Patent Publication Number: US-2022233195-A1

Title: Robotically-driven surgical instrument with e-beam driver

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 17/244,022, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, filed Apr. 29, 2021, now U.S. Patent Application Publication No. 2021/0315577, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 16/420,522, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, filed May 23, 2019, now U.S. Patent Application Publication No. 2019/0343525, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/867,362, entitled SURGICAL INSTRUMENTS WITH E-BEAM DRIVER AND ROTARY DRIVE ARRANGEMENTS, filed Sep. 28, 2015, which issued on Jul. 9, 2019 as U.S. Pat. No. 10,342,541, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/745,858, entitled SURGICAL STAPLING INSTRUMENT WITH LOCKOUT FEATURES TO PREVENT ADVANCEMENT OF A FIRING ASSEMBLY UNLESS AN UNFIRED SURGICAL STAPLE CARTRIDGE IS OPERABLY MOUNTED IN AN END EFFECTOR PORTION OF THE INSTRUMENT, filed Jun. 22, 2015, which issued on Feb. 19, 2019 as U.S. Pat. No. 10,206,678, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 13/118,246, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, filed May 27, 2011, which issued on Jun. 23, 2015 as U.S. Pat. No. 9,060,770, which is a continuation-in-part application claiming priority under 35 U.S.C. § 120 to abandoned U.S. patent application Ser. No. 11/538,154, entitled ARTICULATING SURGICAL STAPLING INSTRUMENT INCORPORATING A TWO-PIECE E-BEAM FIRING MECHANISM, filed Oct. 3, 2006, the entire disclosures of which are hereby incorporated by reference herein. 
    
    
     BACKGROUND 
     Field of the Invention 
     The present invention relates in general to surgical instruments that are suitable for endoscopically inserting an end effector that is actuated by a longitudinally driven firing member, and more particularly a surgical stapling and severing instrument that has an articulating shaft. 
     Background of the Invention 
     Endoscopic surgical instruments are often preferred over traditional open surgical devices since a smaller incision tends to reduce the post-operative recovery time and complications. Consequently, significant development has gone into a range of endoscopic surgical instruments that are suitable for precise placement of a distal end effector at a desired surgical site through a cannula of a trocar. These distal end effectors engage the tissue in a number of ways to achieve a diagnostic or therapeutic effect (e.g., endocutter, grasper, cutter, staplers, clip applier, access device, drug/gene therapy delivery device, and energy device using ultrasound, RF, laser, etc.). 
     Positioning the end effector is constrained by the trocar. Generally these endoscopic surgical instruments include a long shaft between the end effector and a handle portion manipulated by the clinician. This long shaft enables insertion to a desired depth and rotation about the longitudinal axis of the shaft, thereby positioning the end effector to a degree. With judicious placement of the trocar and use of graspers, for instance, through another trocar, often this amount of positioning is sufficient. Surgical stapling and severing instruments, such as described in U.S. Pat. No. 5,465,895, are an example of an endoscopic surgical instrument that successfully positions an end effector by insertion and rotation. 
     More recently, U.S. patent application Ser. No. 10/443,617, entitled SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM, filed on May 20, 2003, now U.S. Pat. No. 6,978,921, which has been incorporated by reference in its entirety, describes an improved “E-beam” firing bar for severing tissue and actuating staples. Some of the additional advantages include affirmatively spacing the jaws of the end effector, or more specifically a staple applying assembly, even if slightly too much or too little tissue is clamped for optimal staple formation. Moreover, the E-beam firing bar engages the end effector and staple cartridge in a way that enables several beneficial lockouts to be incorporated. 
