Patent Publication Number: US-11648009-B2

Title: Rotatable jaw tip for a surgical instrument

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/840,715, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM, filed Apr. 30, 2019, the entire disclosure of which is hereby incorporated by reference herein. 
    
    
     BACKGROUND 
     The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       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: 
         FIG.  1    is a perspective view of a surgical instrument in accordance with at least one embodiment; 
         FIG.  1 B  is a left side elevation view of the surgical instrument of  FIG.  1   ; 
         FIG.  1 C  is a right side elevation view of the surgical instrument of  FIG.  1   ; 
         FIG.  1 D  is a front elevation view of the surgical instrument of  FIG.  1   ; 
         FIG.  1 E  is a back elevation view of the surgical instrument of  FIG.  1   ; 
         FIG.  1 F  is a plan view of the surgical instrument of  FIG.  1   ; 
         FIG.  1 G  is a bottom view of the surgical instrument of  FIG.  1   ; 
         FIG.  2    is a partial perspective view of the surgical instrument of  FIG.  1   ; 
         FIG.  3    is a partial perspective view of a shaft of the surgical instrument of  FIG.  1   ; 
         FIG.  4    is a perspective view of a nozzle of the shaft of  FIG.  3   ; 
         FIG.  5    is an elevational view of an orientation switch of the surgical instrument of  FIG.  1   ; 
         FIG.  6    is a partial perspective view of a surgical instrument in accordance with at least one embodiment comprising a handle including an orientation sensor and a shaft comprising magnetic elements detectable by the orientation sensor; 
         FIG.  7    is a partial elevational view of a surgical instrument in accordance with at least one embodiment comprising a handle and articulation actuators on opposing sides of the handle; 
         FIG.  8    is a partial plan view of the surgical instrument of  FIG.  7   ; 
         FIG.  9    is a perspective view of a surgical instrument in accordance with at least one embodiment comprising a handle and a rotatable shaft including articulation actuators on opposing sides of the shaft; 
         FIG.  10    is an end view of the shaft of  FIG.  9   ; 
         FIG.  11    is a perspective view of a surgical instrument in accordance with at least one embodiment comprising a handle and a rotatable shaft including two articulation actuators on opposing sides of the shaft; 
         FIG.  12    is an end view of the shaft of  FIG.  11   ; 
         FIG.  13    is a perspective view of a surgical instrument in accordance with at least one embodiment comprising a slideable articulation actuator including two positions and a detent between the two positions; 
         FIG.  14    illustrates a capacitive switch including first and second sides, a first light in the first side which illuminates when the first side is contacted, and a second light in the second side which illuminates when the second side is contacted; 
         FIG.  15    illustrates a two-stage rocker switch for articulating an end effector of a surgical instrument in accordance with at least one embodiment; 
         FIG.  16    is a partial top view of a surgical instrument in accordance with at least one embodiment comprising an end effector and lights positioned on opposite sides of the end effector which are illuminated to indicate the direction in which the end effector is being articulated; 
         FIG.  17    is a partial elevational view of the surgical instrument of  FIG.  16   ; 
         FIG.  18    is a partial elevational view of a surgical instrument in accordance with at least one embodiment comprising directional indicators which are illuminated to indicate which way the end effector is being articulated; 
         FIG.  19    is a perspective view of a surgical instrument in accordance with at least one embodiment including a slideable articulation switch including three positions—an articulate left position, an articulate right position, and a center, or home, position; 
         FIG.  20    is an elevational view of a surgical instrument in accordance with at least one embodiment including an articulation joystick actuatable along a longitudinal axis; 
         FIG.  21    is an elevational view of a surgical instrument in accordance with at least one embodiment including an end effector and an articulation joystick actuatable to articulate the end effector about more than one axis; 
         FIG.  22 A  is a front elevational view of a surgical instrument in accordance with at least one embodiment including a plurality of articulation controls; 
         FIG.  22 B  is a partial side elevational view of the surgical instrument of  FIG.  22 A ; 
         FIG.  23    is an elevational view of a surgical instrument in accordance with at least one embodiment including a 4-way tactile articulation control; 
         FIG.  24    is a partial elevational view of a surgical instrument in accordance with at least one embodiment including a 4-way tactile articulation control including a center, or home, actuator; 
         FIG.  25    is an elevational view of a surgical instrument in accordance with at least one embodiment including a 4-way capacitive surface; 
         FIG.  26 A  illustrates a surgical instrument in accordance with at least one embodiment including an end effector and lights positioned on opposite sides of the end effector which are illuminated to indicate the direction in which the end effector is being articulated; 
         FIG.  26 B  is a perspective view of the surgical instrument of  FIG.  26 A ; 
         FIG.  27    illustrates a surgical instrument in accordance with at least one embodiment including an articulation joint, an end effector articulatable about the articulation joint, and a translatable articulation actuator configured to rotate the end effector about the articulation joint; 
         FIG.  28    is a partial perspective view of an articulatable end effector, an articulation actuator configured to rotate the end effector about an articulation joint, and demarcations on the articulation actuator which indicate the direction in which an end effector is articulated and/or is being articulated; 
         FIG.  29    is a perspective view of a surgical instrument in accordance with at least one embodiment comprising a handle, a rotatable shaft extending from the handle, and a rotatable actuator on the handle configured to rotate the shaft about a longitudinal axis; 
         FIG.  30    is a perspective view of the surgical instrument of  FIG.  29    illustrating the shaft in a rotated position; 
         FIG.  31    is a perspective view of the surgical instrument of  FIG.  29    illustrated with a portion of the handle housing removed; 
         FIG.  32    is a partial detail view of the articulation joint of the surgical instrument of  FIG.  1    illustrated with some components removed; 
         FIG.  33    is a partial detail view of an articulation joint in accordance with at least one alternative embodiment usable with the surgical instrument of  FIG.  1   ; 
         FIG.  34    is a partial perspective view of an articulation drive pin extending from a frame of the end effector of the embodiment of  FIG.  33   ; 
         FIG.  35    is a partial detail view of the embodiment of  FIG.  33    illustrating the end effector in an articulated position; 
         FIG.  36    is a partial detail view of the embodiment of  FIG.  33    illustrating the end effector in another articulated position; 
         FIG.  37    is a partial detail view of the embodiment of  FIG.  33    illustrating the end effector in another articulated position; 
         FIG.  38    is a cross-sectional view of the end effector of the surgical instrument of  FIG.  1    illustrated in an open configuration; 
         FIG.  39    is a partial cross-sectional view of the end effector of the surgical instrument of  FIG.  1    illustrating tissue stops of the end effector; 
         FIG.  40    is a partial cross-sectional view of the end effector of the surgical instrument of  FIG.  1    illustrating a pivot joint between a staple cartridge jaw and an anvil jaw of the end effector; 
         FIG.  41    is a partial plan view of the staple cartridge jaw of  FIG.  40    without a staple cartridge positioned in the staple cartridge jaw; 
         FIG.  42    is a partial perspective view of the anvil jaw of  FIG.  40   ; 
         FIG.  43    is a partial top view of the pivot joint of  FIG.  40   ; 
         FIG.  44    is a partial cross-sectional view of a staple cartridge jaw of an end effector in accordance with at least one embodiment illustrated without a staple cartridge in the staple cartridge jaw; 
         FIG.  45 A  is a partial cross-sectional view of the end effector of  FIG.  44    in an open configuration; 
         FIG.  45 B  is a partial cross-sectional view of the end effector of  FIG.  44    in a closed configuration; 
         FIG.  46    is a partial cross-sectional view of the end effector of the surgical instrument of  FIG.  1    illustrating a firing member in an unfired position; 
         FIG.  47    is a partial cross-sectional view of the end effector of the surgical instrument of  FIG.  1    illustrating a cartridge stop on the anvil jaw configured to stop the proximal insertion of a staple cartridge into the staple cartridge jaw; 
         FIG.  48    is a partial perspective view of the anvil jaw of the surgical instrument of  FIG.  1    illustrating surfaces configured to control the position of the firing member of  FIG.  46    in its unfired position while the end effector is in an open configuration; 
         FIG.  49    is a partial elevational view of the surgical instrument of  FIG.  1   ; 
         FIG.  50    is a partial perspective view of the surgical instrument of  FIG.  1   ; 
         FIG.  51    is a partial elevational view of a surgical instrument in accordance with at least one embodiment; 
         FIG.  52    is a partial perspective view of the surgical instrument of  FIG.  51   ; 
         FIG.  53    is a partial elevational view of a surgical instrument in accordance with at least one embodiment; 
         FIG.  54    is a partial perspective view of the surgical instrument of  FIG.  53   ; 
         FIG.  55    is a perspective view of the surgical instrument of  FIG.  1   ; 
         FIG.  56    is a partial perspective view of a surgical instrument in accordance with at least one embodiment; 
         FIG.  57    is a partial perspective view of a shaft of the surgical instrument of  FIG.  56   ; 
         FIG.  58    is a control algorithm implemented by the surgical instrument of  FIG.  56   ; 
         FIG.  59    is a partial perspective view of a shaft of a surgical instrument in accordance with at least one embodiment; 
         FIG.  60    is a partial perspective view of a shaft of a surgical instrument in accordance with at least one embodiment; 
         FIG.  61    is a partial perspective view of a shaft of a surgical instrument in accordance with at least one embodiment; 
         FIG.  62    is a partial perspective view of a shaft of a surgical instrument in accordance with at least one embodiment; 
         FIG.  63    is a perspective view of a slip ring assembly of a surgical instrument in accordance with at least one embodiment; 
         FIG.  64    is another perspective view of the slip ring assembly of  FIG.  63   ; 
         FIG.  65    is a perspective view of a shaft component of the surgical instrument of  FIG.  63   ; 
         FIG.  66    is a partial perspective view of the surgical instrument of  FIG.  63   ; 
         FIG.  67    is a diagram depicting a shaft orientation sensor array in accordance with at least one embodiment; 
         FIG.  68    is a partial elevational view of an end effector comprising an anvil jaw and a cartridge jaw, wherein the anvil jaw comprises a distal portion that rotatable between a first operational orientation and a second operational orientation which is different than the first operational orientation, and wherein the distal portion of the anvil jaw is illustrated in the first operational orientation; 
         FIG.  69    is a partial perspective view of the anvil jaw of  FIG.  68   , wherein the distal portion of the anvil jaw is illustrated in a partially rotated orientation; 
         FIG.  69 A  depicts a connector holding the distal portion to the anvil jaw of  FIG.  68   ; 
         FIG.  70    is a partial elevational view of the end effector of  FIG.  68   , wherein the distal portion of the anvil jaw is illustrated in the second operational orientation; 
         FIG.  71    is a partial perspective view of the end effector of  FIG.  68   , wherein the distal portion of the anvil jaw is illustrated in the second operational orientation; 
         FIG.  72    is a perspective view of the distal end of a proximal articulation rod in accordance with at least one embodiment; 
         FIG.  73    is a perspective view of the interface between a proximal articulation rod and a distal articulation rod of an articulation drive in accordance with at least one embodiment; 
         FIG.  73 A  is a detail view of the interface between the proximal articulation rod of  FIG.  73    and an articulation lock; 
         FIG.  74    is a perspective view of the interface between the proximal articulation rod of  FIG.  72    with the distal articulation rod of  FIG.  73   ; 
         FIG.  74 A  is a detail view of the interface between the proximal articulation rod of  FIG.  72    with the articulation lock of  FIG.  73 A ; 
         FIG.  75    is a perspective view of the articulation lock of  FIG.  73 A ; 
         FIG.  76    is another perspective view of the articulation lock of  FIG.  73 A ; 
         FIG.  77    illustrates the range of motion for the distal articulation rod of  FIG.  73   ; 
         FIG.  78    is an algorithm for a control system to assess and acquire the position of an articulation system; 
         FIG.  79    depicts the end effector of the surgical instrument of  FIG.  1    and a speed chart algorithm of the staple firing system during a staple firing stroke; 
         FIG.  80    depicts the end effector of the surgical instrument of  FIG.  1    and a speed chart algorithm of the staple firing system in accordance with at least one embodiment; 
         FIG.  81    depicts the end effector of the surgical instrument of  FIG.  1    and a speed chart algorithm of the staple firing system during a staple firing stroke; 
         FIG.  82 A  depicts a graph of the duty cycle of and firing force experienced by the staple firing system of the surgical instrument of  FIG.  1    during three staple firing strokes; 
         FIG.  82 B  depicts a graph of the duty cycle of and firing force experienced by the staple firing system of the surgical instrument of  FIG.  1    during three staple firing strokes at a higher firing speed than that of  FIG.  82 A ; 
         FIG.  83 A  depicts a graph of the duty cycle, firing force, and firing speed experienced by the staple firing system of the surgical instrument of  FIG.  1    during a staple firing stroke through 1.35 mm thick jejunum tissue; 
         FIG.  83 B  depicts a graph of the duty cycle, firing force, and firing speed experienced by the staple firing system of the surgical instrument of  FIG.  1    during a staple firing stroke through 4 mm thick stomach tissue; 
         FIGS.  84 A and  84 B  depict graphs comparing the firing force through tissue as compared to a tissue analogue; 
         FIGS.  85 A and  85 B  depict graphs demonstrating the duty cycle and the firing speed experienced by the staple firing system of the surgical instrument of  FIG.  1    during several staple firing strokes; 
         FIG.  86 A  depicts a graph of the duty cycle of the staple firing system of the surgical instrument of  FIG.  1    during staple firing strokes through thin jejunum tissue; 
         FIG.  86 B  depicts a graph of the duty cycle of the staple firing system of the surgical instrument of  FIG.  1    during staple firing strokes through thick jejunum tissue; 
         FIG.  86 C  depicts a graph of the duty cycle of the staple firing system of the surgical instrument of  FIG.  1    during staple firing strokes through stomach tissue; 
         FIG.  87    depicts a graph of the duty cycle of the staple firing system of the surgical instrument of  FIG.  1    during a staple firing stroke in which the control system increased the speed of the staple firing stroke; 
         FIG.  88    depicts a graph of the duty cycle of the staple firing system of the surgical instrument of  FIG.  1    during a staple firing stroke in which the control system substantially maintained the same speed throughout the staple firing stroke; and 
         FIG.  89    depicts a graph of the duty cycle of the staple firing system of the surgical instrument of  FIG.  1    during a staple firing stroke in which the control system decreased the speed of the staple firing stroke. 
     
    
    
     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 
     Applicant of the present application also owns the following U.S. patent applications that were filed on Apr. 11, 2020 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 16/846,303, entitled METHODS FOR STAPLING TISSUE USING A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2020/0345353; 
     U.S. patent application Ser. No. 16/846,304, entitled ARTICULATION ACTUATORS FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 11,452,528; 
     U.S. patent application Ser. No. 16/846,305, entitled ARTICULATION DIRECTIONAL LIGHTS ON A SURGICAL INSTRUMENT, now U.S. Pat. No. 11,426,251; 
     U.S. patent application Ser. No. 16/846,307, entitled SHAFT ROTATION ACTUATOR ON A SURGICAL INSTRUMENT, now U.S. Pat. No. 11,253,254; 
     U.S. patent application Ser. No. 16/846,308, entitled ARTICULATION CONTROL MAPPING FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 11,471,157; 
     U.S. patent application Ser. No. 16/846,309, entitled INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2020/0345356; 
     U.S. patent application Ser. No. 16/846,310, entitled INTELLIGENT FIRING ASSOCIATED WITH A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2020/0345357; 
     U.S. patent application Ser. No. 16/846,312, entitled TISSUE STOP FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2020/0345359; and 
     U.S. patent application Ser. No. 16/846,313, entitled ARTICULATION PIN FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 11,432,816. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Feb. 21, 2019 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 16/281,658, entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS; 
     U.S. patent application Ser. No. 16/281,670, entitled STAPLE CARTRIDGE COMPRISING A LOCKOUT KEY CONFIGURED TO LIFT A FIRING MEMBER; 
     U.S. patent application Ser. No. 16/281,675, entitled SURGICAL STAPLERS WITH ARRANGEMENTS FOR MAINTAINING A FIRING MEMBER THEREOF IN A LOCKED CONFIGURATION UNLESS A COMPATIBLE CARTRIDGE HAS BEEN INSTALLED THEREIN; 
     U.S. patent application Ser. No. 16/281,685, entitled SURGICAL INSTRUMENT COMPRISING CO-OPERATING LOCKOUT FEATURES; 
     U.S. patent application Ser. No. 16/281,693, entitled SURGICAL STAPLING ASSEMBLY COMPRISING A LOCKOUT AND AN EXTERIOR ACCESS ORIFICE TO PERMIT ARTIFICIAL UNLOCKING OF THE LOCKOUT; 
     U.S. patent application Ser. No. 16/281,704, entitled SURGICAL STAPLING DEVICES WITH FEATURES FOR BLOCKING ADVANCEMENT OF A CAMMING ASSEMBLY OF AN INCOMPATIBLE CARTRIDGE INSTALLED THEREIN; 
     U.S. patent application Ser. No. 16/281,707, entitled STAPLING INSTRUMENT COMPRISING A DEACTIVATABLE LOCKOUT; 
     U.S. patent application Ser. No. 16/281,741, entitled SURGICAL INSTRUMENT COMPRISING A JAW CLOSURE LOCKOUT; 
     U.S. patent application Ser. No. 16/281,762, entitled SURGICAL STAPLING DEVICES WITH CARTRIDGE COMPATIBLE CLOSURE AND FIRING LOCKOUT ARRANGEMENTS; 
     U.S. patent application Ser. No. 16/281,666, entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS; 
     U.S. patent application Ser. No. 16/281,672, entitled SURGICAL STAPLING DEVICES WITH ASYMMETRIC CLOSURE FEATURES; 
     U.S. patent application Ser. No. 16/281,678, entitled ROTARY DRIVEN FIRING MEMBERS WITH DIFFERENT ANVIL AND CHANNEL ENGAGEMENT FEATURES; and 
     U.S. patent application Ser. No. 16/281,682, entitled SURGICAL STAPLING DEVICE WITH SEPARATE ROTARY DRIVEN CLOSURE AND FIRING SYSTEMS AND FIRING MEMBER THAT ENGAGES BOTH JAWS WHILE FIRING. 
     Applicant of the present application owns the following U.S. Provisional patent applications that were filed on Feb. 19, 2019 and which are each herein incorporated by reference in their respective entireties: 
     U.S. Provisional Patent Application Ser. No. 62/807,310, entitled METHODS FOR CONTROLLING A POWERED SURGICAL STAPLER THAT HAS SEPARATE ROTARY CLOSURE AND FIRING SYSTEMS; 
     U.S. Provisional Patent Application Ser. No. 62/807,319, entitled SURGICAL STAPLING DEVICES WITH IMPROVED LOCKOUT SYSTEMS; and 
     U.S. Provisional Patent Application Ser. No. 62/807,309, entitled SURGICAL STAPLING DEVICES WITH IMPROVED ROTARY DRIVEN CLOSURE SYSTEMS. 
     Applicant of the present application owns the following U.S. Provisional patent applications, filed on Mar. 28, 2018, each of which is herein incorporated by reference in its entirety: 
     U.S. Provisional Patent Application Ser. No. 62/649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; 
     U.S. Provisional Patent Application Ser. No. 62/649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; 
     U.S. Provisional Patent Application Ser. No. 62/649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS; 
     U.S. Provisional Patent Application Ser. No. 62/649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; 
     U.S. Provisional Patent Application Ser. No. 62/649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; 
     U.S. Provisional Patent Application Ser. No. 62/649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; 
     U.S. Provisional Patent Application Ser. No. 62/649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; 
     U.S. Provisional Patent Application Ser. No. 62/649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; 
     U.S. Provisional Patent Application Ser. No. 62/649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; 
     U.S. Provisional Patent Application Ser. No. 62/649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; 
     U.S. Provisional Patent Application Ser. No. 62/649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES; 
     U.S. Provisional Patent Application Ser. No. 62/649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. Provisional Patent Application Ser. No. 62/649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and 
     U.S. Provisional Patent Application Ser. No. 62/649,323, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS. 
     Applicant of the present application owns the following U.S. Provisional patent application, filed on Mar. 30, 2018, which is herein incorporated by reference in its entirety: 
     U.S. Provisional Patent Application Ser. No. 62/650,887, entitled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES. 
