# US 11,304,695 B2 · Surgical system shaft interconnection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,695 B2 - Document ID: US11304695B2 - Status: Granted - Kind: B2 - Application number: 15/668,324 - Filed: 2017-08-03 - Published: 2019-02-07 - Granted: 2022-04-19 - Earliest claimed: 2017-08-03 - Assignees: Cilag GmbH International - Applicants: Ethicon LLC - Inventors: Frederick E. Shelton, IV; Gregory J. Bakos - Web page: https://patentgrep.com/patent/US11304695B2 ## CPC - A61B 17/07207: {the staples being applied sequentially} - A61B 17/068: Surgical staplers {, e.g. containing multiple staples or clamps}({staplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105;} for performing anastomosis A61B17/115; {staplers in general B25C5/00}) - A61B 17/115: Staplers for performing anastomosis, e.g. in a single operation - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 34/30: Surgical robots - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) - A61B 17/04: for suturing wounds; Holders or packages for needles or suture materials - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00075: {Motion} - A61B 2017/00367: {Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00407: {Ratchet means} - A61B 2017/00455: {Orientation indicators, e.g. recess on the handle} - A61B 2017/0046: {with a releasable handle; with handle and operating part separable} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2933: {camming or guiding means} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical instrument assembly comprising a proximal shaft assembly comprising a proximal drive member and a distal shaft assembly attachable to and detachable from the proximal shaft assembly is disclosed. The distal shaft assembly comprises a distal drive member configured to be coupled to and decoupled from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member. The drive stroke comprises a beginning of stroke position, an end of stroke position distal to the beginning of stroke position, and a home position. The proximal drive member and the distal drive member are configured to be coupled to and decoupled from each other when the proximal drive member and the distal drive member are in the home position, wherein the home position is not at the beginning of stroke position or the end of stroke position. ## Claims ### Claim 1 A surgical instrument assembly, comprising: a proximal shaft assembly comprising a first proximal drive member; a distal shaft assembly attachable to and detachable from said proximal shaft assembly, wherein said distal shaft assembly comprises a first distal drive member configured to be coupled to and decoupled from said first proximal drive member, wherein said first distal drive member is configured to be actuated through a drive stroke by said first proximal drive member to actuate a function of said surgical instrument assembly, and wherein said drive stroke comprises: a beginning of stroke position; an end of stroke position distal to said beginning of stroke position; and a first home position; and an end effector, wherein said first proximal drive member and said first distal drive member are configured to be coupled to and decoupled from each other when said first proximal drive member and said first distal drive member are in said first home position, wherein said first home position is not at said beginning of stroke position or said end of stroke position, wherein said proximal shaft assembly further comprises a second proximal drive member and said distal shaft assembly further comprises a second distal drive member, wherein said second proximal drive member and said second distal drive member are configured to be coupled and decoupled when said second proximal drive member and said second distal drive member are in a second home position, wherein said second proximal drive member and said second distal drive member are movable through a second drive stroke, and wherein said second home position is not at the beginning of said second drive stroke. ### Claim 2 (depends on 1) The surgical instrument assembly of claim 1, wherein said first home position is proximal to said beginning of stroke position. ### Claim 3 (depends on 1) The surgical instrument assembly of claim 1, wherein said first home position is distal to said beginning of stroke position and proximal to said end of stroke position. ### Claim 4 (depends on 1) The surgical instrument assembly of claim 1, wherein said drive stroke further comprises at least one interval drive stroke position corresponding to at least one specific event of said function of said surgical instrument assembly, wherein said at least one interval drive stroke position is distal to said beginning of stroke position and proximal to said end of stroke position, and wherein said first home position is not at said at least one interval drive stroke position. ### Claim 5 (depends on 1) The surgical instrument assembly of claim 1, further comprising a control system, wherein said first proximal drive member and said first distal drive member are automatically moved to said beginning of stroke position by said control system after said proximal shaft assembly and said distal shaft assembly are attached. ### Claim 6 (depends on 1) The surgical instrument assembly of claim 1, wherein said first proximal drive member and said first distal drive member are automatically moved to said first home position when said distal shaft assembly is uncoupled from said proximal shaft assembly. ### Claim 7 (depends on 1) The surgical instrument assembly of claim 1, wherein said proximal shaft assembly and said distal shaft assembly employ a twisting motion to attach and detach said proximal shaft assembly and said distal shaft assembly. ### Claim 8 (depends on 1) The surgical instrument assembly of claim 1, further comprising a staple cartridge comprising a plurality of staples removably stored therein. ### Claim 9 (depends on 1) The surgical instrument assembly of claim 1, further comprising a staple firing drive, wherein said