     Depending upon the nature of the operation, it may be desirable to further adjust the positioning of the end effector of an endoscopic surgical instrument. In particular, it is often desirable to orient the end effector at an axis transverse to the longitudinal axis of the shaft of the instrument. The transverse movement of the end effector relative to the instrument shaft is conventionally referred to as “articulation”. This is typically accomplished by a pivot (or articulation) joint being placed in the extended shaft just proximal to the staple applying assembly. This allows the surgeon to articulate the staple applying assembly remotely to either side for better surgical placement of the staple lines and easier tissue manipulation and orientation. This articulated positioning permits the clinician to more easily engage tissue in some instances, such as behind an organ. In addition, articulated positioning advantageously allows an endoscope to be positioned behind the end effector without being blocked by the instrument shaft. 
     Approaches to articulating a surgical stapling and severing instrument tend to be complicated by integrating control of the articulation along with the control of closing the end effector to clamp tissue and fire the end effector (i.e., stapling and severing) within the small diameter constraints of an endoscopic instrument. Generally, the three control emotions are all transferred through the shaft as longitudinal translations. For instance, U.S. Pat. No. 5,673,840 discloses an accordion-like articulation mechanism (“flex-neck”) that is articulated by selectively drawing back one of two connecting rods through the implement shaft, each rod offset respectively on opposite sides of the shaft centerline. The connecting rods ratchet through a series of discrete positions. 
     Another example of longitudinal control of an articulation mechanism is U.S. Pat. No. 5,865,361 that includes an articulation link offset from a camming pivot such that pushing or pulling longitudinal translation of the articulation link effects articulation to a respective side. Similarly, U.S. Pat. No. 5,797,537 discloses a similar rod passing through the shaft to effect articulation. 
     In commonly-owned U.S. patent application Ser. No. 10/615,973, entitled SURGICAL INSTRUMENT INCORPORATING AN ARTICULATION MECHANISM HAVING ROTATION ABOUT THE LONGITUDINAL AXIS, now U.S. Pat. No.  7 , 111 , 769 , the disclosure of which is hereby incorporated by reference in its entirety, a rotational motion is used to transfer articulation motion as an alternative to a longitudinal motion. 
     In the application entitled SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM, U.S. patent application Ser. No. 10/443,617, filed on May 20, 2003, now U.S. Pat. No. 6,978,921, the disclosure of which was previously incorporated by reference in its entirety, a surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. An E-beam firing bar moves distally through the clamped end effector to sever tissue and to drive staples on each side of the cut. The E-beam firing bar affirmatively spaces the anvil from the elongate channel to assure properly formed closed staples, especially when an amount of tissue is clamped that is inadequate to space the end effector. In particular, an upper pin of the firing bar longitudinally moves through an anvil slot and a channel slot is captured between a lower cap and a middle pin of the firing bar to assure a minimum spacing. While this E-beam firing bar has a number of advantages, additional features are desirable to enhance manufacturability and to minimize dimensional variations. 
     Consequently, a significant need exists for a surgical instrument with a firing bar that advantageously assures proper spacing between clamped jaws of an end effector and which facilitates articulation of its shaft. 
     SUMMARY 
     The invention overcomes the above-noted and other deficiencies of the prior art by providing a firing mechanism that affirmatively vertically spaces an end effector of a surgical stapling and severing instrument. Thus, the instrument structurally assures adequate spacing to achieve proper stapling, even in instances where too little tissue is clamped in the end effector. Integrally forming these features into an E-beam that includes a cutting edge realizes consistent spacing and performance as the E-beam fires through an end effector such as a severing and stapling assembly. Further, proximally attaching a separate, thinned firing bar to the E-beam enhances use in articulating surgical instruments wherein reduced cross sectional area and the ability to flex in a plane of articulation are desirable. 
     In one aspect of the invention, a surgical instrument includes a handle portion operable to produce a firing motion that actuates an implement portion. This implement portion has an elongate channel that receives a staple cartridge opposed by a pivotally attached anvil. A firing device includes a distally presented cutting edge longitudinally received between the elongate channel and the anvil, an upper member engageable to the anvil channel, a lower member engaging the channel slot, and a middle member operable to actuate the wedge sled, which is integral to the staple cartridge. The middle member advantageously opposes pinching of the end effector, assuring proper staple formation even when an otherwise too small amount of tissue has been clamped. These spacing and cutting features are advantageously formed into an E-beam while flexibility for articulation is provided by a thinned firing bar attached to the E-beam. 