     Applicant of the present application owns the following U.S. patent application, filed on Dec. 4, 2018, which is herein incorporated by reference in its entirety: 
     U.S. patent application Ser. No. 16/209,423, entitled METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Aug. 20, 2018 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 16/105,101, entitled METHOD FOR FABRICATING SURGICAL STAPLER ANVILS; 
     U.S. patent application Ser. No. 16/105,183, entitled REINFORCED DEFORMABLE ANVIL TIP FOR SURGICAL STAPLER ANVIL; 
     U.S. patent application Ser. No. 16/105,150, entitled SURGICAL STAPLER ANVILS WITH STAPLE DIRECTING PROTRUSIONS AND TISSUE STABILITY FEATURES; 
     U.S. patent application Ser. No. 16/105,098, entitled FABRICATING TECHNIQUES FOR SURGICAL STAPLER ANVILS; 
     U.S. patent application Ser. No. 16/105,140, entitled SURGICAL STAPLER ANVILS WITH TISSUE STOP FEATURES CONFIGURED TO AVOID TISSUE PINCH; 
     U.S. patent application Ser. No. 16/105,081, entitled METHOD FOR OPERATING A POWERED ARTICULATABLE SURGICAL INSTRUMENT; 
     U.S. patent application Ser. No. 16/105,094, entitled SURGICAL INSTRUMENTS WITH PROGRESSIVE JAW CLOSURE ARRANGEMENTS; 
     U.S. patent application Ser. No. 16/105,097, entitled POWERED SURGICAL INSTRUMENTS WITH CLUTCHING ARRANGEMENTS TO CONVERT LINEAR DRIVE MOTIONS TO ROTARY DRIVE MOTIONS; 
     U.S. patent application Ser. No. 16/105,104, entitled POWERED ARTICULATABLE SURGICAL INSTRUMENTS WITH CLUTCHING AND LOCKING ARRANGEMENTS FOR LINKING AN ARTICULATION DRIVE SYSTEM TO A FIRING DRIVE SYSTEM; 
     U.S. patent application Ser. No. 16/105,119, entitled ARTICULATABLE MOTOR POWERED SURGICAL INSTRUMENTS WITH DEDICATED ARTICULATION MOTOR ARRANGEMENTS; 
     U.S. patent application Ser. No. 16/105,160, entitled SWITCHING ARRANGEMENTS FOR MOTOR POWERED ARTICULATABLE SURGICAL INSTRUMENTS; and 
     U.S. Design patent application Ser. No. 29/660,252, entitled SURGICAL STAPLER ANVILS. 
     Applicant of the present application owns the following U.S. patent applications and U.S. patents that are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/386,185, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF, now U.S. Patent Application Publication No. 2018/0168642; 
     U.S. patent application Ser. No. 15/386,230, entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168649; 
     U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2018/0168646; 
     U.S. patent application Ser. No. 15/386,209, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF, now U.S. Patent Application Publication No. 2018/0168645; 
     U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES, now U.S. Patent Application Publication No. 2018/0168644; 
     U.S. patent application Ser. No. 15/386,240, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, now U.S. Patent Application Publication No. 2018/0168651; 
     U.S. patent application Ser. No. 15/385,939, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018/0168629; 
     U.S. patent application Ser. No. 15/385,941, entitled SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168630; 
     U.S. patent application Ser. No. 15/385,943, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018/0168631; 
     U.S. patent application Ser. No. 15/385,950, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now U.S. Patent Application Publication No. 2018/0168635; 
     U.S. patent application Ser. No. 15/385,945, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018/0168632; 
     U.S. patent application Ser. No. 15/385,946, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018/0168633; 
     U.S. patent application Ser. No. 15/385,951, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE, now U.S. Patent Application Publication No. 2018/0168636; 
     U.S. patent application Ser. No. 15/385,953, entitled METHODS OF STAPLING TISSUE, now U.S. Patent Application Publication No. 2018/0168637; 
     U.S. patent application Ser. No. 15/385,954, entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2018/0168638; 
     U.S. patent application Ser. No. 15/385,955, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0168639; 
     U.S. patent application Ser. No. 15/385,948, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018/0168584; 
     U.S. patent application Ser. No. 15/385,956, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now U.S. Patent Application Publication No. 2018/0168640; 
     U.S. patent application Ser. No. 15/385,958, entitled SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT, now U.S. Patent Application Publication No. 2018/0168641; 
     U.S. patent application Ser. No. 15/385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018/0168634; 
     U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now U.S. Patent Application Publication No. 2018/0168597; 
     U.S. patent application Ser. No. 15/385,898, entitled STAPLE-FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES, now U.S. Patent Application Publication No. 2018/0168599; 
     U.S. patent application Ser. No. 15/385,899, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now U.S. Patent Application Publication No. 2018/0168600; 
     U.S. patent application Ser. No. 15/385,901, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN, now U.S. Patent Application Publication No. 2018/0168602; 
     U.S. patent application Ser. No. 15/385,902, entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER, now U.S. Patent Application Publication No. 2018/0168603; 
     U.S. patent application Ser. No. 15/385,904, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No. 2018/0168605; 
     U.S. patent application Ser. No. 15/385,905, entitled FIRING ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application Publication No. 2018/0168606; 
     U.S. patent application Ser. No. 15/385,907, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication No. 2018/0168608; 
     U.S. patent application Ser. No. 15/385,908, entitled FIRING ASSEMBLY COMPRISING A FUSE, now U.S. Patent Application Publication No. 2018/0168609; 
     U.S. patent application Ser. No. 15/385,909, entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now U.S. Patent Application Publication No. 2018/0168610; 
     U.S. patent application Ser. No. 15/385,920, entitled STAPLE-FORMING POCKET ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0168620; 
     U.S. patent application Ser. No. 15/385,913, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS, now U.S. Patent Application Publication No. 2018/0168614; 
     U.S. patent application Ser. No. 15/385,914, entitled METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT, now U.S. Patent Application Publication No. 2018/0168615; 
     U.S. patent application Ser. No. 15/385,893, entitled BILATERALLY ASYMMETRIC STAPLE-FORMING POCKET PAIRS, now U.S. Patent Application Publication No. 2018/0168594; 
     U.S. patent application Ser. No. 15/385,929, entitled CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168626; 
     U.S. patent application Ser. No. 15/385,911, entitled SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168612; 
     U.S. patent application Ser. No. 15/385,927, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, now U.S. Patent Application Publication No. 2018/0168625; 
     U.S. patent application Ser. No. 15/385,917, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS, now U.S. Patent Application Publication No. 2018/0168617; 
     U.S. patent application Ser. No. 15/385,900, entitled STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS, now U.S. Patent Application Publication No. 2018/0168601; 
     U.S. patent application Ser. No. 15/385,931, entitled NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS, now U.S. Patent Application Publication No. 2018/0168627; 
     U.S. patent application Ser. No. 15/385,915, entitled FIRING MEMBER PIN ANGLE, now U.S. Patent Application Publication No. 2018/0168616; 
     U.S. patent application Ser. No. 15/385,897, entitled STAPLE-FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES, now U.S. Patent Application Publication No. 2018/0168598; 
     U.S. patent application Ser. No. 15/385,922, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now U.S. Patent Application Publication No. 2018/0168622; 
     U.S. patent application Ser. No. 15/385,924, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now U.S. Patent Application Publication No. 2018/0168624; 
     U.S. patent application Ser. No. 15/385,910, entitled ANVIL HAVING A KNIFE SLOT WIDTH, now U.S. Patent Application Publication No. 2018/0168611; 
     U.S. patent application Ser. No. 15/385,903, entitled CLOSURE MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168604; 
     U.S. patent application Ser. No. 15/385,906, entitled FIRING MEMBER PIN CONFIGURATIONS, now U.S. Patent Application Publication No. 2018/0168607; 
     U.S. patent application Ser. No. 15/386,188, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Patent Application Publication No. 2018/0168585; 
     U.S. patent application Ser. No. 15/386,192, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES, now U.S. Patent Application Publication No. 2018/0168643; 
     U.S. patent application Ser. No. 15/386,206, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now U.S. Patent Application Publication No. 2018/0168586; 
     U.S. patent application Ser. No. 15/386,226, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168648; 
     U.S. patent application Ser. No. 15/386,222, entitled SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES, now U.S. Patent Application Publication No. 2018/0168647; 
     U.S. patent application Ser. No. 15/386,236, entitled CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168650; 
     U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT, now U.S. Patent Application Publication No. 2018/0168589; 
     U.S. patent application Ser. No. 15/385,889, entitled SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2018/0168590; 
     U.S. patent application Ser. No. 15/385,890, entitled SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS, now U.S. Patent Application Publication No. 2018/0168591; 
     U.S. patent application Ser. No. 15/385,891, entitled SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, now U.S. Patent Application Publication No. 2018/0168592; 
     U.S. patent application Ser. No. 15/385,892, entitled SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now U.S. Patent Application Publication No. 2018/0168593; 
     U.S. patent application Ser. No. 15/385,894, entitled SHAFT ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application Publication No. 2018/0168595; 
     U.S. patent application Ser. No. 15/385,895, entitled SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now U.S. Patent Application Publication No. 2018/0168596; 
     U.S. patent application Ser. No. 15/385,916, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168575; 
     U.S. patent application Ser. No. 15/385,918, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168618; 
     U.S. patent application Ser. No. 15/385,919, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168619; 
     U.S. patent application Ser. No. 15/385,921, entitled SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES, now U.S. Patent Application Publication No. 2018/0168621; 
     U.S. patent application Ser. No. 15/385,923, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168623; 
     U.S. patent application Ser. No. 15/385,925, entitled JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now U.S. Patent Application Publication No. 2018/0168576; 
     U.S. patent application Ser. No. 15/385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168577; 
     U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2018/0168578; 
     U.S. patent application Ser. No. 15/385,930, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS, now U.S. Patent Application Publication No. 2018/0168579; 
     U.S. patent application Ser. No. 15/385,932, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT, now U.S. Patent Application Publication No. 2018/0168628; 
     U.S. patent application Ser. No. 15/385,933, entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK, now U.S. Patent Application Publication No. 2018/0168580; 
     U.S. patent application Ser. No. 15/385,934, entitled ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM, now U.S. Patent Application Publication No. 2018/0168581; 
     U.S. patent application Ser. No. 15/385,935, entitled LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION, now U.S. Patent Application Publication No. 2018/0168582; 
     U.S. patent application Ser. No. 15/385,936, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES, now U.S. Patent Application Publication No. 2018/0168583; 
     U.S. patent application Ser. No. 14/318,996, entitled FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFIGURATIONS, now U.S. Patent Application Publication No. 2015/0297228; 
     U.S. patent application Ser. No. 14/319,006, entitled FASTENER CARTRIDGE COMPRISING FASTENER CAVITIES INCLUDING FASTENER CONTROL FEATURES, now U.S. Pat. No. 10,010,324; 
     U.S. patent application Ser. No. 14/318,991, entitled SURGICAL FASTENER CARTRIDGES WITH DRIVER STABILIZING ARRANGEMENTS, now U.S. Pat. No. 9,833,241; 
     U.S. patent application Ser. No. 14/319,004, entitled SURGICAL END EFFECTORS WITH FIRING ELEMENT MONITORING ARRANGEMENTS, now U.S. Pat. No. 9,844,369; 
     U.S. patent application Ser. No. 14/319,008, entitled FASTENER CARTRIDGE COMPRISING NON-UNIFORM FASTENERS, now U.S. Patent Application Publication No. 2015/0297232; 
     U.S. patent application Ser. No. 14/318,997, entitled FASTENER CARTRIDGE COMPRISING DEPLOYABLE TISSUE ENGAGING MEMBERS, now U.S. Patent Application Publication No. 2015/0297229; 
     U.S. patent application Ser. No. 14/319,002, entitled FASTENER CARTRIDGE COMPRISING TISSUE CONTROL FEATURES, now U.S. Pat. No. 9,877,721; 
     U.S. patent application Ser. No. 14/319,013, entitled FASTENER CARTRIDGE ASSEMBLIES AND STAPLE RETAINER COVER ARRANGEMENTS, now U.S. Patent Application Publication No. 2015/0297233; and 
     U.S. patent application Ser. No. 14/319,016, entitled FASTENER CARTRIDGE INCLUDING A LAYER ATTACHED THERETO, now U.S. Patent Application Publication No. 2015/0297235. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 24, 2016 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/191,775, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S. Patent Application Publication No. 2017/0367695; 
     U.S. patent application Ser. No. 15/191,807, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now U.S. Patent Application Publication No. 2017/0367696; 
     U.S. patent application Ser. No. 15/191,834, entitled STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME, now U.S. Patent Application Publication No. 2017/0367699; 
     U.S. patent application Ser. No. 15/191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now U.S. Patent Application Publication No. 2017/0367698; and 
     U.S. patent application Ser. No. 15/191,818, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now U.S. Patent Application Publication No. 2017/0367697. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 24, 2016 and which are each herein incorporated by reference in their respective entireties: 
     U.S. Design patent application Ser. No. 29/569,218, entitled SURGICAL FASTENER, now U.S. Design Pat. No. D826,405; 
     U.S. Design patent application Ser. No. 29/569,227, entitled SURGICAL FASTENER, now U.S. Design Pat. No. D822,206; 
     U.S. Design patent application Ser. No. 29/569,259, entitled SURGICAL FASTENER CARTRIDGE; and 
     U.S. Design patent application Ser. No. 29/569,264, entitled SURGICAL FASTENER CARTRIDGE. 
     Applicant of the present application owns the following patent applications that were filed on Apr. 1, 2016 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent Application Publication No. 2017/0281171; 
     U.S. patent application Ser. No. 15/089,321, entitled MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Pat. No. 10,271,851; 
     U.S. patent application Ser. No. 15/089,326, entitled SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD, now U.S. Patent Application Publication No. 2017/0281172; 
     U.S. patent application Ser. No. 15/089,263, entitled SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now U.S. Patent Application Publication No. 2017/0281165; 
     U.S. patent application Ser. No. 15/089,262, entitled ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM, now U.S. Patent Application Publication No. 2017/0281161; 
     U.S. patent application Ser. No. 15/089,277, entitled SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER, now U.S. Patent Application Publication No. 2017/0281166; 
     U.S. patent application Ser. No. 15/089,296, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS, now U.S. Patent Application Publication No. 2017/0281168; 
     U.S. patent application Ser. No. 15/089,258, entitled SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S. Patent Application Publication No. 2017/0281178; 
     U.S. patent application Ser. No. 15/089,278, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE, now U.S. Patent Application Publication No. 2017/0281162; 
     U.S. patent application Ser. No. 15/089,284, entitled SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent Application Publication No. 2017/0281186; 
     U.S. patent application Ser. No. 15/089,295, entitled SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now U.S. Patent Application Publication No. 2017/0281187; 
     U.S. patent application Ser. No. 15/089,300, entitled SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S. Patent Application Publication No. 2017/0281179; 
     U.S. patent application Ser. No. 15/089,196, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Patent Application Publication No. 2017/0281183; 
     U.S. patent application Ser. No. 15/089,203, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S. Patent Application Publication No. 2017/0281184; 
     U.S. patent application Ser. No. 15/089,210, entitled SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No. 2017/0281185; 
     U.S. patent application Ser. No. 15/089,324, entitled SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Patent Application Publication No. 2017/0281170; 
     U.S. patent application Ser. No. 15/089,335, entitled SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S. Patent Application Publication No. 2017/0281155; 
     U.S. patent application Ser. No. 15/089,339, entitled SURGICAL STAPLING INSTRUMENT, now U.S. Patent Application Publication No. 2017/0281173; 
     U.S. patent application Ser. No. 15/089,253, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS, now U.S. Patent Application Publication No. 2017/0281177; 
     U.S. patent application Ser. No. 15/089,304, entitled SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S. Patent Application Publication No. 2017/0281188; 
     U.S. patent application Ser. No. 15/089,331, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS, now U.S. Patent Application Publication No. 2017/0281180; 
     U.S. patent application Ser. No. 15/089,336, entitled STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES, now U.S. Patent Application Publication No. 2017/0281164; 
     U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S. Patent Application Publication No. 2017/0281189; 
     U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Patent Application Publication No. 2017/0281169; and 
     U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL, now U.S. Patent Application Publication No. 2017/0281174. 
     Applicant of the present application also owns the U.S. patent applications identified below which were filed on Dec. 30, 2015 which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0189018; 
     U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0189019; and 
     U.S. patent application Ser. No. 14/984,552, entitled SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS, now U.S. Pat. No. 10,265,068. 
     Applicant of the present application also owns the U.S. patent applications identified below which were filed on Feb. 9, 2016, which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 15/019,220, entitled SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR, now U.S. Pat. No. 10,245,029; 
     U.S. patent application Ser. No. 15/019,228, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224342; 
     U.S. patent application Ser. No. 15/019,196, entitled SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Patent Application Publication No. 2017/0224330; 
     U.S. patent application Ser. No. 15/019,206, entitled SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Patent Application Publication No. 2017/0224331; 
     U.S. patent application Ser. No. 15/019,215, entitled SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224332; 
     U.S. patent application Ser. No. 15/019,227, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224334; 
     U.S. patent application Ser. No. 15/019,235, entitled SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS, now U.S. Pat. No. 10,245,030; 
     U.S. patent application Ser. No. 15/019,230, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224335; and 
     U.S. patent application Ser. No. 15/019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224343. 
     Applicant of the present application also owns the U.S. patent applications identified below which were filed on Feb. 12, 2016, which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,258,331; 
     U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0231626; 
     U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0231627; and 
     U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0231628. 
     Applicant of the present application owns the following patent applications that were filed on Jun. 18, 2015 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S. Pat. No. 10,182,818; 
     U.S. patent application Ser. No. 14/742,941, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now U.S. Pat. No. 10,052,102; 
     U.S. patent application Ser. No. 14/742,933, entitled SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING, now U.S. Pat. No. 10,154,841; 
     U.S. patent application Ser. No. 14/742,914, entitled MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016/0367255; 
     U.S. patent application Ser. No. 14/742,900, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT, now U.S. Patent Application Publication No. 2016/0367254; 
     U.S. patent application Ser. No. 14/742,885, entitled DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016/0367246; and 
     U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,178,992. 
     Applicant of the present application owns the following patent applications that were filed on Mar. 6, 2015 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/640,746, entitled POWERED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246; 
     U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016/02561185; 
     U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication No. 2016/0256154; 
     U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now U.S. Patent Application Publication No. 2016/0256071; 
     U.S. patent application Ser. No. 14/640,831, entitled MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148; 
     U.S. patent application Ser. No. 14/640,859, entitled TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No. 10,052,044; 
     U.S. patent application Ser. No. 14/640,817, entitled INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,924,961; 
     U.S. patent application Ser. No. 14/640,844, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No. 10,045,776; 
     U.S. patent application Ser. No. 14/640,837, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No. 9,993,248; 
     U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER, now U.S. Patent Application Publication No. 2016/0256160; 
     U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. Pat. No. 9,901,342; and 
     U.S. patent application Ser. No. 14/640,780, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat. No. 10,245,033. 
     Applicant of the present application owns the following patent applications that were filed on Feb. 27, 2015, and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/633,576, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. Pat. No. 10,045,779; 
     U.S. patent application Ser. No. 14/633,546, entitled SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. Pat. No. 10,180,463; 
     U.S. patent application Ser. No. 14/633,560, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES, now U.S. Patent Application Publication No. 2016/0249910; 
     U.S. patent application Ser. No. 14/633,566, entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S. Pat. No. 10,182,816; 
     U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S. Patent Application Publication No. 2016/0249916; 
     U.S. patent application Ser. No. 14/633,542, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118; 
     U.S. patent application Ser. No. 14/633,548, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028; 
     U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258; 
     U.S. patent application Ser. No. 14/633,541, entitled MODULAR STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250; and 
     U.S. patent application Ser. No. 14/633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. Pat. No. 10,159,483. 
     Applicant of the present application owns the following patent applications that were filed on Dec. 18, 2014 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. Pat. No. 9,844,374; 
     U.S. patent application Ser. No. 14/574,483, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat. No. 10,188,385; 
     U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,844,375; 
     U.S. patent application Ser. No. 14/575,148, entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748; 
     U.S. patent application Ser. No. 14/575,130, entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. Pat. No. 10,245,027; 
     U.S. patent application Ser. No. 14/575,143, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat. No. 10,004,501; 
     U.S. patent application Ser. No. 14/575,117, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309; 
     U.S. patent application Ser. No. 14/575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355; 
     U.S. patent application Ser. No. 14/574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S. Pat. No. 9,987,000; and 
     U.S. patent application Ser. No. 14/574,500, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S. Pat. No. 10,117,649. 
     Applicant of the present application owns the following patent applications that were filed on Mar. 1, 2013 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309; 
     U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,782,169; 
     U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0249557; 
     U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No. 9,358,003; 
     U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,554,794; 
     U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767; 
     U.S. patent application Ser. No. 13/782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat. No. 9,468,438; 
     U.S. patent application Ser. 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 Ser. No. 13/782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No. 9,398,911; and 
     U.S. patent application Ser. No. 13/782,536, entitled SURGICAL INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986. 
     Applicant of the present application also owns the following patent applications that were filed on Mar. 14, 2013 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No. 9,687,230; 
     U.S. patent application Ser. No. 13/803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,332,987; 
     U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,883,860; 
     U.S. patent application Ser. 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 Ser. No. 13/803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,808,244; 
     U.S. patent application Ser. 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 Ser. No. 13/803,066, entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,623; 
     U.S. patent application Ser. No. 13/803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,351,726; 
     U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,351,727; and 
     U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,888,919. 
     Applicant of the present application also owns the following patent application that was filed on Mar. 7, 2014 and is herein incorporated by reference in its entirety: 
     U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629. 
