Surgical instrument comprising closure and firing locking mechanism

A surgical instrument assembly comprising an end effector, a shaft assembly, a closure drive system, and a firing drive system is disclosed. The surgical instrument assembly further comprises a dual lock configured to engage a closure member and a firing member to prevent the firing member from being advanced distally from a proximal firing stroke position before the closure member is in a distal closure stroke position. The dual lock is further configured to prevent the closure member from being retracted from the distal closure stroke position before the firing member is returned to the proximal firing stroke position after the firing stroke.

Surgical instruments with dual articulation drivers

A surgical instrument including a shaft and an end effector that is articulatable relative to the shaft is disclosed. First and second independently movable articulation drivers are coupled to the surgical end effector to apply articulation motions thereto. The first articulation driver is attached to the surgical end effector by a first link that extends transversely relative to a longitudinal axis defined by the shaft. The second articulation driver is attached to the surgical end effector by a second link that extends transversely relative to the longitudinal axis and the first link.

Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments

An adapter for use with an electromechanical surgical instrument. The adapter includes a shaft assembly and a surgical end effector that is selectively articulatable and rotatable relative to the shaft assembly through a range of articulated and rotated positions. The adapter includes sensing and control arrangements for monitoring and maintaining the end effector in articulated and/or rotated positions.

Methods of operating surgical end effectors

Methods for operating a surgical end effector that includes first and second jaws that are pivotally coupled together and are selectively movable between a fully open position and fully closed position. At least one method includes moving a dynamic clamping assembly through a closure stroke to apply a closure motion to the first and second jaws to move the first and second jaws from the fully open position to the fully closed position. A method also includes moving the dynamic clamping assembly through a firing stroke to perform a surgical function until the dynamic clamping assembly reaches an ending position within the closed first and second jaws. A method also includes moving the dynamic clamping assembly in direction configured to contact at least one positive jaw opening feature on at least one of the first and second jaws with to move the first and second jaws to the fully open position.

Surgical tools configured for interchangeable use with different controller interfaces

A surgical tool configured to be interchangeably attached to a first controller interface and a second controller interface that is different from the first controller interface is disclosed.

Robotic attachment comprising exterior drive actuator

A surgical instrument assembly configured to be operably attached to and detached from a surgical robot interface is disclosed. The surgical instrument assembly comprises a shaft assembly comprising an end effector and a closure drive member configured to move a second jaw relative to a first jaw of the end effector. The surgical instrument assembly further comprises a control assembly, wherein the shaft assembly is operably coupled with the control assembly, and wherein the control assembly comprises a housing, a closure drive system configured to actuate the closure drive member, and an exterior closure drive actuator exterior to the housing and configured to be actuated by a clinician to manually rotate a rotary input drive of the closure drive system to move the second jaw relative to the first jaw when the surgical instrument assembly is not operably attached to the surgical robot interface.

Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly

A method for determining the position of a rotatable jaw of an attachment relative to a non-rotatable jaw is disclosed. The method comprises assembling the attachment to a surgical robot, rotating a first rotatable driver of the robot to align the first driver with a first rotatable drive of the attachment, and rotating a second rotatable driver of the robot to align the second driver with a second rotatable drive of the attachment. The method further comprises evaluating the amount of rotation required to align the first driver with the first drive and the amount of rotation required to align the second driver with the second drive, calculating a difference between the amount of rotation of the first driver and the amount of the rotation of the second driver, and determining the position of the rotatable jaw relative to the non-rotatable jaw based on the calculated difference.

Compressible adjunct with crossing spacer fibers

A staple cartridge assembly for use with a surgical stapling instrument includes a staple cartridge including a plurality of staples and a cartridge deck. The staple cartridge assembly also includes a compressible adjunct positionable against the cartridge deck, wherein the staples are deployable into tissue captured against the compressible adjunct, and wherein the compressible adjunct comprises a first biocompatible layer comprising a first portion, a second biocompatible layer comprising a second portion, and crossed spacer fibers extending between the first portion and the second portion.

Systems and methods of controlling a clamping member firing rate of a surgical instrument

Various systems and methods of controlling a surgical instrument are disclosed. The surgical instrument can include a motor and a control circuit coupled to the motor. The motor can be coupled to a clamping member, which is configured to transition an end effector between an open position and a closed position, cut tissue, and/or eject staples from a staple cartridge in the end effector. The control circuit can be programmed to cause the motor to drive a clamping member at a first rate in a first zone between the first position and the second position and cause the motor to drive the clamping member at a second rate in a second zone between the first position and the second position; wherein the first rate is less than the second rate.

Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto

A handheld electromechanical surgical device configured to be operably coupled to a surgical accessory. The device includes a handle assembly that operably supports a plurality of electrically powered motors that are controlled by a processor within the handle assembly. The handle assembly is encased in an outer shell housing. A barrier plate assembly is interposed between the handle assembly the outer shell housing and supports a shaft coupling arrangement for coupling shafts of the powered motors to corresponding portions of the surgical accessory located outside of the outer shell. Sensing arrangements are supported within the handle assembly for monitoring rotation of each of motor drive shaft and communicating with the processor to apply appropriate control signals to the motors.