     In another general aspect of at least one embodiment of the present invention, there is provided a surgical instrument that comprises an implement portion that is responsive to firing motions applied thereto from a robotic system. In various embodiments, the implement portion comprises an elongate channel that is configured for attachment to an elongated shaft that operably interfaces with the robotic system and includes a channel slot. A staple cartridge is received by the elongate channel and incorporates a proximally positioned wedge member that is aligned to cam upward a driver supporting a staple. An anvil is pivotally coupled to the elongate channel and includes an anvil channel that comprises a vertical slot that is inwardly open along a longitudinal axis of the anvil. The anvil further comprising left and right rectangular prism-shaped recesses communicating with, bisected by, and transverse to the vertical slot, wherein the left and right rectangular prism-shaped recesses extend substantially along the longitudinal length of the vertical slot. Various embodiments further include a firing device that has a distally presented cutting edge that is longitudinally received between the elongate channel and the vertical slot of the anvil channel of the anvil. Various embodiments further include an upper member that is comprised of left and right lateral upper pins that are sized to slidingly engage upper and lower inner surfaces of the left and right rectangular-shaped recesses of the anvil channel. Various embodiments further include a lower member that engages the channel slot and a middle member that is operable to actuate the staple cartridge by distally translating the wedge member of the staple cartridge. In various embodiments, the firing device positively engages both the elongate channel and the anvil during longitudinal firing travel to provide spacing therebetween for staple formation. Engagement of the firing device during firing maintains vertical spacing between the elongate channel and the anvil and serves to resist both pinching due to an inadequate clamped tissue and partial opening due to an excessive amount of clamped tissue. 
     In accordance with still another general aspect of an embodiment of the present invention, there is provided a surgical instrument that comprises an implement portion that is responsive to firing motions from a robotic system that is in communication therewith. The implement portion is diametrically dimensioned for endo-surgical use and in at least one form comprises an elongate channel that is coupled to an elongated shaft that operably interfaces with the robotic system. The elongate channel has a channel slot therein and an anvil is pivotally coupled to the elongate channel. The anvil is responsive to closing motions generated by the robotic system and which are applied to the anvil by the elongated shaft. The anvil includes an anvil channel. In at least one embodiment, the implement portion further comprises a firing device that includes a distally presented cutting edge that is longitudinally received between the elongate channel and the anvil. The firing device is configured to affirmatively space the anvil from the elongate channel during longitudinal travel between the anvil and elongate channel, wherein the firing device is configured to affirmatively space the anvil from the elongate channel during longitudinal travel between the anvil and elongate channel by including an upper member having an upper surface and a lower surface that longitudinally slidingly engage the anvil. 
     In accordance with another general aspect of at least one embodiment of the present invention there is provided a surgical instrument that includes a robotic system that is operable to produce a plurality of control motions including a firing motion. The embodiment further includes an implement portion that is responsive to the firing motion from the robotic system. In various embodiments, the implement portion comprises an elongate channel that is coupled to the robotic system and includes a channel slot. A staple cartridge is received by the elongate channel and incorporates a proximally positioned wedge member that is aligned to cam upward a driver supporting a staple. An anvil is pivotally coupled to the elongate channel and includes an anvil channel. An embodiment includes a firing device that has a distally presented cutting edge that is longitudinally received between the elongate channel and the anvil. An upper member is engageable to the anvil channel and a lower member engages the channel slot. A middle member is operable to actuate the staple cartridge by distally translating the edge member of the staple cartridge. The firing device is configured to positively engage both the elongate channel and the anvil during longitudinal firing travel to provide spacing therebetween for staple formation. An articulation joint is proximally coupled to the elongate channel and a thinned firing strip is proximally attached to the firing device for transferring the firing motion from the robotic system through the articulation joint. 