     Applicant of the present application also owns the following patent applications that were filed on Mar. 26, 2014 and are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2015/0272582; 
     U.S. patent application Ser. No. 14/226,099, entitled STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977; 
     U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent Application Publication No. 2015/0272580; 
     U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S. Pat. No. 10,013,049; 
     U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No. 9,743,929; 
     U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,028,761; 
     U.S. patent application Ser. No. 14/226,116, entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent Application Publication No. 2015/0272571; 
     U.S. patent application Ser. No. 14/226,071, entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat. No. 9,690,362; 
     U.S. patent application Ser. No. 14/226,097, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No. 9,820,738; 
     U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,004,497; 
     U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2015/0272557; 
     U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No. 9,804,618; 
     U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Pat. No. 9,733,663; 
     U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and 
     U.S. patent application Ser. No. 14/226,125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No. 10,201,364. 
     Applicant of the present application also owns the following patent applications that were filed on Sep. 5, 2014 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 10,111,679; 
     U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No. 9,724,094; 
     U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No. 9,737,301; 
     U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR&#39;S OUTPUT OR INTERPRETATION, now U.S. Pat. No. 9,757,128; 
     U.S. patent application Ser. No. 14/479,110, entitled POLARITY OF HALL MAGNET TO IDENTIFY CARTRIDGE TYPE, now U.S. Pat. No. 10,016,199; 
     U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat. No. 10,135,242; 
     U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and 
     U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent Application Publication No. 2016/0066913. 
     Applicant of the present application also owns the following patent applications that were filed on Apr. 9, 2014 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat. No. 9,826,976; 
     U.S. patent application Ser. No. 14/248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110; 
     U.S. patent application Ser. No. 14/248,595, entitled SURGICAL SYSTEM COMPRISING FIRST AND SECOND DRIVE SYSTEMS, now U.S. Pat. No. 9,844,368; 
     U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication No. 2014/0309666; 
     U.S. patent application Ser. No. 14/248,591, entitled SURGICAL INSTRUMENT COMPRISING A GAP SETTING SYSTEM, now U.S. Pat. No. 10,149,680; 
     U.S. patent application Ser. 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. Pat. No. 9,801,626; 
     U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICAL STAPLER, now U.S. Pat. No. 9,867,612; 
     U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,136,887; and 
     U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now U.S. Pat. No. 9,814,460. 
     Applicant of the present application also owns the following patent applications that were filed on Apr. 16, 2013 and which are each herein incorporated by reference in their respective entirety: 
     U.S. Provisional Patent Application Ser. No. 61/812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR; 
     U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEAR CUTTER WITH POWER; 
     U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP; 
     U.S. Provisional Patent Application Ser. No. 61/812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and 
     U.S. Provisional Patent Application Ser. No. 61/812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR. 
     Applicant of the present application owns the following U.S. Provisional patent applications, filed on Dec. 28, 2017, the disclosure of each of which is herein incorporated by reference in its entirety: 
     U.S. Provisional Patent Application Ser. No. 62/611,341, entitled INTERACTIVE SURGICAL PLATFORM; 
     U.S. Provisional Patent Application Ser. No. 62/611,340, entitled CLOUD-BASED MEDICAL ANALYTICS; and 
     U.S. Provisional Patent Application Ser. No. 62/611,339, entitled ROBOT ASSISTED SURGICAL PLATFORM. 
     Applicant of the present application owns the following U.S. Provisional patent applications, filed on Mar. 28, 2018, each of which is herein incorporated by reference in its entirety: 
     U.S. Provisional Patent Application Ser. No. 62/649,302, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; 
     U.S. Provisional Patent Application Ser. No. 62/649,294, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; 
     U.S. Provisional Patent Application Ser. No. 62/649,300, entitled SURGICAL HUB SITUATIONAL AWARENESS; 
     U.S. Provisional Patent Application Ser. No. 62/649,309, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; 
     U.S. Provisional Patent Application Ser. No. 62/649,310, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; 
     U.S. Provisional Patent Application Ser. No. 62/649,291, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; 
     U.S. Provisional Patent Application Ser. No. 62/649,296, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; 
     U.S. Provisional Patent Application Ser. No. 62/649,333, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; 
     U.S. Provisional Patent Application Ser. No. 62/649,327, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; 
     U.S. Provisional Patent Application Ser. No. 62/649,315, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; 
     U.S. Provisional Patent Application Ser. No. 62/649,313, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES; 
     U.S. Provisional Patent Application Ser. No. 62/649,320, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. Provisional Patent Application Ser. No. 62/649,307, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and 
     U.S. Provisional Patent Application Ser. No. 62/649,323, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS. 
     Applicant of the present application owns the following U.S. patent applications, filed on Mar. 29, 2018, each of which is herein incorporated by reference in its entirety: 
     U.S. patent application Ser. No. 15/940,641, entitled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES; 
     U.S. patent application Ser. No. 15/940,648, entitled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES; 
     U.S. patent application Ser. No. 15/940,656, entitled SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES; 
     U.S. patent application Ser. No. 15/940,666, entitled SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS; 
     U.S. patent application Ser. No. 15/940,670, entitled COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS; 
     U.S. patent application Ser. No. 15/940,677, entitled SURGICAL HUB CONTROL ARRANGEMENTS; 
     U.S. patent application Ser. No. 15/940,632, entitled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD; 
     U.S. patent application Ser. No. 15/940,640, entitled COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS; 
     U.S. patent application Ser. No. 15/940,645, entitled SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT; 
     U.S. patent application Ser. No. 15/940,649, entitled DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME; 
     U.S. patent application Ser. No. 15/940,654, entitled SURGICAL HUB SITUATIONAL AWARENESS; 
     U.S. patent application Ser. No. 15/940,663, entitled SURGICAL SYSTEM DISTRIBUTED PROCESSING; 
     U.S. patent application Ser. No. 15/940,668, entitled AGGREGATION AND REPORTING OF SURGICAL HUB DATA; 
     U.S. patent application Ser. No. 15/940,671, entitled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER; 
     U.S. patent application Ser. No. 15/940,686, entitled DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE; 
     U.S. patent application Ser. No. 15/940,700, entitled STERILE FIELD INTERACTIVE CONTROL DISPLAYS; 
     U.S. patent application Ser. No. 15/940,629, entitled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS; 
     U.S. patent application Ser. No. 15/940,704, entitled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT; 
     U.S. patent application Ser. No. 15/940,722, entitled CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY; and 
     U.S. patent application Ser. No. 15/940,742, entitled DUAL CMOS ARRAY IMAGING. 
     Applicant of the present application owns the following U.S. patent applications, filed on Mar. 29, 2018, each of which is herein incorporated by reference in its entirety: 
     U.S. patent application Ser. No. 15/940,636, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES; 
     U.S. patent application Ser. No. 15/940,653, entitled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS; 
     U.S. patent application Ser. No. 15/940,660, entitled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER; 
     U.S. patent application Ser. No. 15/940,679, entitled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET; 
     U.S. patent application Ser. No. 15/940,694, entitled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION; 
     U.S. patent application Ser. No. 15/940,634, entitled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES; 
     U.S. patent application Ser. No. 15/940,706, entitled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and 
     U.S. patent application Ser. No. 15/940,675, entitled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES. 
     Applicant of the present application owns the following U.S. patent applications, filed on Mar. 29, 2018, each of which is herein incorporated by reference in its entirety: 
     U.S. patent application Ser. No. 15/940,627, entitled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. patent application Ser. No. 15/940,637, entitled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. patent application Ser. No. 15/940,642, entitled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. patent application Ser. No. 15/940,676, entitled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. patent application Ser. No. 15/940,680, entitled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. patent application Ser. No. 15/940,683, entitled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; 
     U.S. patent application Ser. No. 15/940,690, entitled DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and 
     U.S. patent application Ser. No. 15/940,711, entitled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS. 
     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. 
     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. 
     The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers 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. 
     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&#39;s body or can be inserted through an access device that has a working channel through which the end effector and elongate shaft of a surgical instrument can be advanced. 
     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 the 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. 
     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. 
     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. 
     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. 
     A surgical instrument  10000  is illustrated in  FIG.  1   . The surgical instrument  10000  comprises a handle  10100 , a shaft  10200  extending from the handle  10100 , and an end effector  10400 . The end effector  10400  comprises a first jaw  10410  configured to receive a staple cartridge and a second jaw  10420  movable relative to the first jaw  10410 . The second jaw  10420  comprises an anvil including staple forming pockets defined therein. The surgical instrument  10000  further comprises a closure actuator  10140  configured to drive a closure system of the surgical instrument  10000  and move the second jaw  10420  between an unclamped position and a clamped position. Referring to  FIG.  3   , the closure actuator  10140  is operably coupled with a closure tube  10240  that is advanced distally when the closure actuator  10140  is closed. In such instances, the closure tube  10240  contacts the second jaw and cams and/or pushes the second jaw  10420  downwardly into its clamped position. The second jaw  10420  is pivotably coupled to the first jaw about a pivot axis. That said, in alternative embodiments, the second jaw can translate and rotate as it is being moved into its clamped position. Moreover, in various alternative embodiments, a surgical instrument comprises a staple cartridge jaw is movable between an unclamped position and a clamped position relative to an anvil jaw. In any event, the handle  10100  comprises a lock configured to releasably hold the closure actuator  10140  in its clamped position. The handle  10100  further comprises release actuators  10180   a ,  10180   b  which, when either one is actuated, unlock the closure actuator  10140  such that the end effector can be re-opened. In various alternative embodiments, the handle  10100  comprises an electric motor configured to move the closure tube  10240  proximally and/or distally when actuated by the clinician. 
     The end effector  10400  is attached to the shaft  10200  about an articulation joint  10500  and is rotatable within a plane about an articulation axis. The shaft  10200  defines a longitudinal axis and the end effector  10400  is articulatable between a position in which the end effector  10400  is aligned with the longitudinal axis and positions in which the end effector  10400  extends at a transverse angle relative to the longitudinal axis. The handle  10100  comprises an electric motor and a control system configured to control the operation of the electric motor. The electric motor comprises a brushless DC motor; however, the electric motor can comprise any suitable motor, such as a brushed DC motor, for example. The entire disclosure of U.S. Pat. No. 10,149,683, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, which issued on Dec. 11, 2018, is incorporated by reference herein. The entire disclosure of U.S. Patent Application Publication No. 2018/0125481, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, which published on May 10, 2018, is incorporated by reference herein. The handle  10100  further comprises a replaceable and/or rechargeable battery  10300  attachable to the handle housing which powers the surgical instrument  10000 . The entire disclosure of U.S. Pat. No. 8,632,525, entitled POWER CONTROL ARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES, which issued on Jan. 21, 2014, is incorporated by reference herein. The electric motor is operably coupled with a firing drive  10250  of the surgical instrument  10000  and is configured to drive a firing member of the firing drive  10250  through a staple firing stroke. The electric motor comprises a rotatable output including a gear engaged with a translatable rack of the firing drive  10250 . The electric motor is operated in a first direction to drive the firing member through the staple firing stroke and a second, or opposite, direction to retract the firing member and/or reset the firing drive  10250 . The surgical instrument  10000  further comprises an actuator  10150  in communication with the motor control system which, when actuated or rotated, signals to the motor control system to operate the electric motor in the first direction and begin the staple firing stroke. If the actuator  10150  is released, the motor control system stops the electric motor. When the actuator  10150  is re-actuated, the motor control system operates the electric motor in the first direction once again to continue the staple firing stroke. When the firing member reaches the end of the staple firing stroke, the control system stops the electric motor awaiting input from the clinician. When the clinician releases the actuator  10150  at such point, the control system reverses the operation of the electric motor to retract the firing member back into its unfired position. The handle  10100  further comprises a retraction actuator in communication with the motor control system that reverses the direction of the electric motor to retract the firing drive when actuated by the clinician. When the retraction actuator is depressed, the staple firing stroke is terminated regardless of whether the firing member had reached the end of the staple firing stroke. 
     The electric motor of the surgical instrument  10000  is also used to selectively drive an articulation drive system to articulate the end effector  10400 . More specifically, the articulation drive system comprises an articulation driver that is selectively engageable with the firing drive and, when the articulation driver is engaged with the firing drive, the articulation driver is movable proximally and distally by the operation of the electric motor to articulate the end effector  10400 . When the electric motor is operated in its first direction, in such instances, the end effector  10400  is articulated in a first direction to push the articulation driver distally. Similarly, the end effector  10400  is articulated in a second direction when the electric motor is operated in its second direction to pull the articulation driver proximally. When the articulation driver is not engaged with the firing drive, the operation of the electric motor does not articulate the end effector  10400 . Instead, in such instances, the electric motor only moves the firing drive. That said, it should be appreciated that the movement of the firing drive to articulate the end effector  10400  does not cause the staple firing stroke to be performed. The range of motion needed to articulate the end effector  10400  is small, as compared to the range of motion of the staple firing stroke, and occurs proximal to the beginning of the staple firing stroke such that the staples are not ejected and the tissue is not cut while the end effector  10400  is being articulated. The surgical instrument  10000  further comprises an articulation lock which unlocks when the articulation driver is moved longitudinally by the firing drive and then locks the end effector  10400  in position when the articulation driver is not being driven by the firing drive. The entire disclosure of U.S. Pat. No. 9,629,629, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, which issued on Apr. 25, 2017, is incorporated by reference herein. The above being said, a surgical instrument can comprise a separate articulation motor in addition to the firing motor for driving the articulation drive system. 
     Further to the above, referring to  FIG.  2   , the handle  10100  comprises a frame  10110 , a housing  10120 , and an articulation actuator  10160 . The articulation actuator  10160  comprises a rocker switch, for example, which is oriented vertically on the housing  10120  and is in communication with the motor control system. The rocker switch is rotatable upwardly and downwardly about an axis to articulate the end effector  10400 . The upper portion of the articulation actuator  10160  is pushed by the clinician to articulate the end effector  10400  to the left and the lower portion of the articulation actuator  10160  is pushed to articulate the end effector  10400  to the right. Such an arrangement provides an intuitive interface for the clinician; however, any suitable arrangement could be used. The handle  10100  further comprises a home actuator  10170  in communication with the motor control system. When the home actuator  10170  is actuated by the clinician, the motor control system operates the electric motor to re-center the end effector  10400  along the longitudinal axis of the shaft  10200  of the surgical instrument  10000 . To this end, the control system is configured to track the position of the end effector such that, when the home actuator  10170  is actuated, the control system operates the electric motor in the correct direction to articulate the end effector  10400  in the correct direction and the correct amount. In various instances, the surgical instrument  10000  comprises a linear encoder configured to track the position of the articulation driver, for example, such that, when the home actuator  10170  is actuated, the control system can properly center the end effector  10400 . 
     Further to the above, the shaft  10200  is rotatable relative to the handle  10100 . The shaft  10200  comprises a frame  10210  attached to the frame  10110  of the handle  10100 . In embodiments where the shaft  10200  is readily removable from the handle  10100 , the shaft frame  10210  can detach from the handle frame  10110 . In embodiments where the shaft  10200  is not removable from the handle  10100 , the shaft frame  10210  and the handle frame  10110  can be integrally formed. In any event, the shaft  10200  comprises a nozzle, or grip,  10220  fixedly mounted to the closure tube  10240  of the shaft  10200 . The grip  10220  comprises finger grooves  10222  defined therein and ridges  10224  extending between the finger grooves  10222  that provide walls against which a clinician can push their finger and assist the clinician in rotating the shaft  10200  about its longitudinal axis. 
     Notably, further to the above, the end effector  10400  rotates with the shaft  10200  when the shaft  10200  is rotated about its longitudinal axis. Thus, the end effector  10400  rotates clockwise when the shaft  10200  is rotated clockwise by the clinician and counter-clockwise when the shaft  10200  is rotated counter-clockwise by the clinician. In various alternative embodiments, the surgical instrument  10000  comprises an electric motor configured to rotate the shaft  10200  about its longitudinal axis. In either event, the shaft  10200  is rotatable from a top-dead-center (TDC) position in which the anvil  10420  is positioned directly above the staple cartridge jaw  10410  to any other suitable position within a full 360 degree range of positions. For instance, the shaft  10200  is rotatable into a right 90 degree position in which the anvil  10420  is facing to the right of the handle  10100  or a left 90 degree position in which the anvil  10420  is facing to the left of the handle  10100 . The shaft  10200  is also rotatable into a bottom-dead-center (BDC) position in which the staple cartridge jaw  10410  is positioned directly above the anvil  10420 . 
     As described above, the end effector  10400  is both articulatable about the articulation joint  10500  and rotatable with the shaft  10200 . When the end effector  10400  is rotated in a plane when the end effector  10400  is in its TDC position, as mentioned above, the articulation control  10160  is intuitive to the user—push up to articulate left and push down to articulate right. This arrangement is also intuitive even after the shaft  10200 —and end effector  10400 —have been rotated 90 degrees to the right or to the left. However, when the shaft  10200  and end effector  10400  have been rotated past 90 degrees in either direction, the articulation control  10160  can become counter-intuitive to the clinician. In fact, the articulation control  10160  can seem backwards. With this in mind, the control system of the surgical instrument  10000  is configured to flip the manner in which the surgical instrument responds to the articulation control  10160  when the shaft  10200  and end effector  10400  have been rotated past 90 degrees in either direction. In such instances, the controls become: push up to articulate right and push down to articulate left. To this end, as described in greater detail below, the surgical instrument  10000  is configured to detect the orientation of the shaft  10200  relative to the handle  10100 , i.e., it is configured to detect whether the end effector  10400  is at least partially upside down with respect to the handle  10100  and then enter an alternative operational control mode in which the responsiveness of the surgical instrument  10000  to the articulation control  10160  has been reversed. Such an arrangement can make the surgical instrument  10000  easier to use in various instances. 
     Referring to  FIGS.  2 - 5   , the surgical instrument  10000  comprises a switch  10130  mounted to the handle  10100  in communication with the control system which is configured to detect the rotation of the shaft  10200  relative to the handle  10100 . The switch  10130  comprises a switch body  10132  fixedly mounted to the handle frame  10110  and three electrical contacts  10133  which are part of a switch circuit in communication with the control system. The switch  10000  further comprises a switch arm  10134  rotatably connected to the switch body  10132  and an electrical contact  10136  positioned on the switch body  10132 . The switch arm  10134  is comprised of an electrically-conductive material, such as brass, for example, and closes the switch circuit when the switch arm  10134  comes into contact with the electrical contact  10136 . The switch arm  10134  is rotated between an open position ( FIG.  5   ) and a closed position when the shaft  10200  is rotated past the left or right 90 degree positions. More specifically, the grip, or nozzle,  10220  comprises a cam  10230  defined thereon which pushes the switch arm  10134  into its closed position when the shaft  10200  and the end effector  10400  is at least partially upside down. When the shaft  10200  is rotated upwardly past the 90 degree positions, the cam  10230  permits the switch arm  10134  to resiliently move back into its open position and open the switch circuit. The switch arm  10134  comprises a roller  10135  mounted thereto to facilitate relative rotation between the switch arm  10134  and the grip  10220 . 
     A surgical instrument  11000  is illustrated in  FIG.  6   . The surgical instrument  11000  is similar to the surgical instrument  10000  in many respects. The surgical instrument  11000  comprises a handle  11100  and a shaft  11200  extending from the handle  11100 . The handle  11100  comprises a frame  11110  and the shaft  11200  comprises a frame  11210  attached to the handle frame  11110 . The shaft  11200  comprises a grip, or nozzle,  11220 , a first magnetic element  11230   s  positioned on one side of the grip  11220 , and a second magnetic element  11230   n  positioned on the opposite side of the grip  11220 . Stated another way, the first magnetic element  11230   s  and the second magnetic element  11230   n  are mounted 180 degrees apart. The handle  11100  further comprises a control system including at least one sensor  11130 , such as a Hall Effect sensor, for example, mounted to the handle frame  11110  configured to sense the position of the magnetic elements  11230   s  and  11230   n  and, with this information, determine the orientation of the shaft  11200  relative to the handle  11100 . Notably, the first magnetic element  11230   s  comprises a permanent magnet with a south pole facing toward the handle  11100  and a north pole facing away from the handle  11100  and the second magnetic element  11230   n  comprises a permanent magnet with a north pole facing toward the handle  11100  and a south pole facing away from the handle  11100 . The magnetic elements  11230   s  and  11230   n  disturb the magnetic field emitted by the Hall Effect sensor and, when the shaft  11200  is at least partially upside down, the disturbance associated with such an orientation of the shaft  11200  is detected by the control system of the surgical instrument  11000  via a sensing circuit including the sensor  11130 . In such instances, similar to the above, the control system enters into its second operating mode which flips the responsiveness of the surgical instrument  11000  to the articulation control  10160 , as described above. 
