# US 2017/0281168 A1 · Interchangeable surgical tool assembly with a surgical end effector that is selectively rotatable about a shaft axis > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0281168 A1 - Document ID: US20170281168A1 - Status: Published application - Kind: A1 - Application number: 15/089,296 - Filed: 2016-04-01 - Published: 2017-10-05 - Earliest claimed: 2016-04-01 - Assignees: Ethicon Endo-Surgery, Inc. - Applicants: Ethicon Endo-Surgery, LLC - Inventors: Frederick E. Shelton, IV; Jason L. Harris; Adam D. Hensel - Web page: https://patentgrep.com/patent/US20170281168A1 ## CPC - A61B 17/072: for applying a row of staples in a single action, e.g. the staples being applied simultaneously - A61B 17/0686: {having a forming anvil staying below the tissue during stapling} - A61B 17/07207: {the staples being applied sequentially} - A61B 2017/00017: {Electrical control of surgical instruments} - A61B 2017/00115: {with audible or visual output} - A61B 2017/00123: {and automatic shutdown} - 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 2017/0042: {with special provisions for gripping} - A61B 2017/00424: {ergonomic, e.g. fitting in fist} - A61B 2017/0046: {with a releasable handle; with handle and operating part separable} - A61B 2017/00464: {for use with different instruments} - A61B 2017/00734: {battery operated} - A61B 2017/07228: {Arrangement of the staples} - A61B 2017/07257: {characterised by its anvil} - A61B 2017/07271: {characterised by its cartridge} - A61B 2017/07278: {characterised by its sled or its staple holder} - A61B 2017/07285: {characterised by its cutter} - A61B 2017/291: {the position of the handle being adjustable with respect to the shaft} - A61B 2017/2912: {transmission of forces to actuating rod or piston} - A61B 2017/2922: {toggle linkages} - A61B 2017/2923: {Toothed members, e.g. rack and pinion} - A61B 2017/2925: {Pistol grips} - A61B 2017/2927: {the angular position of the head being adjustable with respect to the shaft} - A61B 2017/2929: {with a head rotatable about the longitudinal axis of the shaft} - A61B 2017/293: {with means preventing relative rotation between the shaft and the actuating rod} - A61B 2017/2932: {Transmission of forces to jaw members} - A61B 2090/034: {abutting on parts of the device itself} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical instrument is disclosed. In one form, the surgical instrument comprises an elongate shaft assembly and an end effector that is configured for selective rotation relative to the axis of the elongate shaft assembly. The surgical instrument can include a rotary locking system for locking the surgical end effector in rotary orientations about the shaft axis upon application of axial locking and axial unlocking motions to the rotary locking system. The surgical instrument may further comprise a rotary drive system that is configured to apply rotary control motions to a firing member as well as to apply rotary positioning motions to the surgical end effector. ## Claims ### Claim 1 A surgical instrument, comprising: an elongate shaft assembly defining a shaft axis; a surgical end effector operably interfacing with said elongate shaft assembly for selective rotation relative to said elongate shaft assembly about said shaft axis, said surgical end effector comprising a firing member configured for selective axial movement therein in response to an application of at least one rotary control motion thereto; an end effector rotary locking system interfacing with said surgical end effector and being configured to lock said surgical end effector in rotary orientations about said shaft axis upon application of an axial locking motion to said end effector rotary locking system and to unlock said surgical end effector for selective rotation about said shaft axis upon application of an axial unlocking motion to said end effector rotary locking system; and a rotary drive system configured to apply said at least one rotary control motion to said firing member, said rotary drive system configured to apply at least one rotary positioning motion to said surgical end effector when said end effector rotary locking system is in an unlocked configuration to position said surgical end effector in a selected one of said rotary orientations about said shaft axis. ### Claim 2 (depends on 1) The surgical instrument of claim 1, wherein said elongate shaft assembly further comprises an articulation joint operably coupling said surgical end effector to said elongate shaft assembly to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis upon application of articulation motions thereto. ### Claim 3 (depends on 1) The surgical instrument of claim 1, wherein said surgical end effector is operably coupled to said elongate shaft assembly by a mounting fixture configured to permit said surgical end effector to selectively rotate about said shaft axis upon application of said at least one rotary positioning motion thereto and wherein said end effector rotary locking system comprises a rotation locking disc coupled to said surgical end effector for rotational travel therewith upon said application of said at least one rotary positioning motion to said surgical end effector, said rotation locking disc further configured to frictionally engage said mounting fixture to prevent rotation of said surgical end effector about said shaft axis upon application of said axial locking motion to said end effector rotary locking system. ### Claim 4 (depends on 3) The surgical instrument of claim 3, wherein said rotation locking disc comprises a plurality of locking detents radially arranged thereon wherein each of said locking detent corresponds to one of said rotary orientations and wherein said end effector rotary locking system further comprises a lock member supported for selective movement into locking engagement with a corresponding one of said locking detents upon said application of said axial locking motion thereto. ### Claim 5 (depends on 4) The surgical instrument of claim 4, wherein said end effector rotary locking system further comprises an axially movable locking control rod configured to apply said axial locking motion to said lock member. ### Claim 6 (depends on 5) The surgical instrument of claim 5, wherein said lock member comprises: a locking gear assembly rotatably supported in meshing engagement with a gear rack on said locking control rod; a lock gear supported in meshing engagement with said locking gear assembly; and a lock lug formed on said lock gear for selective locking engagement with said corresponding one of said locking detents. ### Claim 7 (depends on 6) The surgical instrument of claim 6, wherein when said lock lug is in locking engagement with said corresponding one of said locking detents, said rotation locking disc frictionally engages said mounting fixture to prevent rotation of said surgical end effector about said shaft axis. ### Claim 8 (depends on 2) The surgical instrument of claim 2, wherein said articulation joint comprises: an articulation shaft coupled to said elongate shaft assembly, said articulation shaft defining said articulation axis; and a mounting fixture pivotally journaled on said articulation shaft for selective articulation about said articulation axis, said mounting fixture operably interfacing