     These and other objects and advantages of the present invention shall be made apparent from the accompanying drawings and the description thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and, together with the general description of the invention given above, and the detailed description of the embodiments given below, serve to explain the principles of the present invention. 
         FIG. 1  is a perspective view of an endoscopic surgical stapling instrument for surgical stapling and severing in an open, unarticulated state; 
         FIG. 2  is a left, front perspective view of an open staple applying assembly of the surgical stapling instrument of  FIG. 1  with a right half portion of a replaceable staple cartridge included in a staple channel; 
         FIG. 3  is an exploded perspective view of the staple applying assembly of  FIG. 2  with a complete replaceable staple cartridge and an alternative nonarticulating shaft configuration; 
         FIG. 4  is a perspective view of a two-piece knife and firing bar (“E-beam”) of the staple applying assembly of  FIG. 2 ; 
         FIG. 5  is a perspective view of a wedge sled of a staple cartridge of the staple applying assembly of  FIG. 1 ; 
         FIG. 6  is a left side view in elevation taken in longitudinal cross section along a centerline line  6 - 6  of the staple applying assembly of  FIG. 2 ; 
         FIG. 7  is a perspective view of the open staple applying assembly of  FIG. 2  without the replaceable staple cartridge, a portion of the staple channel proximate to a middle pin of two-piece knife and firing bar, and without a distal portion of a staple channel; 
         FIG. 8  is a front view in elevation taken in cross section along line  8 - 8  of the staple applying assembly of  FIG. 2  depicting internal staple drivers of the staple cartridge and portions of the two-piece knife and firing bar; 
         FIG. 9  is a left side view in elevation taken generally along the longitudinal axis of line  6 - 6  of a closed staple applying assembly of  FIG. 2  to include center contact points between the two-piece knife and wedge sled but also laterally offset to show staples and staple drivers within the staple cartridge; 
         FIG. 10  is a left side detail view in elevation of the staple applying assembly of  FIG. 9  with the two-piece knife retracted slightly more as typical for staple cartridge replacement; 
         FIG. 11  is a left side detail view in elevation of the staple applying assembly of  FIG. 10  with the two-piece knife beginning to fire, corresponding to the configuration depicted in  FIG. 9 ;. 
         FIG. 12  is a left side cross-sectional view in elevation of the closed staple applying assembly of  FIG. 9  after the two-piece knife and firing bar has distally fired; 
         FIG. 13  is a left side cross-sectional view in elevation of the closed staple applying assembly of  FIG. 12  after firing of the staple cartridge and retraction of the two-piece knife; 
         FIG. 14  is a left side cross-sectional detail view in elevation of the staple applying assembly of  FIG. 13  with the two-piece knife allowed to drop into a lockout position; 
         FIG. 15  is a top view in section taken along lines  15 - 15  of an articulation joint (flex neck) of the surgical stapling instrument of  FIG. 1 ; 
         FIG. 16  is a front view in elevation taken in vertical cross section along lines  16 - 16  of the articulation joint of  FIG. 15 , showing electroactive polymer (EAP) plate articulation actuators and EAP support plates for a firing bar; 
         FIG. 17  is a top view in section along lines  15 - 15  of the articulation joint of  FIG. 16  after articulation; 
         FIG. 18  is a perspective view of the articulation joint of  FIG. 15 ; 
         FIG. 19  is a perspective view of one robotic controller embodiment; 
         FIG. 20  is a perspective view of one robotic surgical arm cart/manipulator of a robotic system operably supporting a plurality of surgical tool embodiments of the present invention; 
         FIG. 21  is a side view of the robotic surgical arm cart/manipulator depicted in  FIG. 20 ; 
         FIG. 22  is a perspective view of an exemplary cart structure with positioning linkages for operably supporting robotic manipulators that may be used with various surgical tool embodiments of the present invention; 
         FIG. 23  is a perspective view of a surgical tool embodiment of the present invention; 
         FIG. 24  is an exploded assembly view of an adapter and tool holder arrangement for attaching various surgical tool embodiments to a robotic system; 
         FIG. 25  is a side view of the adapter shown in  FIG. 24 ; 
