, a handle assembly, and a shaft assembly. The interchangeable end effector may comprise a first jaw member including a first electrode, and a second jaw member including a second electrode. The first jaw member may be moveable relative to the second jaw member between a first position and a second position. The handle assembly may be proximal to the surgical end effector. The shaft assembly may extend between said handle assembly and the interchangeable end effector. The shaft assembly may comprise a rotary drive shaft configured to transmit rotary motions. The rotary drive shaft may be selectively axially moveable relative to the shaft assembly between a plurality of discrete positions. A coupling arrangement may be for releasably attaching the interchangeable end effector to the shaft assembly.

Differential locking arrangements for rotary powered surgical instruments

Differential locking systems for a surgical instrument that includes a surgical end effector that is powered by a rotary drive shaft assembly that is movable between a plurality of discrete axial positions. In various forms, at least one retention formation is provided on the rotary drive shaft assembly that corresponds to each one of the discrete axial position. At least one lock member is operably supported relative to rotary drive shaft assembly for retaining engagement with the at least one of the retention formations when the rotary drive shaft assembly is moved to the discrete axial positions associated therewith.

Interchangeable clip applier

A surgical device for clipping tissue can include an actuator, such as a handle or a robotic arm, for example, and a replaceable end effector including a plurality of clips contained therein. After the replaceable end effector has been used, the end effector can be detached from the actuator and a new end effector can be operably coupled with the actuator. Each replaceable end effector can include a firing drive for advancing clips into a receiver of the end effector and a crimping drive configured to deform a clip positioned within the receiver.

Robotically powered surgical device with manually-actuatable reversing system

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

COUPLING ARRANGEMENTS FOR ATTACHING SURGICAL END EFFECTORS TO DRIVE SYSTEMS THEREFOR

Coupling arrangements for attaching an end effector including a plurality of distal drive train assemblies that are configured to apply a plurality of control motions to the end effector to corresponding proximal drive train assemblies that communicate with a source of drive motions.

SURGICAL END EFFECTOR JAW AND ELECTRODE CONFIGURATIONS

A surgical end effector may comprise first and second jaw members. The second jaw member may comprise an offset proximal supply electrode that is positioned to contact an opposing member of the first jaw member when the first and second jaw members are in the closed position. The second jaw member may also comprise a distal supply electrode that is positioned distal of the offset proximal electrode and is aligned with a conductive surface of the first jaw member when the first and second jaw members are in the closed position. When the first and second jaw members are in the closed position, the proximal supply electrode may be in contact with the opposing member and the distal supply electrode is not in contact with the conductive surface of the first jaw member.

Rotary actuatable closure arrangement for surgical end effector

A surgical instrument may include an end effector, an input drive shaft, a closure drive, and/or a firing drive. The end effector may comprise a jaw assembly including a first jaw member and a second jaw member. The end effector may comprise an I-beam member axially translated between a proximal position and a distal position within the end effector. In one embodiment, the input drive shaft may selectively engage the firing drive and/or the closure drive. In one configuration, the closure drive is threadedly engaged with the firing drive allowing the input drive shaft, during a firing stroke, to simultaneously move the closure drive and the firing drive until the closure drive is disengaged from the firing drive. On a reverse stroke, the closure drive may be reengaged with the firing drive.

FIRING SYSTEM LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS

Surgical end effectors and fastener cartridges having firing lockout arrangements for preventing or limit a firing stroke when a cartridge has not been operably installed in the end effector or a spent cartridge has not been replaced.

Rotary drive shaft assemblies for surgical instruments with articulatable end effectors

Drive shaft assemblies for a surgical instrument. Various forms include a plurality of movably interlocking joint segments that are interconnected to form a flexible hollow tube. A flexible secondary constraining member is configured in flexible constraining engagement with the plurality of movably interlocking joint segments to retain the interlocking joint segments in movable interlocking engagement while facilitating flexing of the drive shaft assembly.