     A surgical instrument  12000  is illustrated in  FIGS.  7  and  8   . The surgical instrument  12000  is similar to the surgical instrument  10000  in many respects. The surgical instrument  12000  comprises a handle  12100  and a shaft  12200  extending from the handle  12100 . The handle  12100  comprises a housing, a first articulation control  12160   a  positioned on a first side of the handle housing, and a second articulation control  12160   b  positioned on a second, or opposite, side of the handle housing. The first articulation control  12160   a  is in communication with the control system of the surgical instrument  12000  via a first control circuit and the second articulation control  12160   b  is in communication with the control system via a second control circuit. The control system is configured to operate the electric motor of the staple firing drive in a first direction to articulate the end effector of the shaft  12200  in a first direction when the first articulation control  12160   a  is actuated and a second, or opposite, direction to articulate the end effector in a second, or opposite, direction with the second articulate control  12160   b  is actuated. The handle  12100  further comprises a centering, or home, actuator  10170   a  positioned on the first side of the handle  12100  and a second centering, or home, actuator  10170   b  on the second side of the handle  12100 . Similar to the above, the actuators  10170   a  and  10170   b  are in communication with the control system which is configured such that the actuation of either centering actuator  10170   a  or  10170   b  causes the control system to operate the electric motor to re-center the end effector. 
     A surgical instrument  13000  is illustrated in  FIGS.  9  and  10   . The surgical instrument  13000  is similar to the surgical instrument  10000  in many respects. The surgical instrument  13000  comprises a handle  13100  and a shaft  13200  extending from the handle  13100 . The shaft  13200  comprises a housing, a first articulation control  13260   a  positioned on a first side of the shaft housing, and a second articulation control  13260   b  positioned on a second, or opposite, side of the shaft housing. The first articulation control  13260   a  is in communication with the control system of the surgical instrument  13000  via a first control circuit and the second articulation control  13260   b  is in communication with the control system via a second control circuit. The control system is configured to operate the electric motor of the staple firing drive in a first direction to articulate the end effector  10400  of the shaft  13200  in a first direction when the first articulation control  13260   a  is actuated and a second, or opposite, direction to articulate the end effector  10400  in a second, or opposite, direction when the second articulation control  13260   b  is actuated. Stated another way, the end effector  10400  articulates in the direction of the articulation control that is actuated. The first articulation control  13260   a  is positioned on a first finger ridge defined on a grip, or nozzle,  13220  of the shaft  13200  and the second articulation control  13260   b  is positioned on a second finger ridge defined on the grip  13220 . Notably, the articulation controls  13260   a  and  13260   b  are positioned 180 degrees apart. Alternatively, the articulation controls  13260   a  and  13260   b  can be positioned in the finger grooves defined in the grip  13220 , although any suitable arrangement could be used. This arrangement provides an advantage of having the articulation controls in a position which is readily accessible by the hand of the clinician during use and, as a result, they are usable in an intuitive manner as the relative arrangement of the articulation controls  13260   a  and  13260   b  and the articulation directions are fixed. 
     A surgical instrument  14000  is illustrated in  FIGS.  11  and  12   . The surgical instrument  14000  is similar to the surgical instrument  13000  in many respects. The surgical instrument  14000  comprises a handle  13100  and a shaft  14200  extending from the handle  13100 . The shaft  14200  comprises a housing, a first articulation control  14260   a  positioned on a first side of the shaft housing, and a second articulation control  14260   b  positioned on a second side of the shaft housing. The first articulation control  14260   a  is in communication with the control system of the surgical instrument  14000  via a first control circuit and the second articulation control  14260   b  is in communication with the control system via a second control circuit. The control system is configured to operate the electric motor of the staple firing drive in a first direction to articulate the end effector  10400  of the shaft  14200  in a first direction when the first articulation control  14260   a  is actuated and a second, or opposite, direction to articulate the end effector  10400  in a second, or opposite, direction when the second articulation control  14260   b  is actuated. The first articulation control  14260   a  is positioned in a first finger groove defined in a grip, or nozzle,  14220  of the shaft  14200  and the second articulation control  14260   b  is positioned in a second finger groove defined in the grip  14220 , although any suitable arrangement could be used. 
     In addition to the above, the shaft  14200  further comprises a third articulation control  14260   c  positioned on the second side of the shaft housing and a fourth articulation control  14260   d  positioned on the first side of the shaft housing. The third articulation control  14260   c  is in communication with the control system of the surgical instrument  14000  via a third control circuit and the fourth articulation control  14260   b  is in communication with the control system via a fourth control circuit. The control system is configured to operate the electric motor of the staple firing drive in the second direction to articulate the end effector of the shaft  14200  in the second direction when the third articulation control  14260   c  is actuated and the first direction to articulate the end effector in the first direction when the fourth articulation control  14260   d  is actuated. The third articulation control  14260   c  is positioned in a third finger groove defined in the grip  14220  of the shaft  14200  and the fourth articulation control  14260   d  is positioned in a fourth finger groove defined in the grip  14220 , although any suitable arrangement could be used. 
     A surgical instrument  15000  is illustrated in  FIG.  13   . The surgical instrument  15000  is similar to the surgical instrument  10000  in many respects. The surgical instrument  15000  comprises a handle  15100  and a shaft  10200  extending from the handle  15100 . The handle  15100  comprises an articulation actuator  15160  in communication with the control system of the surgical instrument  15000 . As opposed to the articulation actuator  10160  which is arranged vertically, the articulation actuator  15160  is arranged horizontally. The articulation actuator  15160  comprises a rotatable element which is rotatable within a plane which is parallel to, or at least substantially parallel to, the longitudinal axis of the shaft  10200 . The rotatable element is rotatable distally to articulate the end effector  10400  to the right of the handle  15100  and proximally to articulate the end effector  10400  to the left of the handle  15100 . This is true regardless of whether the end effector  10400  is rotated upwardly or downwardly owing to the control responsiveness flipping when the end effector  10400  is rotated past 90 degrees from its TDC position in either direction. That said, the controls of the articulation actuator  15160  can be reversed as outlined above. The articulation actuator  15160  comprises a distal contact which is part of a first articulation control circuit and a proximal contact which is part of a second articulation control circuit. The rotatable element engages the distal contact and closes the first articulation control circuit when the rotatable element is in its distal position. The rotatable element is not in contact with the proximal contact when the rotatable element is in its distal position and, as such, the second articulation control circuit is open. Similarly, the rotatable element engages the proximal contact and closes the second articulation control circuit when the rotatable element is in its proximal position. Correspondingly, the rotatable element is not in contact with the distal contact when the rotatable element is in its proximal position and, as such, the first articulation control circuit is open. 
     Further to the above, the articulation actuator  15160  comprises a detent in the middle of the range of motion of the rotatable element. The detent is configured to resist the motion of the rotatable element as the rotatable element moves from one side of the articulation actuator  15160  to the other. Such resistance to the motion of the rotatable element can signal to the clinician that they will articulate the end effector  10400  in the opposite direction once they move the rotatable element past that point. Moreover, such a detent provides a place to park the rotatable element such that the end effector  10400  is not being articulated in either direction. The rotatable element comprises a ridge alignable with its center, or parked, position which is pushable and pullable by the clinician to move the rotatable element. Such a ridge provides the clinician with a tactile sensation of the direction in which the rotatable element is rotated and, thus, a sense of the direction in which the end effector  10400  is being articulated. 
     The above being said, various embodiments are envisioned in which the flipping of the control responsiveness of a surgical instrument can be defeated. In at least one instance, the handle of the surgical instrument comprises an actuator in communication with the control system that, when actuated, causes the control system to not enter into its second, or flipped, operational mode. In at least one such instance, the handle further comprises an indicator, such as a light emitting diode (LED), for example, that is illuminated to indicate the status of the surgical instrument, i.e., whether or not the articulation controls will flip when the end effector is rotated past 90 degrees from its TDC position. In certain instances, the surgical instrument comprises an input screen in communication with a microprocessor of the control system which can receive an input to prevent the control system from entering into its second, or flipped, operational mode. In addition to or in lieu of the above, the flip point in which the surgical instrument enters into its second operation mode can be adjusted. In at least one such embodiment, the clinician can modify the flip point to 85 degrees, for example, in either direction from the TDC position of the end effector. Any suitable number, such as 80 degrees, 95 degrees, or 100 degrees, for example, could be used to suit the preference of the clinician. In at least one embodiment, the surgical instrument comprises an input screen in communication with the microprocessor of the control system which is configured to receive an input from the clinician to adjust the articulation control flip point. 
     During use, it is desirable for the articulation controls not to flip unexpectedly while the clinician is using the articulation controls. When the clinician starts articulating the end effector, the control system maintains the articulation control mode until the clinician releases the articulation control even if the end effector and shaft are rotated past a flip point during the articulation. Once the articulation has stopped, the control system can re-orient the articulation controls, or switch to the flipped articulation control mode if the end effector and shaft are still in an upside-down position. In certain embodiments, the control system does not immediately flip the articulation controls. Instead, the control system comprises a timer circuit and/or the microprocessor of the control system is programmed to wait a certain amount of time before flipping the controls. In at least one instance, the control system waits 5 seconds, for example, from the last time that the articulation controls were used before flipping the articulation controls. Alternatively, the control system can wait 2 seconds or 10 seconds, for example. Such an arrangement can help prevent confusion with the user of the surgical instrument. In various embodiments, the surgical instrument comprises a haptic feedback generator in communication with the control system which is activated by the control system when the articulation controls are flipped. Motor noise, light, sound, and/or a vibratory feedback, for example, can be used. In some embodiments, the shaft and/or handle comprises a mechanical switch which audibly clicks when the shaft is rotated past its flip point in either direction. 
     A surgical instrument  32000  is illustrated in  FIGS.  56  and  57   , the surgical instrument  32000  comprises a handle  32100  and a shaft  32200 . The handle  32100  comprises an articulation control  32160  and an articulation flip switch  32130  in communication with the control system of the surgical instrument  32000 . The articulation flip switch  32130  is mounted to a control board, such as a printed control board (PCB), for example, which comprises the hardware and software for the control system of the surgical instrument  32000 . When the shaft  32200  is rotated past its 90 degree left or right position, the shaft  32200  contacts the articulation flip switch  32130  which is detected by the control system. At this point, the control system follows an algorithm for deciding when, or if, to the flip the articulation controls. An algorithm  32900  is illustrated in  FIG.  58    which can control this, although any suitable algorithm could be used. Similar to the above, the shaft  32200  comprises a cam  32230  configured to contact the articulation flip switch  32130 . As a result of the above, the articulation flip switch  32130  is open or “off” for 180 degrees of the rotation of the shaft  32200  and closed or “on” for the other 180 degrees of the rotation of the shaft  32200 . The cam  32230  is molded into the shroud of the shaft  32200 , but could comprise any suitable arrangement. The above being said, the throw of the cam  32230  is designed such that any lateral float or eccentricity in the rotation of the shaft  32200 , or cam  32230 , does not accidentally close or open the articulation flip switch  32130 . To this end, the shaft  32200  comprises a fixed bearing for controlling the rotation of the shaft  32200  and the cam  32230 . Notably, the articulation flip switch  32130  is sealed to prevent fluid ingress. 
     In various instances, a surgical instrument comprises an input configured to permit a clinician to select whether the articulation controls operate in their ordinary articulation control mode or their flipped articulation control mode. In at least one instance, the handle of the surgical instrument comprises an input switch in communication with the control system of the surgical instrument. When the input switch is open, for instance, the algorithm controls the orientation of the articulation controls according to a predetermined set of criteria. When the input switch is closed by the clinician, the algorithm does not use the predetermined set of criteria to control the orientation of the articulation controls. Instead, the algorithm uses the orientation of the articulation controls selected by the clinician. In at least one instance, the handle comprises three input switches in communication with the control system—a first switch which instructs the control system to use the “anvil up” articulation controls, a second switch which instructs the control system to use the “anvil down” articulation controls, and a third switch which instructs the control system to use the automatic controls. In some embodiments, the surgical instrument does not have the automatic flip controls described herein and can just comprise the first and second switch inputs. Such an arrangement can greatly reduce the cost and/or complexity of a surgical instrument. 
     In various instances, further to the above, the flip point can be a specific point in the rotation of the shaft  10200 . In certain instances, referring to  FIG.  55   , a grey zone can exist around the flip point. For instance, the grey zone can include 20 degrees to either side of the flip point, for example. While the shaft  10200  is in the grey zone, the algorithm of the control system is configured to not flip the articulation controls even though the shaft  10200  may have been rotated past the flip point. Such an arrangement allows the shaft  10200  to be rotated back and forth within the grey zone without repeatedly flipping the articulation controls. Once the shaft  10200  is rotated out of the grey zone, however, the control system algorithm flips the articulation controls—subject to any other criteria needed for flipping the articulation controls. In various instances, there is an interface between the range of “anvil up” orientations and the range of “anvil down” orientations. For a shaft that is rotatable 360 degrees, there are two such interfaces—180 degrees apart from another. Each of these interfaces is positioned within a transition range of orientations that extends into the range of “anvil up” orientations and the range of “anvil down” orientations. When the shaft  10200  is rotated from an “anvil up” orientation into a transition range, the control system does not flip the articulation controls—but further rotating the shaft  10200  out of the transition range into an “anvil down” orientation will cause the articulation controls to flip. Similarly, the control system does not flip the articulation controls when the shaft  10200  is rotated from an “anvil down” orientation into a transition range, but further rotating the shaft  10200  out of the transition range in an “anvil up” orientation will cause the articulation controls to flip. In at least one instance, each transition zone includes 5 degrees of orientations from the “anvil up” range and 5 degrees of orientations from the “anvil down” range, for example. In other embodiments, each transition zone includes 10 degrees of orientations from the “anvil up” range and 10 degrees of orientations from the “anvil down” range, for example. 
     In various embodiments, further to the above, the up and down orientations of the shaft  10200  are measured with respect to the handle and/or a housing rotatably supporting the shaft. In such instances, a handle comprises a top and a bottom—regardless of its gravitational orientation—and the up orientations of the shaft  10200  are associated with the top of the handle while the down orientations of the shaft  10200  are associated with the bottom of the handle. In at least one such embodiment, the shaft  10200  comprises a gravity sensor, such as an accelerometer and/or a gyroscope, for example, and the handle comprises a gravity sensor. In such embodiments, the shaft gravity sensor and the handle gravity sensor are in communication with the control system which is configured to assess the relative orientation between the shaft and the handle using the data from the gravity sensors. In other embodiments, the up and down orientations of the shaft  10200  are measured with respect to gravity regardless of the gravitational orientation of the handle. In at least one such embodiment, the shaft  10200  comprises a gravity sensor in communication with the control system and the up orientations of the shaft  10200  are associated with vertically up positions while the down orientations of the shaft  10200  are associated with vertically down positions. 
     An articulation control  16160  is illustrated in  FIG.  14   . The articulation control  16160  comprises a first capacitive switch  16162  and a second capacitive switch  16164 . The first capacitive switch  16162  and the second capacitive switch  16164  are positioned on opposite sides of an axis  16167 . The first capacitive switch  16162  is part of a first articulation control circuit in communication with a control system of a surgical instrument and the second capacitive switch  16164  is part of a second articulation control circuit in communication with the control system. The capacitance of the first capacitive switch  16162  changes when a clinician places their finger on the first capacitive switch  16162  which is detected by the control system and, in response to this change, the control system articulates the end effector of the surgical instrument to the right. The capacitance of the second capacitive switch  16164  changes when a clinician places their finger on the second capacitive switch  16164  which is detected by the control system and, in response to this change, the control system articulates the end effector of the surgical instrument to the left. In various instances, the axis  16167  comprises a dead zone which, if touched by the clinician, does not detectably, or sufficiently, change the capacitance of the first capacitive switch  16162  or the second capacitive switch  16164 . 
     A two-stage switch  17160  is illustrated in  FIG.  15   . When the switch  17160  is depressed into its first stage, a first articulation control circuit is closed. The first articulation control circuit is in communication with a control system of a surgical instrument. When the control system detects that the first articulation control circuit has been closed, the control system operates an articulation drive motor in a first direction to articulate the end effector of the surgical instrument in a first direction. When the switch  17160  is depressed into its second stage, a second articulation control circuit is closed. In various instances, the first stage comprises a first detent and the second stage comprises a second detent. In at least one such instance, the switch  17160  comprises a dual-detent switch that is depressable to two different depths, for example. In any event, the second articulation control circuit is in communication with the control system of the surgical instrument. When the control system detects that the second articulation control circuit has been closed, the control system operates an articulation drive motor in a second direction to articulate the end effector of the surgical instrument in a second direction. Further to the above, the second articulation control circuit is open when the first articulation control circuit is closed and, likewise, the first articulation control circuit is open when the second articulation control circuit is closed. The above being said, in alternative embodiments, the articulation control circuits can be opened when they are in their respective stages to operate the articulation motor. 
     Many clinicians, further to the above, prefer to look at the patient when performing an open surgery and/or at an endoscope monitor when performing a laparoscopic surgery. As such, the clinician does not usually look at the surgical instrument that they are holding and, instead, rely on the tactile feel and/or intuitive design of the surgical instrument to operate the surgical instrument. Stated another way, the clinician may not prefer to look down at the handle of the instrument they are holding to verify the direction that they are articulating the instrument. That being said, referring to  FIGS.  16  and  17   , a surgical instrument can comprise a shaft  18200  comprising indicator lights configured to indicate the direction in which an end effector, such as end effector  18400 , for example, is being articulated. The articulation indicator lights are visible to the clinician while they are looking at the end effector  18400  of the surgical instrument—either directly or through an endoscope system monitor. In various instances, an endoscope system comprises an elongate flexible shaft including a camera, a light, and/or any other suitable optical device in communication with a control hub including a control system and/or a video monitor configured to display the output of the camera. In such instances, the end effector  18400  and the indicator lights are visible on the video monitor. 
     Further to the above, referring again to  FIGS.  16  and  17   , the shaft  18200  comprises a first indicator light  18260   a  positioned on the right side of the end effector  18400  in communication with the control system of the surgical instrument via a first electrical circuit. When the control system receives an input to articulate the end effector  18400  to the right, the control system operates the articulation drive motor in a direction which articulates the end effector  18400  to the right and, also, illuminates the first indicator light  18260   a . When the control system no longer receives this input, the control system deactivates the articulation drive motor and the first indicator light  18260   a . Similarly, the shaft  18200  comprises a second indicator light  18260   b  positioned on the left side of the end effector  18400  in communication with the control system of the surgical instrument via a second electrical circuit. When the control system receives an input to articulate the end effector  18400  to the left, the control system operates the articulation drive motor in a direction which articulates the end effector  18400  to the left and, also, illuminates the second indicator light  18260   b . When the control system no longer receives this input, the control system deactivates the articulation drive motor and the second indicator light  18260   b.    
     As discussed above, the first and second indicator lights  18260   a  and  18260   b  are positioned on the end effector  18400  in a position which is readily observable by the clinician when they are looking at the end effector  18400 . The indicator lights  18260   a  and  18260   b  are positioned distally with respect to the articulation joint  10500 ; however, in alternative embodiments, the indicator lights  18260   a  and  18260   b  are positioned proximally to the articulation joint  10500 . In various embodiments, a surgical instrument comprises more than one set of indicator lights. In at least one such embodiment, a first set of indicator lights  18260   a ,  18260   b  is positioned distally with respect to the articulation joint  10500  and a second set of indicator lights  18260   a ,  18260   b  is positioned proximally with respect to the articulation joint  10500 . An alternative embodiment comprising indicator lights  18260   a ′ and  18260   b ′ on a shaft  18200 ′ is illustrated in  FIG.  18   . The indicator light  18260   a ′ comprises an LED in the shape of a right-facing arrow while the indicator light  18260   b ′ comprises an LED in the shape of a left-facing arrow. The right-facing arrow  18260   a ′ points to the right of the end effector—but not necessarily to the right of the surgical instrument handle and/or the clinician owing to the possible rotation of the shaft  18200 ′. Similarly, the left-facing arrow  18260   b ′ points to the left of the end effector—but not necessarily to the left of the surgical instrument handle and/or the clinician owing to the possible rotation of the shaft  18200 ′. Stated another way, the arrows, when illuminated, point in the direction that the end effector is being articulated. Given that the arrows are observable with the end effector on an endoscope monitor, for example, the clinician will develop a sense for the direction that the end effector will move when an arrow is illuminated upon actuating the articulation actuator. If the clinician observes that the illuminated arrow is the opposite of what they expected when they actuate the articulation actuator, the clinician can quickly react and re-actuate the articulation actuator in the correct direction. In various alternative embodiments, the arrows  18260   a ′ and  18260   b ′ can change colors when they are actuated. For instance, the arrow  18260   a ′ is illuminated red when the end effector is not articulated to the right, but is illuminated green when the end effector is articulated to the right. Likewise, the arrow  18260   b ′ is illuminated red when the end effector is not articulated to the left, but is illuminated green when the end effector is articulated to the left. 
     In various embodiments, further to the above, the articulation indicator lights can be embedded in and/or positioned on the outer housing of the shaft. In certain embodiments, the indicator lights are positioned inside the shaft, but are viewable from outside the shaft through windows and/or openings defined in the shaft, for example. 