         FIG. 26  is a bottom view of the adapter shown in  FIG. 24 ; 
         FIG. 27  is a top view of the adapter of  FIGS. 24 and 25 ; 
         FIG. 28  is a partial bottom perspective view of the surgical tool embodiment of  FIG. 23 ; 
         FIG. 29  is a partial exploded view of a portion of an articulatable surgical end effector embodiment of the present invention; 
         FIG. 30  is a perspective view of the surgical tool embodiment of  FIG. 28  with the tool mounting housing removed; 
         FIG. 31  is a rear perspective view of the surgical tool embodiment of  FIG. 28  with the tool mounting housing removed; 
         FIG. 32  is a front perspective view of the surgical tool embodiment of  FIG. 28  with the tool mounting housing removed; 
         FIG. 33  is a partial exploded perspective view of the surgical tool embodiment of  FIG. 32 ; 
         FIG. 34  is a partial cross-sectional side view of the surgical tool embodiment of  FIG. 28 ; 
         FIG. 35  is an enlarged cross-sectional view of a portion of the surgical tool depicted in  FIG. 34 ; 
         FIG. 36  is an exploded perspective view of a portion of the tool mounting portion of the surgical tool embodiment depicted in  FIG. 28 ; 
         FIG. 37  is an enlarged exploded perspective view of a portion of the tool mounting portion of  FIG. 36 ; 
         FIG. 38  is a partial cross-sectional view of a portion of the elongated shaft assembly of the surgical tool of  FIG. 28 ; 
         FIG. 39  is a side view of a half portion of a closure nut embodiment of a surgical tool embodiment of the present invention; 
         FIG. 40  is a perspective view of another surgical tool embodiment of the present invention; 
         FIG. 41  is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 40  with the anvil in the open position and the closure clutch assembly in a neutral position; 
         FIG. 42  is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in  FIG. 41  with the clutch assembly engaged in a closure position; 
         FIG. 43  is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in  FIG. 41  with the clutch assembly engaged in a firing position; 
         FIG. 44  is a top view of a portion of a tool mounting portion embodiment of the present invention; 
         FIG. 45  is a perspective view of another surgical tool embodiment of the present invention; 
         FIG. 46  is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 45  with the anvil in the open position; 
         FIG. 47  is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 45  with the anvil in the closed position; 
         FIG. 48  is a perspective view of a closure drive nut and portion of a knife bar embodiment of the present invention; 
         FIG. 49  is a top view of another tool mounting portion embodiment of the present invention; 
         FIG. 50  is a perspective view of another surgical tool embodiment of the present invention; 
         FIG. 51  is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 50  with the anvil in the open position; 
         FIG. 52  is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 51  with the anvil in the closed position; 
         FIG. 53  is a cross-sectional view of a mounting collar embodiment of a surgical tool embodiment of the present invention showing the knife bar and distal end portion of the closure drive shaft; 
         FIG. 54  is a cross-sectional view of the mounting collar embodiment of  FIG. 53 ; 
         FIG. 55  is a top view of another tool mounting portion embodiment of another surgical tool embodiment of the present invention; 
         FIG. 55A  is an exploded perspective view of a portion of a gear arrangement of another surgical tool embodiment of the present invention; 
         FIG. 55B  is a cross-sectional perspective view of the gear arrangement shown in  FIG. 58A ; 
         FIG. 56  is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention employing a pressure sensor arrangement with the anvil in the open position; 
         FIG. 57  is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 56  with the anvil in the closed position; 
         FIG. 58  is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section; 
         FIG. 59  is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section; 
         FIG. 60  is a side view of a portion of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section; 
         FIG. 61  is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section; 
         FIG. 62  is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section; 
         FIG. 63  is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section; 
         FIG. 64  is an enlarged cross-sectional view of a portion of the end effector of  FIG. 63 ; 