with said surgical end effector to permit said surgical end effector to selectively rotate about said shaft axis upon application of said at least one rotary positioning motion thereto. ### Claim 9 (depends on 8) The surgical instrument of claim 8, wherein said end effector rotary locking system comprises a rotation locking disc coupled to said surgical end effector for rotational travel therewith upon said application of said at least one rotary positioning motion to said surgical end effector, said rotation locking disc further configured to frictionally engage said mounting fixture to prevent rotation of said surgical end effector about said shaft axis upon application of said axial locking motion to said end effector rotary locking system. ### Claim 10 (depends on 9) The surgical instrument of claim 9, wherein said elongate shaft assembly further comprising an articulation drive shaft configured to apply articulation motions to said mounting fixture upon application of rotary articulation drive motions to said articulation drive shaft. ### Claim 11 (depends on 10) The surgical instrument of claim 10, wherein said rotary drive system comprises: a distal power shaft operably supported by said surgical end effector and configured to apply said rotary control motions to said firing member and said rotary positioning motions to said surgical end effector when said end effector rotary locking system is in said unlocked configuration; and a proximal rotary drive shaft in operable engagement with said distal power shaft. ### Claim 12 A surgical instrument, comprising: an elongate shaft assembly defining a shaft axis; a surgical end effector operably interfacing with said elongate shaft assembly for selective rotation relative to said elongate shaft assembly about said shaft axis, said surgical end effector comprising a firing member configured for selective axial movement therein in response to an application of at least one rotary control motion thereto; means for selectively locking said surgical end effector in any one of a plurality of predetermined rotary orientations about said shaft axis upon application of an axial locking motion thereto; and means for applying said at least one rotary control motion to said firing member and at least one rotary positioning motion to said surgical end effector when said means for selectively locking is in an unlocked configuration to position said surgical end effector in a selected one of said predetermined rotary orientations about said shaft axis. ### Claim 13 (depends on 12) The surgical instrument of claim 12 further comprising means for selectively articulating said surgical end effector about an articulation axis that is transverse to said shaft axis. ### Claim 14 A surgical cutting and fastening instrument, comprising: an elongate shaft assembly defining a shaft axis; a surgical end effector comprising: an elongate channel configured to operably support a surgical staple cartridge therein; an anvil supported relative to said elongate channel for selective movement between open and closed positions relative to said elongate channel; and a cutting member configured for selective axial movement through said elongate channel and said anvil when said anvil is in said closed position in response to an application of at least one rotary control motion thereto and wherein said surgical cutting and fastening instrument further comprises: an end effector rotary locking system interfacing with said elongate channel and said elongate shaft assembly and being configured to lock said elongate channel in rotary orientations about said shaft axis upon application of an axial locking motion to said end effector rotary locking system and to unlock said elongate channel for selective rotation about said shaft axis upon application of an axial unlocking motion to said end effector rotary locking system; and a rotary drive system configured to apply said at least one rotary control motion to said cutting member, said rotary drive system configured to apply at least one rotary positioning motion to said elongate channel when said end effector rotary locking system is in an unlocked configuration to position said surgical end effector in a selected one of said rotary orientations about said shaft axis. ### Claim 15 (depends on 14) The surgical cutting and fastening instrument of claim 14, wherein said elongate channel is operably coupled to said elongate shaft assembly by a mounting fixture configured to permit said elongate channel to selectively rotate about said shaft axis upon application of said at least one rotary positioning motion thereto and wherein said end effector rotary locking system comprises a rotation locking disc coupled to said elongate channel for rotational travel therewith upon said application of said at least one rotary positioning motion to said elongate channel, said rotation locking disc further configured to frictionally engage said mounting fixture to prevent rotation of said surgical end effector about said shaft axis upon application of said axial locking motion to said end effector rotary locking system. ### Claim 16 (depends on 15) The surgical cutting and fastening instrument of claim 15, wherein said rotary drive system comprises: a distal power shaft operably supported by said surgical end effector and configured to apply said rotary control motions to said cutting member and said rotary positioning motions to said elongate channel when said end effector rotary locking system is in said unlocked configuration; and a proximal rotary drive shaft in operable engagement with said distal power shaft. ### Claim 17 (depends on 16) The surgical cutting and fastening instrument of claim 16, wherein said rotary drive system further comprises an anvil drive shaft rotatably supported in said anvil and in operable engagement with said distal power shaft, said proximal rotary drive shaft in operable engagement with said cutting member for axially driving said cutting member through said elongate channel and said anvil. ### Claim 18 (depends on 15) The surgical cutting and fasting instrument of claim 15, further comprising an articulation joint operably coupled to said elongate shaft assembly and said mounting fixture to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis and rotation of said surgical end effector about said shaft axis distal to said articulation joint. ### Claim 19 (depends on 16) The surgical cutting and fastening instrument of claim 16 further comprising: an articulation joint operably coupled to said elongate shaft assembly and said mounting fixture to facilitate selective articulation of said surgical end effector about an articulation axis that is transverse to said shaft axis and rotation of said surgical end effector about said shaft axis distal to said articulation joint; and an articulation drive shaft configured to apply articulation motions to said mounting fixture upon application of rotary articulation drive motions to said articulation drive shaft. ### Claim 20 (depends on 19) The surgical cutting and fastening instrument of claim 19, wherein said proximal rotary drive shaft is coaxially aligned on said shaft axis and wherein said articulation drive shaft comprises an articulation drive shaft axis that is offset from said shaft axis.