     A surgical instrument  26000  is illustrated in  FIGS.  26 A and  26 B . The surgical instrument  26000  comprises a handle  26100  and a shaft  12200  extending from the handle  26100 . The shaft  12200  comprises an end effector  26400  including a staple cartridge jaw  26410  and an anvil jaw  10420 . The end effector  26400  further comprises a first articulation indicator light  26460   a  positioned on a first side of the end effector  26400  and a second articulation indicator light  26460   b  positioned on a second side of the end effector  26400 . Similar to the above, the control system of the surgical instrument  26000  illuminates the first articulation indicator light  26460   a  when the end effector  26400  is articulated in the first direction. In such instances, the control system does not illuminate the second articulation indicator light  26460   b . Correspondingly, the control system of the surgical instrument  26000  illuminates the second articulation indicator light  26460   b  when the end effector  26400  is articulated in the second direction. In such instances, the control system does not illuminate the first articulation indicator light  26460   a . The indicator lights  26460   a  and  26460   b  are mounted to and/or embedded in the frame of the staple cartridge jaw  26410 . That said, the indicator lights  26460   a  and  26460   b  can be mounted to and/or embedded in the staple cartridge positioned in the staple cartridge jaw  26410 . In such instances, the staple cartridge jaw  26410  comprises an electrical circuit in communication with the control system of the surgical instrument that is placed in communication with an electrical circuit in the staple cartridge when the staple cartridge is seated in the staple cartridge jaw  26410 . 
     As discussed above, the articulation system of a surgical instrument can include an articulation driver which is movable proximally to articulate the end effector in a first direction and distally to articulate the end effector in a second direction. Referring to  FIG.  27   , a surgical instrument can comprise a handle  26100 , a shaft  12200  extending from the handle  26100 , and an end effector  10400  rotatably connected to the shaft  12200  about an articulation joint  10500 . The shaft  12200  comprises an articulation driver  10260  comprising a proximal end operably coupled to an articulation drive system and a distal end coupled to the end effector  10400 . To this end, the articulation driver  10260  extends distally past the articulation joint  10500  and, in this embodiment, is partially visible to a clinician holding the surgical instrument. The portion of the articulation driver  10260  visible to the clinician is also visible to the clinician through an endoscope monitor. In fact, a clinician may be able to observe the motion of the articulation driver  10260  through the endoscope monitor. The visible portion of the articulation driver  10260  comprises indicia, such as indicia  24640   a ′ and  24640   b ′, for example, thereon which correlates the movement of the articulation driver  10260  to the movement of the end effector  10400 . In at least one instance, the indicia can comprise a first set of indicia which includes a distally-directed arrow  24640   a ′ and a circular arrow indicating the direction that the end effector  10400  will be rotated if the articulation driver  10260  is moved distally. The indicia can also comprises a second set of indicia which includes a proximally-directed arrow  24640   b ′ and a circular arrow in the opposite direction indicating the direction that the end effector  10400  will be rotated if the articulation driver  10260  is moved proximally. An alternative articulation driver  10260 ′ is illustrated in  FIG.  28    that comprises a laterally-extending portion which can be readily visible to the clinician. In such instances, the above-discussed indicia is positioned on the laterally-extending portion. 
     A surgical instrument  19000  is illustrated in  FIG.  19   . The surgical instrument  19000  is similar to the surgical instrument  15000  in many respects. The surgical instrument  19000  comprises a handle  19100  and a shaft  10200  extending from the handle  19100 . The handle  19100  comprises an articulation actuator  19160  in communication with the control system of the surgical instrument  19000 . As opposed to the articulation actuator  10160  which is arranged vertically, the articulation actuator  19160  is arranged horizontally. The articulation actuator  19160  comprises a slideable element  19162  which is slideable along an axis which is parallel to, or at least substantially parallel to, the longitudinal axis of the shaft  10200 . In at least one instance, the axis of the articulation actuator  19160  is aligned with the longitudinal axis of the shaft  10200 . The slideable element  19162  is positioned within a slot  19164  on the handle  19100  of the surgical instrument  19000 . The slideable element  19162  is slideable distally to articulate the end effector  10400  to the right of the handle  19100  and proximally to articulate the end effector  10400  to the left of the handle  19100 . This is true regardless of whether the end effector  10400  is rotated upwardly or downwardly owing to the control responsiveness flipping when the end effector  10400  is rotated past 90 degrees from its TDC position in either direction. That said, the controls of the articulation actuator  19160  can be reversed as outlined above. 
     The articulation actuator  19160  comprises a distal contact which is part of a first articulation control circuit and a proximal contact which is part of a second articulation control circuit. The slideable element  19162  engages the distal contact and closes the first articulation control circuit when the slideable element  19162  is in its distal position. The slideable element  19162  is not in contact with the proximal contact when the slideable element  19162  is in its distal position and, as such, the second articulation control circuit is open. Similarly, the slideable element  19162  engages the proximal contact and closes the second articulation control circuit when the slideable element  19162  is in its proximal position. Correspondingly, the slideable element  19162  is not in contact with the distal contact when the slideable element  19162  is in its proximal position and, as such, the first articulation control circuit is open. In any event, the articulation actuator  19160  comprises a detent  19163  in the middle of the range of motion of the slideable element  19162 . The detent  19163  is configured to resist the motion of the slideable element  19162  as the slideable element  19162  moves from one side of the articulation actuator  19160  to the other. Such resistance to the motion of the slideable element  19162  can signal to the clinician that they will articulate the end effector  10400  in the opposite direction once they move the slideable element  19162  past that point. Moreover, such a detent  19163  provides a place to park the slideable element  19162  such that the end effector  10400  is not being articulated in either direction. 
     A surgical instrument  20000  is illustrated in  FIG.  20   . The surgical instrument  20000  is similar to the surgical instrument  10000  in many respects. The surgical instrument  20000  comprises a handle  20100  and a shaft  12200  extending from the handle  20100 . The handle  20100  comprises an articulation actuator  20160  in communication with the control system of the surgical instrument  20000 . The articulation actuator  20160  comprises a two-dimensional joystick movable within a plane which is aligned with, parallel to, or at least substantially parallel to, the longitudinal axis of the shaft  12200 . The joystick is movable distally to articulate the end effector  10400  to the right of the handle  20100  and proximally to articulate the end effector  10400  to the left of the handle  20100 . In at least one instance, the joystick comprises a handle having an inner end that is positioned in a sensor seat in communication with the control system of the surgical instrument  20000 . The joystick is pivotable within the sensor seat by the clinician when the clinician manipulates the outer end of the joystick handle. Such movement of the joystick is detectable by the control system which operates the articulation system in response to the input from the sensor seat. The articulation actuator  20160  comprises one or more biasing mechanisms, such as springs, for example, configured to bias the joystick handle to a centered, or an at least substantially centered position, in the sensor seat in which the control system does not articulate the end effector  10400 . 
     As discussed above, the end effector  10400  is articulatable within a plane. In alternative embodiments, a surgical instrument comprises a second articulation joint. In such embodiments, the end effector  10400  is rotatable within more than one plane. In various embodiments, a surgical instrument comprises an articulation joint which permits the end effector  10400  to be rotated within a three-dimensional spherical range of positions. Referring to  FIG.  21   , a surgical instrument  21000  comprises a shaft  21200  including an articulation joint  21500  which allows such articulation motion of the end effector  10400 . The surgical instrument  21000  further comprises a handle  21100  including an articulation actuator  21160  in communication with a control system of the surgical instrument  21000 . The articulation actuator  21160  comprises a three-dimensional joystick movable proximally, distally, upwardly, downwardly, and in compound directions. The joystick is movable distally to articulate the end effector to the right of the handle  20100  and proximally to articulate the end effector to the left of the handle  21100 . The joystick is movable upwardly to articulate the end effector upwardly and downwardly to articulate the end effector downwardly, for example. The joystick is also movable in a direction which is both upward and distal to move the end effector in a direction which is both upward and to the right, for example. The joystick is also movable in a direction which is both downward and proximal to move the end effector in a direction which is both downward and to the left, for example. In at least one instance, the joystick comprises a handle having an inner end that is positioned in a sensor seat in communication with the control system of the surgical instrument  21000 . The joystick is orbitable within the sensor seat by the clinician when the clinician manipulates the outer end of the handle. Such movement of the joystick is detectable by the control system which operates the articulation system in response to the input from the sensor seat. The articulation actuator  21160  comprises one or more biasing mechanisms, such as springs, for example configured to bias the joystick handle to a centered, or an at least substantially centered position, in the sensor seat in which the control system does not articulate the end effector  10400 . 
     A surgical instrument  22000  is illustrated in  FIGS.  22 A and  22 B . The surgical instrument  22000  is similar to the surgical instrument  21000  in many respects. The surgical instrument  22000  comprises a handle  22100  and a shaft  21200  extending from the handle  22100 . The handle  22100  comprises the articulation actuator  21160  positioned on the side of the handle  22100  and, in addition, an articulation actuator  22160  positioned on the front of the handle  22100 . Similar to the articulation actuator  21160 , the articulation actuator  22160  comprises a three-dimensional joystick in communication with the control system of the surgical instrument  21000  and is capable of articulating the end effector of the surgical instrument  21000  in a three-dimensional field. The front articulation actuator  22160  is readily accessible by the index finger of a clinician holding a pistol grip of the handle  22100 . Alternative embodiments are envisioned which comprise the articulation actuator  22160 , but not the articulation actuator  22160 . 
     Referring to  FIG.  23   , a surgical instrument  23000  comprises a shaft  21200  including an articulation joint  21500  which allows for three-dimensional articulation motion of the end effector  10400 . The surgical instrument  23000  further comprises a handle  23100  including a housing  23120  and, in addition, an articulation actuator  23160  in communication with a control system of the surgical instrument  23000 . The articulation actuator  23160  comprises a four-way tactile control movable proximally, distally, upwardly, downwardly, and in compound directions. The four-way tactile control is movable distally to articulate the end effector to the right of the handle  23100  and proximally to articulate the end effector to the left of the handle  23100 . The four-way tactile control is movable upwardly to articulate the end effector upwardly and downwardly to articulate the end effector downwardly. The four-way tactile control is also movable in a compound direction that is both upward and distal to move the end effector in a direction that is both upward and to the right, for example. The four-way tactile control is also movable in a compound direction that is both downward and proximal to move the end effector in a direction that is both downward and to the left, for example. In at least one instance, the four-way tactile control comprises four depressable actuators—one for each direction of right, left, up, and down—and each of which is part of a control circuit in communication with the control system of the surgical instrument  23000 . The movement of the four-way tactile control is detectable by the control system which operates the articulation system in a three-dimensional range in response to the input from the articulation actuator  23160 . The articulation actuator  23160  comprises one or more biasing mechanisms, such as springs, for example configured to bias the four-way tactile control to a centered, or an at least substantially centered position, in which the control system does not articulate the end effector  10400 . 
     A surgical instrument  24000  is illustrated in  FIG.  24   . The surgical instrument  24000  is similar to the surgical instrument  23000  in many respects. The surgical instrument  24000  comprises a handle  24100  including an articulation actuator  24160 . Similar to the articulation actuator  23160 , the articulation actuator  24160  comprises a four-way tactile control. That said, the articulation actuator  24160  comprises an integral re-centering feature. More specifically, the articulation actuator  24160  comprises a depressable actuator positioned in the middle of the articulation actuator  24160  in communication with the control system of the surgical instrument  24000 . When the center actuator is depressed, the control system operates to re-align the end effector  10400  with the longitudinal axis of the shaft  10200 , much like the actuation of the actuator  10170  discussed above. As a result of the above, the re-centering actuator is positioned in the middle of the four directional actuators making for a compact and intuitive arrangement. 
     A surgical instrument  25000  is illustrated in  FIG.  25   . The surgical instrument  25000  is similar to the surgical instrument  24000  in many respects. The surgical instrument  25000  comprises a handle  25100  including an articulation actuator  25160 . Similar to the articulation actuator  23160 , the articulation actuator  25160  comprises a four-way control in communication with a control system of the surgical instrument  25000 . That said, the four-way control comprises a capacitive surface which allows a clinician to tap and/or drag their finger across the surface of the articulation actuator  25160  to control the articulation of the end effector in a three-dimensional range. In at least one instance, the articulation actuator comprises a touchscreen and an array of capacitive sensors positioned under the touchscreen configured to detect the presence and/or motion of the clinician&#39;s finger, for example. In use, tapping the top of the capacitive surface articulates the end effector  10400  upwardly, tapping the bottom of the capacitive surface articulates the end effector  10400  downwardly, tapping the distal end of the capacitive surface articulates the end effector  10400  to the right, and tapping the proximal end of the capacitive surface articulates the end effector  10400  to the left, for example. Tapping the center of the articulation screen re-centers the end effector  10400  along the longitudinal axis of the shaft  21200 . When a rotating motion is made on the surface of the articulation actuator  25160 , the control system rotates the end effector  10400  in the direction and/or speed indicated by the rotating motion. In various instances, the control system of the surgical instrument  25000  comprises a pulse width modulation (PWM) control circuit for controlling the speed of the electric motor used to drive the articulation system of the surgical instrument  25000 . In at least one embodiment, the control system comprises a frequency modulation (FM) control circuit in addition to or in lieu of the PWM control circuit for controlling the speed of the articulation motor. 
     As discussed above, an end effector of a surgical instrument can be rotatable in more than one direction and/or plane. To achieve this, in various embodiments, a surgical instrument comprises a first motor-driven system for moving the end effector in a left-to-right manner and a second motor-driven system for moving the end effector in an up-to-down manner. Both motor-driven systems are in communication with the control system of the surgical instrument and are drivable sequentially and/or concurrently by the control system to position the end effector in the direction indicated by the input from the articulation actuator, or articulation actuators. 
     Many of the surgical instruments described above comprise a grip configured to be grasped by a clinician to rotate the shaft about a longitudinal axis. In various instances, the clinician can hold the grip with one hand and can extend their index finger, for example, from that hand to grab the grip and rotate the shaft. Such an arrangement, however, requires the clinician to have a somewhat larger hand. While such a surgical instrument can be operated with one hand, a surgical instrument  27000  is illustrated in  FIGS.  29  and  30    that may be easier to use. The surgical instrument  27000  comprises a handle  27100  and a shaft  27200  extending from the handle  27100  that is rotatable about a longitudinal axis. The handle  27100  comprises a handle frame  27110  and a housing that rotatably support the shaft  27200 . The handle  27100  further comprises an actuator  27220  positioned on the front side of the handle housing  27110  which, when rotated by the clinician, rotates the shaft  27200  about its longitudinal axis L. The actuator  27220  is rotatably mounted to the handle housing  27110  and is rotatable about an axis A which is parallel to, or at least substantially parallel to, the longitudinal axis of the shaft  27200 . The actuator  27220  comprises a ring of gear teeth extending around its perimeter which is operably engaged with a ring of gear teeth extending around the perimeter of the shaft  27200  via a transmission gear  27225  such that, when the actuator  27220  is rotated about its axis, the shaft  27200  is rotated about its longitudinal axis. That said, the gear teeth of the actuator  27220  are not directly engaged with the gear teeth of the shaft  27200 ; instead, the intermediate gear  27225 —which is rotatably mounted in the handle  27100 —is directly engaged with the gear teeth of the actuator  27220  and the shaft  27200 . Such an arrangement synchronizes the motion of the actuator  27220  and the shaft  27200 , i.e., rotating the actuator  27220  to the right rotates the shaft  27200  to the right and rotating the actuator  27220  to the left rotates the shaft  27200  to the left. Absent the introduction of the intermediate gear  27225 , the shaft  27200  would rotate in an opposite direction, but such an arrangement may provide a torque balance that promotes the stability of the instrument. 
     Further to the above, embodiments are envisioned in which the rotation of the shaft  27200  is driven by an electric motor. In various embodiments, the actuator  27220 , when rotated in the first direction, operates the electric motor to rotate the shaft  27200  in the first direction. Similarly, the electric motor rotates the shaft  27200  in the second direction when the actuator  27220  is rotated in the second direction. In at least one embodiment, the output shaft of the electric motor comprises a pinion gear operably intermeshed with the ring of gear teeth around the shaft  27200 . Moreover, in at least one embodiment, the actuator  27220  comprises one or more sensors configured to detect the direction and degree of rotation of the actuator  27220  which are in communication with a control system of the surgical instrument. With this data, the control system is configured to control the direction and speed of the electric motor. In instances where the actuator  27220  is rotated a small amount in the first direction, for example, the shaft  27220  is rotated slowly in the first direction whereas the shaft  27220  is rotated quickly in the first direction when the actuator  27220  is rotated a larger amount in the first direction. 
     Further to the above, the actuator  27220  comprises a bar including a first end and a second end. The orientation of the bar is synchronized with the orientation of the shaft  27200 . When the first end of the bar is directly above the second end, i.e., the first end is closest to the shaft  27200 , the shaft  27200  is in its top-dead-center (TDC) position. Correspondingly, the shaft  27200  is in its bottom-dead-center (BDC) position when the second end of the bar is directly above the first end, i.e., the second end is closest to the shaft  27200 . As a result of this arrangement, the user of the surgical instrument has an intuitive feel of the orientation of the shaft  27200  based on the orientation of the actuator  27220 . 
     A surgical instrument  30000  is illustrated in  FIGS.  51  and  52   . The surgical instrument is similar to the surgical instrument  10000  in many respects. As opposed to the vertical articulation actuator  10160 , the handle of the surgical instrument  30000  comprises a horizontal articulation actuator  30160 . The horizontal articulation actuator  30160  comprises a rocker switch which can be rocked distally to rotate the end effector to the right and rocked proximally to rotate the end effector to the left. A surgical instrument  31000  is illustrated in  FIGS.  53  and  54   . The surgical instrument is similar to the surgical instrument  10000  in many respects. As opposed to the vertical articulation actuator  10160 , the handle of the surgical instrument  31000  comprises an articulation actuator  31160 . The articulation actuator  31160  comprises a multi-axis rocker switch that can be rocked proximal-to-distal to articulate the end effector in one plane and up-to-down to articulate the end effector in another plane. In various instances, the articulation planes are orthogonal to one another, but can be arranged in any suitable manner. 
     As discussed above, the control system of a surgical instrument can comprise an algorithm which, according to predetermined criteria, flips and/or otherwise re-orients the controls of the surgical instrument in certain instances. In various instances, as also discussed above, the algorithm can be configured to flip the articulation controls of the surgical instrument based on the rotation of the shaft relative to the handle. Referring to  FIG.  59   , a surgical instrument comprises a handle comprising a Hall Effect sensor  33130 , and/or any other suitable sensor, in communication with the control system of the surgical instrument and, in addition, a shaft  33200  including an array of magnets  33230  arranged in a circular, or annular, pattern around the shroud, or grip,  10220  of the shaft  33200 . Each magnet  33230  comprises a north pole (N) and a south pole (S) and the magnets  33230  are arranged in the manner indicated in  FIG.  59   —the N poles of some of the magnets  33230  are facing the handle while some S poles are facing toward the handle. When the shaft  33200  is rotated relative to the handle, this arrangement of the magnets  33230  allows the control system to track the position of the shaft  33200  and understand the orientation, or rotation, of the shaft  33200  relative to the handle. Within any three consecutive magnets  33230 , for example, the pattern of magnets  33230  create a unique identifiable signature for a given rotation direction. That said, any suitable number and/or arrangement of discrete magnets could be used. Although twelve magnets  33230  are used, less than twelve magnets could be used—such as six magnets, for example. Moreover, more than twelve magnets could be used. 
     Referring to  FIG.  60   , a surgical instrument comprises a handle comprising a Hall Effect sensor  34130 , and/or any other suitable sensor, in communication with the control system of the surgical instrument and, in addition, a shaft  34200  including a continuous annular magnet  34230  attached to the shroud, or grip,  10220  of the shaft  34200 . In various instances, the annular magnet  34230  comprises a disc or ring embedded with magnetic microstructures which is detectable by the Hall Effect sensor. The annular magnet  34230  comprises a continuous, but varying, magnetic pattern around the perimeter thereof which provides a trackable pattern for the control system to assess the orientation, or rotation, of the shaft  34200 . In other embodiments, the annular magnet  34230  comprises an intermittent magnetic pattern around the perimeter thereof that is trackable by the control system. 
     Referring to  FIG.  61   , a surgical instrument comprises a handle comprising a RFID reader  35130  in communication with the control system of the surgical instrument and, in addition, a shaft  35200  including a circular, or annular, array of RFID chips  35230  around the shroud, or grip,  10220  of the shaft  35200 . Each RFID chip comprises a unique identification which is detectable by the RFID reader  35130  and, with this information, the control system is able to assess the orientation, or rotation, of the shaft  35200  relative to the handle. Notably, the RFID reader  35130  has a limited range to read the RFID chips  35230  and, thus, may be only able to read the most-adjacent RFID chip  35230 . In some instances, the RFID reader  35130  can have sufficient range to read the two most-adjacent RFID chips  35230 . The shaft  35200  comprises four RFID chips  35230 , but can comprise any suitable number of RFID chips  35230 . That said, the accuracy, or resolution, of the assessment made by the control system can be improved with more RFID chips in various instances. 