         FIG. 65  is another cross-sectional view of a portion of the end effector of  FIGS. 63 and 64 ; 
         FIG. 66  is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention with the anvil in the open position; 
         FIG. 67  is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIG. 66 ; 
         FIG. 68  is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of  FIGS. 66 and 67  with the anvil thereof in the closed position; 
         FIG. 69  is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of  FIGS. 66-68 ; 
         FIG. 70  is a top view of a tool mounting portion embodiment of a surgical tool embodiment of the present invention; 
         FIG. 71  is a perspective assembly view of another surgical tool embodiment of the present invention; 
         FIG. 72  is a front perspective view of a disposable loading unit arrangement that may be employed with various surgical tool embodiments of the present invention; 
         FIG. 73  is a rear perspective view of the disposable loading unit of  FIG. 72 ; 
         FIG. 74  is a bottom perspective view of the disposable loading unit of  FIGS. 72 and 73 ; 
         FIG. 75  is a bottom perspective view of another disposable loading unit embodiment that may be employed with various surgical tool embodiments of the present invention; 
         FIG. 76  is an exploded perspective view of a mounting portion of a disposable loading unit depicted in  FIGS. 72-74 ; 
         FIG. 77  is a perspective view of a portion of a disposable loading unit and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention with the disposable loading unit in a first position; 
         FIG. 78  is another perspective view of a portion of the disposable loading unit and elongated shaft assembly of  FIG. 77  with the disposable loading unit in a second position; 
         FIG. 79  is a cross-sectional view of a portion of the disposable loading unit and elongated shaft assembly embodiment depicted in  FIGS. 77 and 78 ; 
         FIG. 80  is another cross-sectional view of the disposable loading unit and elongated shaft assembly embodiment depicted in  FIGS. 77-79 ; 
         FIG. 81  is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention; 
         FIG. 82  is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention; 
         FIG. 83  is another partial exploded perspective view of the disposable loading unit embodiment and an elongated shaft assembly embodiment of  FIG. 82 ; 
         FIG. 84  is a top view of another tool mounting portion embodiment of a surgical tool embodiment of the present invention; 
         FIG. 85  is a side view of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section and in relation to a robotic tool holder of a robotic system; 
         FIG. 86  is an exploded assembly view of a surgical end effector embodiment that may be used in connection with various surgical tool embodiments of the present invention; 
         FIG. 87  is a side view of a portion of a cable-driven system for driving a cutting instrument employed in various surgical end effector embodiments of the present invention; 
         FIG. 88  is a top view of the cable-driven system and cutting instrument of  FIG. 87 ; 
         FIG. 89  is a top view of a cable drive transmission embodiment of the present invention in a closure position; 
         FIG. 90  is another top view of the cable drive transmission embodiment of  FIG. 89  in a neutral position; 
         FIG. 91  is another top view of the cable drive transmission embodiment of  FIGS. 89 and 90  in a firing position; 
         FIG. 92  is a perspective view of the cable drive transmission embodiment in the position depicted in  FIG. 89 ; 
         FIG. 93  is a perspective view of the cable drive transmission embodiment in the position depicted in  FIG. 90 ; 
         FIG. 94  is a perspective view of the cable drive transmission embodiment in the position depicted in  FIG. 91 ; 
         FIG. 95  is a perspective view of another surgical tool embodiment of the present invention; 
         FIG. 96  is a side view of a portion of another cable-driven system embodiment for driving a cutting instrument employed in various surgical end effector embodiments of the present invention; 
         FIG. 97  is a top view of the cable-driven system embodiment of  FIG. 96 ; 
         FIG. 98  is a top view of a tool mounting portion embodiment of another surgical tool embodiment of the present invention; 
         FIG. 99  is a top cross-sectional view of another surgical tool embodiment of the present invention; 
         FIG. 100  is a cross-sectional view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention; 