staple firing drive includes said first proximal drive member and said first distal drive member, and wherein said beginning of stroke position and said end of stroke position define ends of a staple firing stroke. ### Claim 10 (depends on 9) The surgical instrument assembly of claim 9, further comprising a control system including an electric motor, wherein said control system is configured to operate said electric motor to move said first proximal drive member and said first distal drive member to said beginning of stroke position after said proximal shaft assembly and said distal shaft assembly are connected. ### Claim 11 (depends on 10) The surgical instrument assembly of claim 10, wherein said control system is configured to operate said electric motor to automatically move said first proximal drive member and said first distal drive member to said first home position when said distal shaft assembly is uncoupled from said proximal shaft assembly. ### Claim 12 (depends on 1) The surgical instrument assembly of claim 1, wherein said end effector is movable between an open configuration and a closed configuration, wherein said surgical instrument assembly comprises a closure drive configured to move said end effector into said closed configuration during a closure stroke, wherein said closure drive includes said first proximal drive member and said first distal drive member, and wherein said beginning of stroke position and said end of stroke position define ends of said closure stroke. ### Claim 13 (depends on 12) The surgical instrument assembly of claim 12, further comprising a control system including an electric motor, wherein said control system is configured to operate said electric motor to move said first proximal drive member and said first distal drive member to said beginning of stroke position after said proximal shaft assembly and said distal shaft assembly are connected. ### Claim 14 (depends on 13) The surgical instrument assembly of claim 13, wherein said control system is configured to operate said electric motor to automatically move said first proximal drive member and said first distal drive member to said first home position when said distal shaft assembly is uncoupled from said proximal shaft assembly. ### Claim 15 (depends on 1) The surgical instrument assembly of claim 1, wherein said distal shaft assembly comprises a proximal connection interface which is rotated relative to said proximal shaft assembly to connect said distal shaft assembly to said proximal shaft assembly. ### Claim 16 A surgical instrument assembly, comprising: an end effector; an articulation joint; a proximal shaft assembly comprising a first proximal drive member; and a distal shaft assembly attachable to and detachable from said proximal shaft assembly, wherein said distal shaft assembly comprises a first distal drive member configured to be coupled to and decoupled from said first proximal drive member, wherein said first distal drive member is configured to be actuated through a drive stroke by said first proximal drive member to articulate said end effector, and wherein said drive stroke comprises: a first articulated position where said end effector is fully articulated in a first direction; a second articulated position where said end effector is fully articulated in a second direction which is opposite said first direction; an unarticulated position where said end effector is unarticulated, and wherein said unarticulated position is intermediate said first articulated position and said second articulated position; and a first home position, wherein said first proximal drive member and said first distal drive member are configured to be coupled to and decoupled from each other when said first proximal drive member and said first distal drive member are in said first home position, wherein said first home position is not at said first articulated position, said second articulated position, or said unarticulated position, wherein said proximal shaft assembly further comprises a second proximal drive member and said distal shaft assembly further comprises a second distal drive member, wherein said second proximal drive member and said second distal drive member are configured to be coupled and decoupled when said second proximal drive member and said second distal drive member are in a second home position, wherein said second proximal drive member and said second distal drive member are movable through a firing stroke, and wherein said second home position is not at the beginning of said firing stroke. ### Claim 17 (depends on 16) The surgical instrument assembly of claim 16, wherein said first home position is either intermediate said first articulated position and said unarticulated position or intermediate said second articulated position and said unarticulated position. ### Claim 18 (depends on 16) The surgical instrument assembly of claim 16, further comprising a control system, wherein said first proximal drive member and said first distal drive member are automatically moved to said unarticulated position by said control system after said proximal shaft assembly and said distal shaft assembly are attached. ### Claim 19 (depends on 16) The surgical instrument assembly of claim 16, further comprising a control system, wherein said first proximal drive member and said first distal drive member are automatically moved to said first home position by said control system when said distal shaft assembly is decoupled from said proximal shaft assembly. ### Claim 20 (depends on 16) The surgical instrument assembly of claim 16, wherein said proximal shaft assembly and said distal shaft assembly employ a twisting motion to attach and detach said proximal shaft assembly and said distal shaft assembly. ### Claim 21 (depends on 16) The surgical instrument assembly of claim 16, further comprising a staple cartridge comprising a plurality of staples removably stored therein. ### Claim 22 A surgical instrument assembly, comprising: a proximal shaft assembly comprising a proximal drive