     Referring to  FIG.  62   , a surgical instrument comprises a handle comprising a Hall Effect sensor  36130   a , and/or any other suitable sensor, in communication with the control system of the surgical instrument and, in addition, a shaft  36200  including an array of magnets  36230   a  arranged in a circular, or annular, pattern around the shroud of the shaft  36200 . The handle also comprises a RFID reader  36130   b  in communication with the control system of the surgical instrument and, in addition, a circular, or annular, array of RFID chips  36230   b  around the shroud of the shaft  36200 . The control system is configured to use the data from the Hall Effect sensor  36130   a  and the RFID reader  36130   b  to assess the orientation of the shaft  36200  relative to the handle. Notably, the RFID chips  36230   b  are positioned intermediate the magnets  36230   a  which provides the control system with a detectable resolution between adjacent magnets  36230   a . Similarly, the magnets  36230   a  are positioned intermediate the RFID chips  36230   b  which provides the control system with a detectable resolution between the RFID chips  36230   b.    
     A surgical instrument  37000  is illustrated in  FIGS.  63 - 66   . The surgical instrument  37000  comprises a handle  37100  and a shaft  37200  extending from the handle  37100 . The surgical instrument  37000  further comprises a slip joint  37900  between the handle  37100  and the shaft  37200 . The slip joint  37900  comprises an electrical interface between the handle  37100  and the shaft  37200 . The slip joint  37900  comprises annular rings  37930  mounted in the shaft  37200 . Four annular rings  37930  are depicted in  FIGS.  63  and  64   , but a slip joint can comprise any suitable number of rings. The slip joint  37900  further comprises electrical contacts  37130  in the handle  37100 . For instance, the slip joint  37900  comprises a first electrical contact  37130  engaged with a first annular ring  37930  and a second electrical contact  37130  engaged with a second annular ring  37930 . That said, the slip joint  37900  can comprise any suitable number of electrical contacts to maintain power and/or signal communication between the handle and the shaft. Throughout the rotation of the shaft  37200 , i.e., all 360 degrees, the electrical contacts  37130  remain in electrical contact with their respective annular rings  37930 . In various instances, each electrical contact  37130  comprises a spring element configured to bias the electrical contact towards its respective annular ring  37930 . The electrical contacts  37130  are in communication with the control system of the surgical instrument  37000 —via separate circuits—such that the control system can assess the resistance of the circuits, and/or any other electrical properties of the circuits between the control system and the slip joint  37900 . That said, the electrical contacts and rings of the slip joint  37900  can be part of any suitable circuit arrangement. 
     Further to the above, the slip joint  37900  can be used as an absolute position sensor for the shaft  37200  relative to the handle  37100 . More specifically, an intermediate annular ring  37930 , i.e., the annular ring  37930  between the first ring  37930  and the second ring  37930 , can be used by the control system to assess the orientation of the shaft  37200 . To this end, the slip joint  37900  comprises an intermediate electrical contact  37130  in electrical communication with the intermediate annular ring  37930  and the control system as part of an intermediate electrical circuit. The intermediate annular ring  37930  is comprised of a high-resistance material, as compared to the first and second annular rings  37930 , and provides a 10,000 Ohm resistance, for example. The intermediate annular ring  37930  has a first portion which is electrically coupled to the first annular ring  37930 , a second annular portion which is electrically coupled to the second annular ring  37930 , and a small break therebetween. When the shaft  37200  is rotated relative to the handle  37100 , the intermediate electrical contact  37130  slides along the intermediate annular ring  37930  and the resistance and voltage of the intermediate electrical circuit changes in a manner which is detectable by the control system owing to the closing and opening of the break by the intermediate contact  37130 . The signal from the intermediate electrical circuit is digitized by an analog-digital converter of the control system, the data from which is usable by the control system to assess the orientation of the shaft  37200 . In various instances, any suitable number of gaps in the intermediate annular ring  37930  and/or intermediate contacts  37130  can be used to provide a signal with sufficient resolution to determine the orientation, or rotation, of the shaft  37200  relative to the handle  37100 . 
     In various embodiments, a resistive material is embedded in the shaft of a surgical instrument which is part of an electrical circuit that passes through a slip ring. As the shaft rotates, the resistance in the electrical circuit changes—which is detectable by the control system of the surgical instrument to assess the angular orientation of the shaft relative to the handle. 
     A representation of a surgical instrument  38000  is illustrated in  FIG.  67   . The surgical instrument  38000  comprises a handle  38100  and a shaft  38200  extending from the handle  38100 . The handle  38100  comprises an annular array of Hall Effect sensors  38130  affixed to the frame and/or housing of the handle  38100 . The Hall Effect sensors  38130  are positioned along a circumference in the handle  38100 , as illustrated in  FIG.  67   . The Hall Effect sensors  38130  are in communication with the control system via electrical circuits. The shaft  38200  comprises a magnet  38230  mounted to the shroud of the shaft  38200  which is aligned, or at least substantially aligned, with the circumference of the Hall Effect sensors  38130 . When the shaft  38200  is rotated about its longitudinal axis, the magnet  38230  moves along the sensor circumference. The sensors  38130  are positioned and arranged such that one or more of the sensors  38130  can detect the position of the magnet  38230  and, thus, the control system can determine the orientation of the shaft  38200  relative to the handle  38100  based on which Hall Effect sensors  38130  have detected the magnetic distortion, and the distortion intensity, created by the magnet  38230 . 
     In various embodiments, a surgical instrument can include one or more optical sensors configured to detect the orientation of the shaft relative to the handle. In at least one embodiment, the handle of the surgical instrument comprises a light emitter and a light detector which are in communication with the control system of the surgical instrument. The shaft comprises a reflective surface that rotates with the shaft. The light emitter emits light onto the reflective surface and the light is reflected back into the light detector. The reflective surface comprises different portions with different reflectivities which creates patterns in the light reflected back to the light detector. With this information, the control system can assess the orientation of the shaft relative to the handle. In various instances, the reflective surface comprises openings and solid areas to create a binary off-on, or low-high, reflection response signal, for example. 
     In various embodiments, a surgical instrument comprises an electromechanical transducer, such as a linear variable differential transformer, for example, used in connection with a mechanical cam to measure the depth of the cam and relate it to the rotation angle of the shaft. In various embodiments, the handle of a surgical instrument comprises a magnetometer in communication with the control system and, in addition, and the shaft comprises a magnet which is detectable by the magnetometer. 
     In various embodiments, the shaft of a surgical instrument comprises a gyroscope sensor in the shaft which is used by the control system to assess the orientation of the shaft relative to the handle. In at least one such embodiment, the handle also comprises a gyroscope sensor in communication with the control system such that the relative orientation of the handle and the shaft can be assessed. In various embodiments, the shaft of a surgical instrument comprises a tilt sensor which is used by the control system to assess the orientation of the shaft relative to the handle. In at least one embodiment, a SQ-MIN-200 sensor can be used. A SQ-MIN-200 sensor acts like a normally-closed sensor which chatters open and closed as it is tilted or vibrated. That said, any suitable omnidirectional sensor, for example, could be used. 
     In various embodiments, a detectable element can be positioned on the clamp drive or closure tube of the shaft. When the shaft is rotated, the closure tube rotates with the shaft. Thus, the one or more sensors of the handle can detect the orientation of the shaft relative to the handle via the detectable element on the shaft. When the closure tube is translated to close the end effector, as described herein, the detectable element moves relative to the one or more sensors. Such translation of the detectable element can also be used to verify the closure of the end effector. In at least one instance, a Hall Effect sensor can be used to detect the rotation and translation of the detectable element. In various instances, the control system of a surgical instrument is configured to prevent the end effector from being articulated while the end effector is closed. This arrangement provides the feedback to the control system to determine not only the responsiveness of the articulation controls, but whether or not the control system should be responsive to the input from the articulation controls at all. 
     In various embodiments, referring again to  FIGS.  27  and  28   , the distal end of the articulation actuator  10260  of the surgical instrument  10000  is attached to the end effector  10400  such that the proximal and distal translation of the articulation actuator  10260  rotates the end effector  10400  about the articulation joint  10500 . Referring to  FIG.  32   , the shaft  10200  of the surgical instrument  10000  comprises a shaft frame  10210  which slideably supports the articulation actuator  10260 . Although not illustrated in  FIG.  32   , the shaft  10200  further comprises a pivot pin  10215  extending from the frame  10210 . The pivot pin  10215  is closely received within a pivot aperture  10415  defined in the staple cartridge jaw  10410  of the end effector  10400  which defines an articulation axis AA of the articulation joint  10500 . The articulation driver  10260  comprises a distal end including an aperture  10262  defined therein and the end effector  10400  further comprises an articulation pin  10460  extending from the proximal end of the staple cartridge jaw  10410  into the aperture  10262 . When the articulation actuator  10260  is translated, as described above, the sidewalls of the aperture  10262  engage the articulation pin  10460  and either push or pull the articulation pin  10460 —depending on the direction in which the articulation actuator  10260  is translated. The entire disclosure of U.S. Pat. No. 9,101,358, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, which issued on Aug. 11, 2015, is incorporated by reference herein. The entire disclosure of U.S. Pat. No. 5,865,361, entitled SURGICAL STAPLING APPARATUS, which issued on Feb. 2, 2019, is incorporated by reference herein. 
     Further to the above, the end effector  10400  defines an end effector axis EA and the shaft  10200  defines a longitudinal shaft axis LSA. When the end effector  10400  is in an unarticulated position, the end effector axis EA is aligned, or at least substantially aligned, with the longitudinal shaft axis LSA. When the end effector  10400  is in an articulated position, as illustrated in  FIG.  32   , the end effector axis EA is transverse to the longitudinal shaft axis LSA. The aperture  10262  is elongate in order to accommodate relative movement between the articulation pin  10460  and the articulation driver  10260 ; however, for large articulation angles, the articulation driver  10260  may bind and/or flex which can, without more, result in the articulation driver  10260  decoupling from the articulation pin  10460 . With that in mind, the end effector  10400  further comprises a retention plate  10600  configured to hold the articulation driver  10260  in engagement with the articulation pin  10460 . The retention plate  10600  comprises a planar, or an at least substantially planar portion, which extends over the distal end of the articulation driver  10260  and comprises an aperture  10660  defined therein, the sidewalls of which are engaged with the articulation pin  10460 . As a result, the articulation driver  10260  is trapped between the staple cartridge jaw  10410  and the retention plate  10600  such that the articulation driver  10260  does not unintentionally disengage from the staple cartridge jaw  10410 . The retention plate  10600  is fixedly mounted to the staple cartridge jaw  10410  such that there is little, if any, relative movement between the retention plate  10600  and the staple cartridge jaw  10410 . The staple cartridge jaw  10410  comprises a retention lug  10430  and the retention plate  10600  comprises an aperture  10630  defined therein, the sidewalls of which are engaged with the retention lug  10430  to hold the retention plate  10600  to the staple cartridge jaw  10410 . In various instances, the retention plate  10600  can comprise a spring and/or biasing member. 
     In addition to or in lieu of the retention plate  10600 , referring now to  FIG.  33   , a surgical instrument  10000 ′ comprises an end effector  10400 ′ and an articulation joint  10500 ′ rotatably connecting the end effector to the shaft  10200 ′. Further to the above, the articulation joint  10500 ′ comprises a pin  10560 ′ extending from a shaft frame  10210 ′ of the shaft  10200 ′ that is closely received within an aperture defined in the staple cartridge jaw  10410 ′ which defines the articulation axis AA for the articulation joint  10500 ′. The surgical instrument  10000 ′ also comprises an articulation driver  10260 ′ which comprises a distal end  10264 ′ including a slot  10262 ′ defined therein. Similar to the above, the staple cartridge jaw  10410 ′ comprises an articulation pin  10460 ′ extending from the staple cartridge jaw  10410 ′ which extends into the slot  10262 ′ of the distal end  10264 ′ and the interaction between the sidewalls of the slot  10262 ′ and the articulation pin  10460 ′ drive the end effector  10400 ′ about the articulation joint  10500 ′. Notably, the pin  10560 ′ of the articulation joint  10500 ′ comprises a clearance relief  10564 ′ defined therein to provide clearance for the longitudinal movement of the articulation driver  10260 ′. The staple cartridge jaw  10410 ′ also comprises a clearance relief  10414 ′ defined therein to permit clearance for the rotation of the staple cartridge jaw  10410 ′ about the articulation joint  10500 ′. In order to prevent the articulation driver  10260 ′ from becoming decoupled from the staple cartridge jaw  10410 ′, referring to  FIGS.  34 - 37   , the articulation pin  10460 ′ comprises a retention shoulder  10464 ′ extending from a cylindrical portion  10462 ′. The retention shoulder  10464 ′ extends over a portion of the distal end  10264 ′ of the articulation driver  10260 ′ throughout the articulation of the end effector  10400 ′. Thus, regardless of whether the end effector  10400 ′ is articulated all the way to the left ( FIG.  35   ) or all the way to the right ( FIG.  37   ), or anywhere in between, the retention shoulder  10464 ′ prevents, or at least limits the possibility of, the articulation driver  10260 ′ disengaging from the staple cartridge jaw  10410 ′. 
     In various embodiments, further to the above, the clearance relief  10414 ′ comprises a retention shoulder or lip which prevents the articulation driver  10260 ′ from decoupling from the articulation pin  10460 ′. The retention shoulder  10464 ′ of the articulation pin  10460 ′ is sized and configured such that the width of the retention shoulder  10464 ′ is wider than the width of the slot  10262 ′. That said, the slot  10262 ′ comprises a length which is larger than its width which permits the retention shoulder  10464 ′ to be interested through the slot  10262 ′ such that the articulation driver  10260 ′ can be assembled to the articulation pin  10460 ′. The width of the slot  10262 ′ is defined along an axis that is parallel to the longitudinal axis of the shaft while the length of the slot  10262 ′ is defined along an axis that is orthogonal to the longitudinal axis of the shaft. Such an arrangement permits the end effector to articulate relative to the shaft while minimizing binding between the end effector and the articulation driver  10260 ′. That said, the articulation driver  10260 ′ is comprised of a flexible material that permits the articulation driver  10260 ′ to resiliently flex to accommodate the end articulation of the end effector. 
     As discussed above, the end effector  10400  comprises a staple cartridge jaw  10410  configured to receive a replaceable staple cartridge, such as staple cartridge  10430 , for example, and an anvil jaw  10420  configured to deform the staples ejected from the staple cartridge  10430 . The staple cartridge jaw  10410  comprises a channel including a bottom support and two lateral sidewalls extending upwardly configured to receive the staple cartridge  10430 . The staple cartridge  10430  comprises a proximal end  10432 , a distal end  10434 , and a deck  10433  extending between the proximal end  10432  and the distal end  10434 . When the staple cartridge  10430  is inserted into the staple cartridge jaw  10410 , the proximal end  10432  is guided into position between the staple cartridge jaw  10410  and the anvil jaw  10420  and then seated into the staple cartridge jaw  10410 . The anvil jaw  10420  comprises a proximal end  10422 , a distal end  10424 , a tissue compression surface  10423  extending between the proximal end  10422  and the distal end  10424 , and a pivot  10421  rotatably connecting the anvil jaw  10420  to the staple cartridge jaw  10410 . Referring to  FIG.  44   , the anvil jaw  10420  comprises lateral pins that extend into apertures  10411  defined in the staple cartridge jaw  10410 . As discussed above, the anvil jaw  10420  is rotatable into a closed, or clamped, position by the closure drive of the stapling instrument  10000 . When the closure drive is retracted, the anvil jaw  10420  is opened. Referring to  FIGS.  38 - 43   , the stapling instrument  10000  further comprises one or more biasing members, or springs,  10446  configured to open the anvil jaw  10420  when the closure drive is retracted. The surgical instrument  10000  comprises two opening springs  10446 , but could comprise any suitable number of biasing members. In any event, each spring  10446  is positioned in a recess  10416  defined in the staple cartridge jaw  10410 . The recesses  10416  closely receive the springs  10446  such that the springs  10446  do not buckle under a compressive load; however, the recesses  10416  are sized and configured to accommodate any lateral expansion of the springs  10446  as the anvil jaw  10420  is being closed. 
     Referring primarily to  FIG.  42   , the anvil jaw  10420  comprises lateral tabs  10426  adjacent the proximal end  10422  of the anvil  10420  which are in contact with the springs  10446 . When the anvil jaw  10420  is closed, the springs  10446  are compressed between the lateral tabs  10426  and the bottom of the recesses  10416 . When the closure system is retracted, the springs  10446  resiliently re-expand and push upwardly on the lateral tabs  10426  to rotate the anvil jaw  10420  into its open, or unclamped, position. Notably, referring primarily to  FIG.  40   , the staple cartridge jaw  10410  has a stop portion  10419  defined thereon which is contacted by the proximal end  10422  of the anvil  10420  when the anvil  10420  reaches its fully-open position. The anvil  10420  comprises a proximal stop surface  10429  which contacts the stop portion  10419  of the staple cartridge jaw  10410 . In such instances, the anvil jaw  10420  cannot be opened any further. As a result of the above, the springs  10446  hold the anvil jaw  10420  against the stop portion  10419  of the staple cartridge jaw  10410  until the anvil jaw  10420  is closed once again. 
     When the anvil jaw  10420  is in its open position, the staple cartridge jaw  10410  is positioned on one side of the tissue that is to be stapled and the anvil jaw  10420  is positioned on the opposite side. In such instances, the end effector  10400  is moved relative to the tissue until the tissue is suitably positioned between the staple cartridge jaw  10410  and the anvil jaw  10420 . The anvil jaw  10420  comprises lateral tissue stops  10427  which extend downwardly alongside the staple cartridge jaw  10410  which are configured to make sure that the tissue positioned within the end effector  10400  is positioned over the staple cavities in the staple cartridge  10430 . Referring primarily to  FIG.  39   , the tissue stops  10427  extend distally with respect to the proximal-most staple cavities  10440 . In at least one instance, the tissue stops  10427  extend distally with respect to at least one staple cavity  10440  in each longitudinal row of staple cavities  10440 . As a result, the tissue stops  10427  make sure that the tissue captured in the end effector  10400  is not cut by the tissue cutting knife without being stapled. When the anvil jaw  10420  is closed, the tissue stops  10427  move relative to the staple cartridge jaw  10410 . The tissue stops  10427  are sized and configured such that tissue does not become accidentally pinched between the tissue stops  10427  and the lateral sides of the staple cartridge jaw  10410 . More specifically, the bottom edges  10428  of the tissue stops  10427  are configured such that they extend alongside the lateral sides of the staple cartridge jaw  10410  even when the anvil jaw  10420  is in its fully-open position, as illustrated in  FIG.  39   . Notably, the lateral sides  10415  of the staple cartridge jaw  10410  extend upwardly above the deck  10433  to make sure that there is overlap between the tissue stops  10427  and the lateral sides  10415  of the staple cartridge jaw  10410 —when viewed from the side—throughout the entire range of motion of the anvil jaw  10420 . 
     In various embodiments, further to the above, the distal edges of the tissue stops  10427  extend below the deck  10433  throughout the entire range of motion of the anvil jaw  10420 . Thus, the distal edges of the tissue stops  10427  extend below the top surface of the deck  10433  when the anvil jaw  10420  is in its fully-open position and its fully-clamped position. Such an arrangement reduces the possibility of the tissue being pinched when the anvil jaw  10420  is moved. In certain embodiments, the staple cartridge comprises tissue stops that extend upwardly from the deck  10433  alongside the tissue stops  10427 . Similar to the above, the distal edges of the tissue stops  10427  extend below the cartridge tissue stops through the entire range of motion of the anvil jaw  10420 . Such an arrangement also reduces the possibility of the tissue being pinched when the anvil jaw  10420  is moved. Moreover, these arrangements would be useful in embodiments where the staple cartridge jaw  10410  moves relative to the anvil jaw  10420 . 
     As discussed above and referring primarily to  FIGS.  44 ,  45 A, and  45 B  the end effector  10400  comprises a staple cartridge jaw  10410  that includes spring recesses  10416  defined therein which comprise wider top openings  10416 ′. The spring recesses  10416  still support the springs  10446  and keep them from buckling, but the wider top openings  10416 ′ of the spring recesses  10416  provide clearance for the lateral tabs  10426  when the anvil jaw  10420  is in its closed position. In such an arrangement, the lateral tabs  10426  can move into the staple cartridge jaw  10410  to compress the springs  10446 . In such instances, the springs  10446  can be highly compressed by the anvil jaw  10420 , thereby assuring a strong opening force from the springs  10446  when the anvil jaw  10420  is released by the closure drive. The above being said, embodiments are envisioned without the wider top openings  10416 ′. In such embodiments, the springs are closely received by the spring recesses  10416  along the length of the springs  10446 . 
     The tissue cutting member  10251  of the firing drive of the stapling instrument  10000  is illustrated in  FIGS.  46  and  47   , the tissue cutting member comprises a body including a distal nose  10258  and a tissue cutting edge  10259  which pass through the end effector  10400  during a staple firing stroke. The tissue cutting member  10251  further comprises a top cam member  10255  configured to engage the anvil jaw  10420  and a bottom cam member  10256  configured to engage the staple cartridge jaw  10410  during the staple firing stroke. A longitudinal cam surface  10425  in a longitudinal slot of the anvil jaw  10420  can be seen in  FIG.  46    which is engaged by the top cam member  10255  during the staple firing stroke. The staple cartridge jaw  10410  also has a longitudinal cam surface  10419  which is engaged by the bottom cam member  10256 . The cam members  10255  and  10256  position the jaws  10410  and  10420  relative to one another during the staple firing stroke and hold the jaws  10410  and  10420  in their closed configuration throughout the staple firing stroke. The cam members  10255  and  10256  also set the staple forming gap between the staple drivers in the staple cartridge and the forming pockets defined in the anvil jaw  10420 . 
     Notably,  FIGS.  46  and  47    illustrate the anvil jaw  10420  in its open position and the tissue cutting member  10251  in its unfired position, i.e., its position before the staple firing stroke has begun. The anvil jaw  10420  comprises a clearance pocket  10450  defined therein which is aligned with the top cam member  10255  of the tissue cutting member  10251  when the tissue cutting member  10251  is in its unfired position. Such an arrangement allows the tissue cutting member  10251  to be parked just proximal to the longitudinal cam surface  10425  in the anvil jaw  10420 , and the corresponding cam surface in the staple cartridge jaw  10410 , when the tissue cutting member  10251  is in its unfired position. Such an arrangement provides for a shorter, and more maneuverable, end effector for a given staple line length. Moreover, the tissue cutting member  10251  comprises a tissue cutting edge  10259  that is positioned proximally with respect to the staple cavities defined in the staple cartridge and proximally with respect to the distal edges of the tissue stops when the tissue cutting member is in its unfired position. As a result, the tissue being inserted into the end effector is unlikely to be cut by the tissue cutting edge  10259  until the tissue cutting member  10251  is advanced distally from its unfired position during a firing stroke. 
     Further to the above, it is desirable for the tissue cutting member  10251  to be in its unfired position at the beginning of the staple firing stroke. If the tissue cutting member  10251  is not in its unfired position at the outset of the staple firing stroke, a missing cartridge/spent cartridge lockout of the stapling instrument  10000  may be accidentally bypassed. Referring to  FIG.  41   , the lockout of the stapling instrument  10000  comprises a shoulder  10417  defined in the bottom of the staple cartridge jaw  10410 . If a proper unspent staple cartridge is seated in the staple cartridge jaw  10410  at the outset of the staple firing stroke, and the tissue cutting member  10251  is in its unfired position at the outset of the staple firing stroke, the tissue cutting member  10251  will be lifted over the lockout shoulder  10417 . More specifically, referring to  FIG.  46   , the nose  10258  of the tissue cutting member  10251  will be supported by a staple driving sled in the staple cartridge such that lockout tabs  10257  of the firing member  10251 , and/or any other portion of the firing member  10251 , do not contact the lockout shoulder  10417 . If, however, a staple cartridge is not seated in the staple cartridge jaw  10410 , a staple cartridge is seated the staple cartridge jaw  10410  but has been previously spent, or an incorrect staple cartridge is seated in the staple cartridge jaw  10410 , the sled will not support the nose  10258  of the tissue cutting member  10251  and the lockout tabs  10257  will contact the lockout shoulder  10417  at the outset of the staple firing stroke—thereby preventing the staple firing stroke. If the tissue cutting member  10251  is somehow positioned distally with respect to the lockout shoulder  10417  at the outset of the staple firing stroke, however, the advantages provided by the lockout of the surgical instrument  10000  are lost. 
     The entire disclosures of U.S. Pat. No. 7,143,923, entitled SURGICAL STAPLING INSTRUMENT HAVING A FIRING LOCKOUT FOR AN UNCLOSED ANVIL, which issued on Dec. 5, 2006; U.S. Pat. No. 7,044,352, SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING, which issued on May 16, 2006; U.S. Pat. No. 7,000,818, SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21, 2006; U.S. Pat. No. 6,988,649, SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, which issued on Jan. 24, 2006; and U.S. Pat. No. 6,978,921, SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM, which issued on Dec. 27, 2005, are incorporated by reference herein. 
     The above being said, referring to  FIG.  48   , the anvil jaw  10420  comprises shoulders, or stops,  10455  defined thereon which are configured to contact the top cam member  10255  of the tissue cutting member  10251  when the anvil jaw  10420  is moved into its open position. In such instances, the anvil jaw  10420  positions the tissue cutting member  10251  in its unfired position even if the tissue cutting member  10251  has been accidentally moved or positioned too far distally. Such an arrangement is particularly useful after the surgical instrument  10000  has already been used at least once and the staple firing system has been reset, or retracted as, in some instances, the tissue cutting member  10251  may not have been fully returned to its unfired position after the last staple firing stroke. As a result of the above, the possibility of the lockout of the surgical instrument  10000  being accidentally bypassed is reduced. Notably, the shoulders  10455  and the clearance pocket  10450  are positioned proximally with respect to the distal edges of the tissue stops  10427  which assures that the tissue cutting member  10251  is positioned proximally relative to the tissue captured within the end effector such that the tissue is not accidentally incised against the tissue cutting member  10251 . 
     As discussed above, the articulation driver  10260  is translatable proximally and distally to articulate the end effector  10400  about the articulation joint  10500 . That said, the articulation driver  10260  is actually a distal articulation driver of the articulation drive system. Referring to  FIGS.  72  and  74 - 76   , the articulation drive system further comprises a translatable proximal articulation driver  10270  which moves the distal articulation driver  10260 . The articulation drive system also comprises an articulation lock  10280  positioned intermediate the proximal articulation driver  10270  and the distal articulation driver  10260 , as described in greater detail below. The proximal articulation driver  10270  comprises an articulation rod  10272 , a proximal push projection  10274  extending from the articulation rod  10272 , and a distal pull projection  10276  extending from the articulation rod  10272 . When the proximal articulation driver  10270  is pushed distally, the proximal push projection  10274  contacts the articulation lock  10280 , unlocks the articulation lock  10280 , and drives the distal articulation driver  10260  distally to articulate the end effector  10400 . When the proximal articulation driver  10270  is stopped, the articulation lock  10280  automatically re-locks and holds the end effector  10400  in position. When the proximal articulation driver  10270  is pulled proximally, the distal pull projection  10276  contacts the articulation lock  10280 , unlocks the articulation lock  10280 , and pulls the distal articulation driver  10260  proximally to articulate the end effector  10400 . Similar to the above, the articulation lock  10280  automatically re-locks when the proximal articulation driver  10270  stops. When the articulation lock  10280  is locked, the end effector  10400  is prevented from being back-driven or unintentionally moved out of its position. When the articulation lock  10280  is unlocked, the end effector  10400  can be articulated into a new position. 
     Further to the above, referring to  FIG.  72   , a space  10275  is defined between the projections  10274  and  10276  of the proximal articulation driver  10270 . The distal articulation driver  10260  comprises a similar arrangement. More specifically, the distal articulation driver  10260  comprises a proximal projection  10269  and a distal projection  10267  with a space defined between them. The projections  10274  and  10276  of the proximal articulation driver  10270  are positioned within, and move within, this space defined between the projections  10267  and  10269  of the distal articulation driver  10260 . The articulation lock  10280  comprises a stationary rod  10282  extending through the distal articulation driver  10260  and lock members  10284  rotatably and slideably mounted to the stationary rod  10282 . The lock members  10284  are biased into a locked position by a spring  10286  positioned between two sets of lock members  10284  which causes the lock members  10284  to bite into the stationary rod  10282 . When the proximal articulation rod  10270  is translated, however, the proximal articulation rod  10270  pushes on the lock members  10284  to rotate them out of their locked position so that the end effector  10400  can be articulated. 
     Further to the above, the projections  10274  and  10276  of the proximal articulation driver  10270  directly contact the lock members  10284 . Referring to  FIG.  74 A , the projections  10274  and  10276  each comprises a projection, or bump,  10277  extending therefrom which engages the lock members  10284 . The bumps  10277  provide a large pushing area for the proximal articulation driver  10270  to push against the lock members  10284 . By way of comparison, a proximal articulation driver  10270 ′ is illustrated in  FIGS.  73  and  73 A  which does not have the bumps  10277  on its projections  10274 ′ and  10276 ′. The arrangement of  FIGS.  73  and  73 A  is still useful, but the contact area between the proximal articulation driver  10270 ′ and lock members  10284  is smaller than the contact area between the proximal articulation driver  10270  and the lock members  10284 . As a result of the larger contact area with the lock members  10284 , the stress and strain in the proximal articulation driver  10270  is smaller than that of the proximal articulation driver  10270 ′. Moreover, the arrangement of the bumps  10277  can increase the torque arm between the proximal articulation driver  10270  and the lock members  10284  thereby lowering the force needed to unlock the articulation lock  10280 . 
     Described herein are various mechanisms and methods for determining the orientation of the shaft relative to the handle. Many of these mechanisms are able to evaluate the orientation of the shaft in real time and without regard to the previous orientation, or orientations, of the shaft. Such arrangements are particularly useful when the surgical instrument loses power, for example. When the surgical instrument re-powers, the control system can immediately assess the orientation of the shaft and the proper responsiveness of the articulation controls, for example. Moreover, the surgical instruments disclosed herein can be configured to immediately assess the articulation angle of the end effector when the surgical instrument is re-powered. Upon re-powering, the control system will evaluate whether the end effector is in a closed configuration or an open configuration. If the end effector is in a closed configuration upon re-powering, the control system will determine that the surgical instrument lost power during the staple firing mode and prompt the clinician to retract the staple firing system. If the end effector is in an open configuration upon re-powering, or once the end effector is in an open position upon re-powering, the control system will seek to make sure that the articulation drive system is coupled to the staple firing system such that the end effector can be straightened, or otherwise suitably oriented by the clinician, to remove the surgical instrument from the patient.  FIG.  78    depicts an algorithm  39000  for the control system to assure that the articulation system is engaged with the staple firing drive. In this algorithm, the control system sweeps the staple firing drive between the positions associated with the furthest-right end effector position and its furthest-left end effector position such that, if the articulation drive was not already coupled to the firing drive, it would become so. These far-right and far-left orientations of the end effector correspond to the distal-most and proximal-most positions of the articulation driver  10260 , as illustrated in  FIG.  77   . These positions are also the distal-most and the proximal-most positions, respectively, of the articulation driver  10270 . The control system comprises one or more non-volatile device memories for storing information regarding the distal-most (far-right orientation) and proximal-most (far-left orientation) positions of the articulation drive system. As such, this information is available to the control system upon re-powering and the control system can limit its assessment to this range. In various embodiments, the surgical instrument can comprise a sensor configured to assess whether or not the articulation drive is mechanically coupled to the staple firing drive. 
     Further to the above, the algorithm  39000  comprises a step  39100  in which the control system assess whether or not an articulation button is depressed at the start-up, or initialization, of the surgical instrument. If it is determined at step  39100  that an articulation button is not depressed, the algorithm follows logic path  39200 . In logic path  39200 , the control system actuates the electric motor that drives the articulation system at step  39300  to push the articulation driver  10260  distally to articulate the end effector to the right. The control system then waits a predetermined amount of time at step  39400  before proceeding to step  39600  in which the control system actuates the motor in an opposite direction to pull the articulation driver  10260  proximally and articulate the end effector to the left. The control system then waits again for a predetermined amount of time at step  39700  and, after this time, waits for an input command at step  39800 . In various embodiments, the control system comprises a timer circuit for counting the appropriate amount of time. If, on the other hand, the control system detects that the left articulation control is actuated at step  39100 , the algorithm  39000  follows logic path  39500  and articulates the end effector to the left. If the control system detects that the right articulation control is actuated at step  39100 , the algorithm  39000  follows a logic path that articulates the end effector to the right. 
     During a staple firing stroke, further to the above, the staples of a staple cartridge are progressively ejected by a firing member. The firing member ejects the proximal staples of the staple cartridge at the beginning of the staple firing stroke and the distal staples at the end of the staple firing stroke. In instances where all of the staples of a staple cartridge properly contact their staple forming pockets in the anvil positioned opposite to the staple cartridge, the staples will properly form and the staple firing force will be low. In instances where some of the staples miss their staple forming pockets, such staples may malform thereby increasing the force required to perform the staple firing stroke. Slowing the staple firing stroke may improve staple formation and lower the force required to perform the staple firing stroke. In various instances, detecting the force being applied by the staple firing system can be directly detected through one or more force sensors and/or strain gauges, for example. In other instances, detecting the force can be achieved by a current sensor or ammeter circuit, for example, which measures the current to the electric motor of the staple firing drive. The entire disclosure of U.S. patent application Ser. No. 16/361,793, entitled SURGICAL INSTRUMENT COMPRISING AN ADAPTIVE CONTROL SYSTEM, filed on Mar. 22, 2019 is incorporated by reference herein. These approaches may be suitable in various instances, but described below are embodiments and methods which assess the duty cycle of the staple firing system during the staple firing stroke. 
     Further to the above, the control system of the surgical instrument  10000  comprises a pulse width modulation (PWM) control circuit configured to control the speed of the firing drive electric motor. The PWM control circuit applies voltage pulses to the firing drive electric motor to perform the staple firing stroke. In various instances, the PWM control circuit increases the duration of the voltage pulses it applies to the firing drive electric motor in order to increase the speed of the firing drive electric motor and, correspondingly, the speed of the staple firing stroke. In other instances, the PWM control circuit decreases the duration of the voltage pulses it applies to the firing drive electric motor in order to decrease the speed of the firing drive electric motor and, correspondingly, the speed of the staple firing stroke. In either event, the PWM control circuit can make these pulse length adjustments without substantially increasing or decreasing the magnitude of the voltage pulses being applied to the motor. That said, embodiments are envisioned in which the magnitude of the voltage pulses, or certain voltage pulses, could be changed. In any event, as described in greater detail below, the control system is configured to drive the staple firing drive at a constant, or near constant, speed by adjusting the duration of the pulses via the PWM circuit. The entire disclosure of U.S. Pat. No. 8,499,992, entitled DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE, which issued on Aug. 6, 2013, is incorporated by reference herein. 
     The ratio of the time in which the voltage is applied to the electric motor (ON time) by the PWM circuit divided by the total time (ON time+OFF time) is the duty cycle of the staple firing drive motor. Thus, the duty cycle can range between 0% (completely OFF) and 100% (completely ON), i.e., a constant voltage without periodic interruptions. The terms ON and OFF suggest a non-zero voltage and a zero voltage; however, the terms ON and OFF are inclusive of HIGH and LOW voltages, respectively. The terms LOW or OFF include zero voltage and non-zero voltages that have a magnitude which is less than the HIGH or ON voltage. In view of the above, another way of expressing the duty cycle of the firing drive electric motor is the ratio of the time in which the voltage is applied to the electric motor (HIGH time) by the PWM circuit divided by the total time (HIGH time+LOW time). 
     The PWM control circuit applies the voltage pulses to the firing drive electric motor at regular intervals; however, the control system can comprise a frequency modulation (FM) control circuit to change the frequency of the voltage pulse intervals. In various instances, the FM control circuit decreases the interval between the voltage pulses to increase the speed of the firing drive electric motor and the staple firing stroke. Correspondingly, the FM control circuit increases the interval between the voltage pulses to decrease the speed of the firing drive electric motor and the staple firing stroke. In addition to or in lieu of the above, the control system can increase the magnitude of the voltage it applies to the firing drive electric motor to increase the speed of the firing drive electric motor and the staple firing stroke and/or decrease the magnitude of the voltage it applies to the firing drive electric motor to decrease the speed of the firing drive electric motor and the staple firing stroke. 
     The control system of the surgical instrument  10000  comprises an algorithm for controlling the speed of the staple firing member. Referring to  FIG.  79   , the control system includes an algorithm  50000  configured to drive the staple firing member at a low speed, an intermediate speed, and a high speed. The low speed is 6 mm/s, or approximately 6 mm/s. The intermediate speed is 12 mm/s, or approximately 12 mm/s. The high speed is 20 mm/s, or approximately 20 mm/s. That said, a control system can be configured to operate the staple firing drive at any suitable number of speeds and/or at any suitable speed. The control system is configured to monitor the speed of the staple firing drive, via a motor speed sensor, and adjust the length of the voltage pulses applied to the electric motor of the staple firing drive to bring the speed of the staple firing drive to the target speed. For instance, if the target speed of the staple firing drive at a given point in the staple firing stroke is 12 mm/s and the actual speed is 11 mm/s, the control system increases the length of the voltage pulses it is applying to the electric motor to increase the speed of the staple firing drive. Stated another way, the control system increases the duty cycle of the firing drive electric motor to increase the speed of the staple firing drive. Correspondingly, the control system is configured to shorten the length of the voltage pulses it is applying to the firing drive electric motor if the speed of the staple firing drive exceeds the target speed until the speed of the staple firing drive reaches the target speed. Stated another way, the control system is configured to lower the duty cycle of the firing drive electric motor to decrease the speed of the staple firing drive. Notably, the target speed for the staple firing drive can change during the staple firing stroke, as described in greater detail below. 
     As discussed above, the firing member of the staple firing drive is moved distally during the staple firing stroke. Referring to  FIGS.  47  and  79   , the firing member is advanced distally from its proximal, unfired position to move the top cam member  10255  of the firing member up the ramp of the internal slot  10425  defined in the anvil  10420 . The distance between the proximal, unfired position and the distal end of the internal slot ramp is 15 mm, or approximately 15 mm, for example. This initial 15 mm motion of the firing member can be used to close the end effector and/or pass over the firing lockout described above if a proper unspent staple cartridge is seated in the end effector. That being said, during this range of motion, the control system moves the firing member distally at the intermediate speed of 12 mm/s and evaluates the duty cycle needed to drive the staple firing member at this speed. If the duty cycle is between 40% and 60% in this initial range, the control system continues to drive the staple firing drive at the intermediate speed of 12 mm/s. If the duty cycle is above 60%, the control system lowers the target speed of the staple firing drive to the low speed of 6 mm/s. Such instances can arise when thick tissue is present between the anvil  10420  and the staple cartridge  10430 . On the other hand, if the duty cycle is below 40% during this initial range, the control system increases the target speed to the high speed of 20 mm/s. Such instances can arise when thin tissue is present between the anvil  10420  and the staple cartridge  10430 . In  FIG.  79   , the end of this initial range is demarcated by point A and, notably, staples are not deployed, or fired, during this initial range. After point A, the firing member fires the staples as the firing member is advanced distally until the firing member reaches the end of the staple firing stroke and/or the clinician stops the staple firing stroke by releasing the firing trigger. 
     Referring to the algorithm  50000  in  FIG.  79   , it can be seen that the staple firing member was driven at the intermediate speed, 12 mm/s, for the first 15 mm and then at the high speed, 20 mm/s, for the rest of the staple firing stroke. As described above, this shift in speed occurred because the control system measured that the duty cycle was below 40% during the first 15 mm of the staple firing stroke. Had the firing member been blocked by the lockout in the first 15 mm, however, the duty cycle would have spiked immediately to 100% and the control system is configured to immediately stop the staple firing stroke in response to such asymptotic duty cycle spikes. Once the firing member has passed this initial 15 mm distance, in various instances, the remainder of the staple firing stroke comprises approximately 30 mm, approximately 45 mm, or approximately 60 mm, for example. These lengths represent the different staple pattern lengths that are currently desirable in many staple cartridges, but any suitable staple pattern lengths could be used. In some embodiments, the control system does not re-evaluate the duty cycle of the staple firing drive to adjust the target speed of the firing member after an initial evaluation of the firing drive duty cycle. The control system of embodiment of  FIG.  79   , however, continues to evaluate the duty cycle of the staple firing drive throughout the staple firing stroke. At point C in the staple firing stroke, the control system makes another adjustment to the target speed or maintains the target speed according to the criteria set forth above. As depicted in  FIG.  79   , the duty cycle of the staple firing drive was determined to be between 40% and 60% at point C and, thus, the control system maintained the target speed of 20 mm/s. Point C is half way between point A and the end of the staple firing stroke, i.e., half way into the staple pattern. That said, point C can be at any suitable location. Moreover, the control system can be configured to adjust the target speed of the staple firing drive at any suitable number of points during the staple firing stroke. In at least one instance, the control system can make a target speed adjustment at every 15 mm during the staple firing stroke, for example. For a 30 mm staple cartridge, the control system could make a total of two target speed adjustments, as illustrated in  FIG.  79   . For a 45 mm staple cartridge, the control system could make a total of three target speed adjustments at 15 mm intervals and, for a 60 mm staple cartridge, the control system could make a total of four target speed adjustments at 15 mm intervals, for example. 
     For the examples given above, the control system used the same set of criteria for evaluating the duty cycle at every target speed adjustment point. That said, referring to  FIG.  80   , embodiments are envisioned in which the control system uses different sets of duty cycle criteria at different target speed adjustment points. For instance, the control system can use a first set of duty cycle criteria at the first target speed adjustment point and a second set of duty cycle criteria at the second target speed adjustment point. In at least one instance, referring to the algorithm  51000  in  FIG.  80   , the control system increases the target speed of the staple firing drive if the duty cycle is below 45% at the first target speed adjustment point. That said, the control system increases the target speed of the staple firing drive at the second target speed adjustment point if the duty cycle is below 40%. Any suitable threshold, or thresholds, could be used. In the embodiment illustrated in  FIG.  80   , the upper duty cycle threshold of 60% is the same at both the first and second target speed adjustment points in the algorithm  51000 . If the duty cycle is in excess of 60%, the control system shortens the voltage pulses to slow the staple firing system. In other embodiments, the upper duty cycle threshold can be different at the first and second target speed adjustment points. 