member; and a distal shaft assembly attachable to and detachable from said proximal shaft assembly, wherein said distal shaft assembly comprises a distal drive member configured to be coupled to and decoupled from said proximal drive member, wherein said distal drive member is configured to be actuated through a drive stroke by said proximal drive member to actuate a function of said surgical instrument assembly, and wherein said drive stroke comprises: a beginning of stroke position; an end of stroke position distal to said beginning of stroke position; at least one interval drive stroke position corresponding to at least one specific event of said function of said surgical instrument assembly, wherein said at least one interval drive stroke position is distal to said beginning of stroke position and proximal to said end of stroke position; and a park position, wherein said proximal drive member and said distal drive member are configured to be coupled to and decoupled from each other when said proximal drive member and said distal drive member are in said park position, wherein said park position is not at said beginning of stroke position, said end of stroke position, or said at least one interval drive stroke position, and wherein said park position is proximal to said beginning of stroke position. ### Claim 23 A surgical instrument assembly, comprising: a proximal shaft assembly comprising a proximal drive member; and a distal shaft assembly attachable to and detachable from said proximal shaft assembly, wherein said distal shaft assembly comprises a distal drive member configured to be coupled to and decoupled from said proximal drive member, wherein said distal drive member is configured to be actuated through a drive stroke by said proximal drive member to actuate a function of said surgical instrument assembly, and wherein said drive stroke comprises: a beginning of stroke position; an end of stroke position distal to said beginning of stroke position; at least one interval drive stroke position corresponding to at least one specific event of said function of said surgical instrument assembly, wherein said at least one interval drive stroke position is distal to said beginning of stroke position and proximal to said end of stroke position; and a park position, wherein said proximal drive member and said distal drive member are configured to be coupled to and decoupled from each other when said proximal drive member and said distal drive member are in said park position, and wherein said park position is not at said beginning of stroke position, said end of stroke position, or said at least one interval drive stroke position, and a control system, wherein said proximal drive member and said distal drive member are automatically moved to said beginning of stroke position by said control system after said proximal shaft assembly and said distal shaft assembly are attached. ### Claim 24 A surgical instrument assembly, comprising: an end effector; a proximal shaft assembly, comprising: an elongate shaft insertable through a trocar; and a first proximal drive member; and a distal shaft assembly attachable to and detachable from said proximal shaft assembly, wherein said distal shaft assembly comprises a first distal drive member configured to be coupled to and decoupled from said first proximal drive member, wherein said first distal drive member is configured to be actuated through a drive stroke by said first proximal drive member to articulate said end effector, and wherein said drive stroke comprises: a first articulated position where said end effector is fully articulated in a first direction; a second articulated position where said end effector is fully articulated in a second direction which is opposite said first direction; a central position where said end effector is aligned with said elongate shaft such that said end effector can be inserted through the trocar, and wherein said central position is between said first articulated position and said second articulated position; and a first home position, wherein said first proximal drive member and said first distal drive member are configured to be coupled to and decoupled from each other when said first proximal drive member and said first distal drive member are in said first home position, wherein said first home position is not at said first articulated position, said second articulated position, or said central position, wherein said proximal shaft assembly further comprises a second proximal drive member and said distal shaft assembly further comprises a second distal drive member, wherein said second proximal drive member and said second distal drive member are configured to be coupled and decoupled when said second proximal drive member and said second distal drive member are in a second home position, wherein said second proximal drive member and said second distal drive member are movable through a firing stroke, and wherein said second home position is not at the beginning of said firing stroke. ### Claim 25 (depends on 24) The surgical instrument assembly of claim 24, further comprising a control system including an electric motor, wherein said control system is configured to operate said electric motor to move said first proximal drive member and said first distal drive member to said central position after said proximal shaft assembly and said distal shaft assembly are connected. ### Claim 26 (depends on 25) The surgical instrument assembly of claim 25, wherein said control system is configured to operate said electric motor to automatically move said first proximal drive member and said first distal drive member to said first home position when said distal shaft assembly is uncoupled from said proximal shaft assembly. ### Claim 27 (depends on 24) The surgical instrument assembly of claim 24, wherein said distal shaft assembly comprises a proximal connection interface which is rotated relative to said proximal shaft assembly to connect said distal shaft assembly to said proximal shaft assembly.