     Further to the above, referring to  FIG.  81   , the algorithm of the control system increased the target speed at point A from the intermediate speed to the high speed but then lowered the target speed at point C from the high speed to the intermediate speed. At point C, the control system determined that the duty cycle of the firing drive electric motor was above 60% and lowered the target speed one level, i.e., from the high speed to the intermediate speed. Notably, the control system did not lower the target speed from the high speed to the low speed at point C as the control system is configured to only raise or lower the target speed one level at each check point. In order for the target speed of the staple firing drive to be lowered from the high speed to the low speed, the duty cycle would have to exceed the upper duty cycle threshold at two checkpoints. These checkpoints can be consecutive checkpoints, or non-consecutive checkpoints. That said, embodiments are envisioned in which the control system comprises a safety duty cycle threshold that, if exceeded, would cause the control system to drop the target speed of the staple firing drive to the low speed regardless of the speed of the staple firing drive prior to that checkpoint. 
       FIG.  82 A  depicts two graphs—a duty cycle graph (i) and a firing force graph (ii) of the staple firing drive. The duty cycle graph (i) and the firing force graph (ii) are correlated to demonstrate three different staple firing strokes. Two of the staple firing strokes in  FIG.  82 A  stay below the 40% duty cycle threshold as the firing force is low. In such staple firing strokes, the control system increases the target speed of the staple firing system at each check point according to the current algorithm, although other algorithms are possible. One of the staple firing strokes in  FIG.  82 A  reaches a 100% duty cycle because the firing force is high. When the duty cycle is in excess of 60% at a target speed adjustment point, the control system decreases the target speed of the staple firing system according to the current algorithm, although other algorithms are possible. Notably, the duty cycle of this staple firing isn&#39;t above the 60% threshold at the beginning of the staple firing stroke and, as a result, the control system may not actually lower the target speed if the duty cycle didn&#39;t exceed the upper threshold of 60% until after the check point, or check points. 
       FIG.  82 B  depicts two graphs—a duty cycle graph (i) and a firing force graph (ii) of the staple firing drive. The duty cycle graph (i) and the firing force graph (ii) are correlated to demonstrate three different staple firing strokes. Two of the staple firing strokes in  FIG.  82 B  stay between the 40% duty cycle threshold and the 60% duty cycle threshold as the firing force is relatively low. In such staple firing strokes, the control system does not change the target speed of the staple firing system according to the current algorithm, although other algorithms are possible. One of the staple firing strokes in  FIG.  82 B  reaches a 100% duty cycle, however, because the firing force is high. When the duty cycle is in excess of 60% at a target speed adjustment point, the control system decreases the target speed of the staple firing system according to the current algorithm, although other algorithms are possible. In this instance, the duty cycle exceeded the upper duty cycle threshold at about 20 mm distal to the proximal, unfired starting position of the staple firing member. Stated another way, the duty cycle jumped above 60% as soon as the staple firing drive started to fire the staples, i.e., at 5 mm past the 15 mm initial range discussed above. As a result, the control system may not react to the elevated duty cycle until after a 30 mm checkpoint, for example. 
     Notably, further to the above, the graphs of  FIGS.  82 A and  82 B , and several other graphs, depict a stream of dots along the staple firing stroke. These dots represent the data samples taken by the control system. The closeness of the dots represents a fairly high data sample rate, although lower or higher data sample rates could be used. As can be seen in these figures, the data is subject to a certain amount of jitter or chatter which can cause the control system to react to outlying data, especially when the duty cycle data is near the upper or lower duty cycle thresholds. In various instances, the control system can utilize a data smoothing algorithm which uses averages, and/or other statistical evaluations, of the data over a number of collected data points to determine the duty cycle at the target speed evaluation points. In at least one such instance, the control system uses the average of three consecutive duty cycle measurements, for example, to determine the duty cycle value used for assessing the algorithm criteria. 
       FIG.  83 A  depicts three graphs—a duty cycle graph (i), a firing force graph (ii), and a firing speed graph (iii) of the staple firing drive. The duty cycle graph (i), the firing force graph (ii), and the firing speed graph (iii) are correlated to demonstrate a staple firing stroke. The duty cycle of the staple firing stroke jumps from below the lower duty cycle threshold of 40% to above the upper duty cycle threshold of 60% at about the 30 mm mark, which is about 15 mm into deforming the staples. This jump in duty cycle was not because the firing force increased; rather the jump in duty cycle occurred because the control system increased the duty cycle to increase the speed of the staple firing drive in accordance with its target speed selection criteria.  FIG.  83 B  depicts a similar jump in the duty cycle at about 20 mm; however, this jump in duty cycle occurred because the staple firing member encountered an elevated resistance while deforming the staples and the control system responded by increasing the length of the voltage pulses it was applying to the electric motor in order to maintain the staple firing speed at its target speed. Stated another way, the control system spiked the duty cycle because the control system was struggling to maintain the intermediate speed, i.e., 12 mm/s, of the staple firing system. This situation did not last long as the control system re-lowered the duty cycle at the 30 mm target speed check point while lowering the speed of the staple firing stroke to its low, i.e., 6 mm/s, target speed. 
       FIGS.  84 A and  84 B  depict graphs which demonstrate that the firing force of the staple firing drive for stapling and cutting actual tissue tracks that of the firing force for stapling and cutting a tissue analogue, such as foam, for example. 
       FIGS.  85 A and  85 B  depict several staple firing stroke examples that occurred when stapling and cutting stomach tissue. The staple firing strokes followed a very similar duty cycle pattern. For instance, all of the staple firing strokes started below the lower duty cycle threshold and, in response, the control system increased the speed of the staple firing stroke from the intermediate speed to the high speed. To do so, the control system increased the duration of the voltage pulses being applied to the electric motor of the staple drive system at a first check point. In doing so, however, the duty cycle jumped above the upper duty cycle threshold and, at the next check point, the control system shortened the voltage pulses to lower the duty cycle and slow the staple firing stroke back to its intermediate speed. Notably, in one example, the speed of the staple firing drive was maintained at the high speed. In this example, the staples being deformed were smaller as compared to the staples used during the other staple firing strokes and they duty cycle stayed just under the threshold. 
       FIG.  86 A  depicts the duty cycle of two staple firing strokes while stapling thin jejunum tissue—one that occurred when the end effector was articulated and one that occurred when the end effector was not articulated. As can be seen in  FIG.  86 A , the two duty cycle curves are very similar and are, notably, between about 60% and about 80% of the duty cycle.  FIG.  86 B  depicts the duty cycle of two staple firing strokes while stapling thick jejunum tissue—one that occurred when the end effector was articulated and one that occurred when the end effector was not articulated. As can be seen in  FIG.  86 B , the two duty cycle curves are very similar and are, notably, between about 60% and about 80% of the duty cycle. Also, notably, the duty cycle is somewhat higher for the thick jejunum tissue ( FIG.  86 B ) as compared to the thin jejunum tissue ( FIG.  86 A ).  FIG.  86 C  depicts the duty cycle of two staple firing strokes while stapling stomach tissue—one that occurred when the end effector was articulated and one that occurred when the end effector was not articulated. As can be seen in  FIG.  86 C , the two duty cycle curves are very similar and, notably, reach the maximum duty cycle once the staple firing drive starts deforming staples at about 15 mm from the proximal, unfired position of the firing member. 
       FIG.  87    comprises a graph  63000  depicting the duty cycle of a staple firing stroke. As illustrated in the graph  63000 , the duty cycle is just at or just below 40% for the first 30 mm of the staple firing stroke (15 mm of the initial travel and 15 mm of staple firing) and is then raised by the control system to increase the speed of the staple firing drive. Similar to the above, increasing the duty cycle in this instance overshot the duty cycle above the top duty cycle threshold of 60% where it remained for the rest of the staple firing stroke, i.e., the last 30 mm. 
       FIG.  88    comprises a graph  64000  depicting the duty cycle of a staple firing stroke. As illustrated in the graph  64000 , the duty cycle begins below the 40% duty cycle threshold but then gradually increases into the zone between the upper and lower duty cycle thresholds. In such a zone, the control system does not increase or decrease the speed of the staple firing system and/or otherwise adjust the duty cycle of the firing drive electric motor other than to maintain the speed of the staple firing system at the intermediate target speed. As such, a smooth duty cycle curve is seen without abrupt changes. 
       FIG.  89    comprises a graph  65000  depicting the duty cycle of a staple firing stroke. As illustrated in the graph  65000 , the duty cycle begins at about the 40% lower duty cycle threshold and then proceeds upwardly quickly once the firing member starts deforming staples at the 15 mm point. In fact, the duty cycle increases to almost 100% until the next check point is reached at 30 mm where, as described above, the control system lowered the duty cycle to slow the staple firing drive.  FIG.  89    depicts a drastic drop in the duty cycle at this point but returns to an elevated state just above the upper duty cycle threshold for the remainder of the staple firing stroke. 
     The lower duty cycle threshold is described as being 40% in many instances, and 45% in other instances. That said, the lower duty cycle threshold can be any suitable value, such as 30%, 33%, 35%, or 50%, for example. Similarly, the upper duty cycle threshold is described as being 60%. That said, the upper duty cycle threshold can be any suitable value, such as 50%, 55%, 65%, 67%, 70%, or 75%, for example. 
     As mentioned above, the staple firing stroke stops when the clinician releases the firing trigger. When the clinician actuates the firing trigger once again, the staple firing stroke resumes. In such instances, the control system returns the speed of the staple firing stroke to the speed just before the staple firing stroke was stopped. The control system comprises one or more memory devices for storing the speed of the staple firing stroke during the staple firing stroke such that the control system can access the stored speed to re-start the staple firing stroke. If the control system does not have access to this data, the control system can re-start the staple firing stroke in its intermediate speed, for example. 
     As described herein, the surgical instrument  10000  is configured to evaluate the speed of the staple firing stroke and compare the measured speed of the staple firing stroke to a target speed. The surgical instrument  10000  comprises an encoder in communication with the control system which is configured to measure the speed of the staple firing stroke. In at least one instance, a gear in the staple firing drive is observed by the encoder to evaluate the speed of the staple firing stroke. The gear comprises teeth which pass in front of the encoder as the gear is rotated during the staple firing stroke. The rate in which the teeth pass the encoder is used by the control system to assess the speed of the staple firing drive. In at least one instance, the gear makes one full rotation during the entire staple firing stroke. In addition to or in lieu of the above, the gear is comprised of metal and the control system comprises a Hall Effect sensor configured to sense the rate in which the metal gear teeth pass by the Hall Effect sensor. In various embodiments, the control system is configured to evaluate the speed of a translating component of the staple firing drive. 
     As described herein, an algorithm of a control system uses the duty cycle of the firing drive electric motor to assess whether the speed of the staple firing drive should be adapted, and in which direction, i.e., slower or faster. Various other algorithms use data in addition to the duty cycle of the firing drive electric motor to adapt the speed of the staple firing stroke. For instance, a speed adaptation algorithm can utilize the articulation angle of the end effector, the initial battery voltage, the operative battery voltage, the current through the motor, PID error, and/or any characterization of the PWM circuit made during the manufacturing process of the surgical instrument, for example. These parameters, among others, can be used in a mathematical operation, or evaluation equation, to determine whether or not to adapt the speed of the staple firing stroke, the direction in which the speed is to be adapted, and/or the amount of the adaptation. The parameters used can be instantaneous measurements and/or measurements averaged over several readings. The parameters used can include the rate of change, or change in slope, of the measurements. The values of the parameters can be added, subtracted, multiplied, and/or divided according to the evaluation equation. 
       FIGS.  68 - 71    depict an end effector  40000  comprising an anvil jaw  40420  and a cartridge jaw  10410 . The anvil jaw  40420  comprises a proximal portion  40100  and a distal portion, or tip,  40200  attached to the proximal portion  40100 . The distal portion  40200  is rotatable between a first operational orientation ( FIG.  68   ) and a second operational orientation ( FIG.  70    and  FIG.  71   ) to provide a clinician with the ability to choose between a straight anvil tip and an angled anvil tip before using the end effector  40000 . 
     The proximal portion  40100  comprises an angled distal end that can be characterized by a first angle  40120  and a second angle  40130 . The first angle  40120  is measured with reference to a top plane defined by the top of the proximal portion  40100  while the second angle  40130  is measured with reference to a bottom plane defined by the bottom of the proximal portion  40100 . In various instances, the first angle  40120  and the second angle  40130  are supplementary angles. In at least one instance, the first angle  40120  and the second angle  40130  are substantially supplementary. The distal portion  40200  comprises an angled proximal end which is attached to the distal end of the proximal portion  40100 . The angled proximal end of the distal portion  40200  can be characterized by a first angle  40220  and a second angle  40230 . In various instances, the first angle  40220  and the second angle  40230  are supplementary angles. In at least one instance, the first angle  40220  and the second angle  40230  are substantially supplementary. In various instances, the first angle  40120  and the first angle  40220  are supplementary angles and the second angle  40130  and the second angle  40230  are supplementary angles. This configuration permits the proximal portion  40100  and the distal portion  40200  of the anvil jaw  40420  to have a complementary, angled attachment plane where a distal face  40110  of the proximal portion  40100  and a proximal face  40210  of the distal portion  40200  abut each other in both the first orientation and the second orientation. 
     Utilizing an attachment mechanism, referring to  FIGS.  69  and  69 A , the distal portion  40200  is rotatable relative to the proximal portion  40100  such that the distal portion  40200  can be rotated into different orientations. To move the distal portion  40200  into the second orientation shown in  FIG.  70   , the distal portion  40200  is rotated 180 degrees from the first orientation show in  FIG.  68   . This configuration allows a user to change the anvil jaw  40420  between a straight-tipped anvil jaw and an angle-tipped anvil jaw. In the second orientation shown in  FIGS.  70  and  71   , the first angle  40120  and the second angle  40230  abut each other and, correspondingly, the first angle  40220  and the second angle  40130  abut each other. The angles at the attachment interface in the second orientation ( FIG.  70   ) are not supplementary as they were in the first orientation ( FIG.  68   ). 
     The attachment mechanism used can be any suitable attachment mechanism. In at least one instance, referring to  FIG.  69 A , the attachment mechanism comprises a flexible rotatable pin  40300  anchored to the proximal portion  40100  and the distal portion  40200 . Such a mechanism allows rotation of the rotatable portion between different orientations while keeping the proximal portion  40100  and the distal portion  40200  attached to each other. One or more spring members and/or detents may be used in conjunction with the pin to hold the portions in either the first operational orientation or the second operational orientation. The attachment mechanism may be embedded in either the proximal portion  40100  and/or the distal portion  40200 . The attachment mechanism may comprise a bi-stable compliance mechanism configured to bias the portion  40200  into either orientation to prevent the inadvertent partial rotation of the rotatable distal portion  40200 . The attachment mechanism may comprise spring-loaded detents, a living hinge, sliding members, and/or various other locking members. The attachment mechanisms may also comprise interference and/or friction-fit interfaces between the proximal portion  40100  and the distal portion  40200 . 
     Further to the above, and referring again to  FIG.  69 A , the flexible pin  40300  comprises a spherical first end  40310  mounted in a chamber defined in the proximal anvil portion  40100 , a spherical second end  40320  mounted in a chamber defined in the distal anvil portion  40200 , and a flexible connector  40330  connecting the first end  40310  and the second end  40320 . The spherical first end  40310  and the spherical second end  40320  can rotate within their respective chambers such that the flexible pin  40300  can rotate relative to the proximal portion  40100  and/or such that the distal portion  40200  can rotate relative to the flexible pin  40300 . In either event, such relative rotation permits the rotation of the distal portion  40200  as described above. The length of the flexible connector  40330  is selected such that the flexible connector  40300  is in a resiliently stretched state for every orientation of the distal portion  40200 . As a result, the flexible connector  40330  acts to pull the distal portion  40200  against the first anvil portion  40100 . Given that the proximal portion  40100  includes the staple forming pockets and the distal portion  40200  does not comprise staple forming pockets, the retention force provided by the pin  40300  does not need to withstand staple forming forces and is sufficient to hold the distal portion  40200  in place while the end effector  40000  is being positioned in the patient. The pin can be spring loaded in the socket such that the spring pulls the head proximally in the chamber thus holding the proximal portion  40100  and the distal portion  40200  together. To rotate the distal portion  40200  between orientations, the distal portion  40200  can be pulled distally to overcome the biasing force, twisted into another orientation, and released so that the spring may pull the distal portion  40200  against the proximal portion  40100 . The interface between the distal portion  40200  and the proximal portion may further comprise interlocking features extending therefrom to prevent inadvertent movement relative to each other. For example, teeth may extend from one portion and into corresponding slots defined in the other portion when the distal portion  40200  is in its first and second orientations, but not when the distal portion  40200  is pulled away from the proximal portion  40100 . 
     In at least one instance, the distal portion  40200  comprises two halves, for example, which are assembled around the attachment mechanism. The two halves may utilize an elastomer to hold the halves together around the pin, for example. In at least one instance, a snap-fit mechanism can be used to assemble the two halves together around the attachment mechanism. 
     In various instances, the proximal portion  40100  and the distal portion  40200  are comprised of one or more materials. For example, the proximal portion  40100  may be comprised of one or more materials and the distal portion  40200  may be comprised of one or more materials. In at least one instance, the distal portion  40200  is comprised of metal toward the attachment interface and is comprised of an over-molded soft tip extending distally from the metal portion. The soft tip may be comprised of rubber and/or plastic, for example. The anvil jaw  40410  may further comprise an intermediate component positioned between the proximal portion  40100  and the distal portion  40200 . The intermediate component can house one or more parts of the attachment mechanism. The intermediate component may also provide an aesthetically pleasing and/or functional transition piece between the proximal portion  40100  and the distal portion  40200  which may be useful in a scenario where the proximal portion  40100  and the distal portion  40200  comprise more than one material. 
     In at least one instance, the first portion  40100  and the second portion  40200  comprise edges designed to eliminate any sharp edges presented by rotation of the second portion  40200  relative to the first portion  40100 . 
     As discussed above, the surgical instruments disclosed herein may comprise control systems. Each of the control systems can comprise a circuit board having one or more processors and/or memory devices. Among other things, the control systems are configured to store sensor data, for example. They are also configured to store data which identifies the type of staple cartridge attached to a stapling instrument, for example. More specifically, the type of staple cartridge can be identified when attached to the stapling instrument by the sensors and the sensor data can be stored in the control system. This information can be obtained by the control system to assess whether or not the staple cartridge is suitable for use. 
     The surgical instrument systems described herein are motivated by an electric motor; however, the surgical instrument systems described herein can be motivated in any suitable manner. In certain instances, the motors disclosed herein may comprise a portion or portions of a robotically controlled system. U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, discloses several examples of a robotic surgical instrument system in greater detail, the entire disclosure of which is incorporated by reference herein. The disclosures of International Patent Publication No. WO 2017/083125, entitled STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE, published May 18, 2017, International Patent Publication No. WO 2017/083126, entitled STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS, published May 18, 2017, International Patent Publication No. WO 2015/153642, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION, published Oct. 8, 2015, U.S. Patent Application Publication No. 2017/0265954, filed Mar. 17, 2017, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS, U.S. Patent Application Publication No. 2017/0265865, filed Feb. 15, 2017, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTAL PULLEY, and U.S. Patent Publication No. 2017/0290586, entitled STAPLING CARTRIDGE, filed on Mar. 29, 2017, are incorporated herein by reference in their entireties. 
     The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. Various embodiments are envisioned which deploy fasteners other than staples, such as clamps or tacks, for example. Moreover, various embodiments are envisioned which utilize any suitable means for sealing tissue. For instance, an end effector in accordance with various embodiments can comprise electrodes configured to heat and seal the tissue. Also, for instance, an end effector in accordance with certain embodiments can apply vibrational energy to seal the tissue. 
     The entire disclosures of: 
     U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which issued on Apr. 4, 1995; 
     U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21, 2006; 
     U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on Sep. 9, 2008; 
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     U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which issued on Jul. 13, 2010; 
     U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013; 
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     U.S. Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by reference herein. 
     Although various devices have been described herein in connection with certain embodiments, modifications and variations to those embodiments may be implemented. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment may be combined in whole or in part, with the features, structures or characteristics of one ore more other embodiments without limitation. 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. 
     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, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, the disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, a reconditioning facility and/or surgical team can disassemble a device and, after cleaning and/or replacing particular parts of the device, the device can be reassembled for subsequent use. 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. 
     The devices disclosed herein may be processed before surgery. First, a new or used instrument may be obtained and, when necessary, cleaned. The instrument may 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 may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until it is opened in a medical facility. A device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam. 
     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.