         FIG. 101  is a cross-sectional end view of the surgical end effector of  FIG. 100  taken along line  101 - 101  in  FIG. 100 ; 
         FIG. 102  is a perspective view of the surgical end effector of  FIGS. 100 and 101  with portions thereof shown in cross-section; 
         FIG. 103  is a side view of a portion of the surgical end effector of  FIGS. 100-102 ; 
         FIG. 104  is a perspective view of a sled assembly embodiment of various surgical tool embodiments of the present invention; 
         FIG. 105  is a cross-sectional view of the sled assembly embodiment of  FIG. 104  and a portion of the elongated channel of  FIG. 103 ; 
         FIGS. 106-111  diagrammatically depict the sequential firing of staples in a surgical tool embodiment of the present invention; 
         FIG. 112  is a partial perspective view of a portion of a surgical end effector embodiment of the present invention; 
         FIG. 113  is a partial cross-sectional perspective view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention; 
         FIG. 114  is another partial cross-sectional perspective view of the surgical end effector embodiment of  FIG. 113  with a sled assembly axially advancing therethrough; 
         FIG. 115  is a perspective view of another sled assembly embodiment of another surgical tool embodiment of the present invention; 
         FIG. 116  is a partial top view of a portion of the surgical end effector embodiment depicted in  FIGS. 113 and 114  with the sled assembly axially advancing therethrough; 
         FIG. 117  is another partial top view of the surgical end effector embodiment of  FIG. 116  with the top surface of the surgical staple cartridge omitted for clarity; 
         FIG. 118  is a partial cross-sectional side view of a rotary driver embodiment and staple pusher embodiment of the surgical end effector depicted in  FIGS. 113 and 114 ; 
         FIG. 119  is a perspective view of an automated reloading system embodiment of the present invention with a surgical end effector in extractive engagement with the extraction system thereof; 
         FIG. 120  is another perspective view of the automated reloading system embodiment depicted in  FIG. 119 ; 
         FIG. 121  is a cross-sectional elevational view of the automated reloading system embodiment depicted in  FIGS. 119 and 120 ; 
         FIG. 122  is another cross-sectional elevational view of the automated reloading system embodiment depicted in  FIGS. 119-121  with the extraction system thereof removing a spent surgical staple cartridge from the surgical end effector; 
         FIG. 123  is another cross-sectional elevational view of the automated reloading system embodiment depicted in  FIGS. 119-122  illustrating the loading of a new surgical staple cartridge into a surgical end effector; 
         FIG. 124  is a perspective view of another automated reloading system embodiment of the present invention with some components shown in cross-section; 
         FIG. 125  is an exploded perspective view of a portion of the automated reloading system embodiment of  FIG. 124 ; 
         FIG. 126  is another exploded perspective view of the portion of the automated reloading system embodiment depicted in  FIG. 125 ; 
         FIG. 127  is a cross-sectional elevational view of the automated reloading system embodiment of  FIGS. 124-126 ; 
         FIG. 128  is a cross-sectional view of an orientation tube embodiment supporting a disposable loading unit therein; 
         FIG. 129  is a perspective view of another surgical tool embodiment of the present invention; 
         FIG. 130  is a partial perspective view of an articulation joint embodiment of a surgical tool embodiment of the present invention; 
         FIG. 131  is a perspective view of a closure tube embodiment of a surgical tool embodiment of the present invention; 
         FIG. 132  is a perspective view of the closure tube embodiment of  FIG. 131  assembled on the articulation joint embodiment of  FIG. 130 ; 
         FIG. 133  is a top view of a portion of a tool mounting portion embodiment of a surgical tool embodiment of the present invention; 
         FIG. 134  is a perspective view of an articulation drive assembly embodiment employed in the tool mounting portion embodiment of  FIG. 133 ; 
         FIG. 135  is a perspective view of another surgical tool embodiment of the present invention; and 
         FIG. 136  is a perspective view of another surgical tool embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION 
     Applicant of the present application also owns the following patent applications which were filed on May 27, 2011 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 13/118,259, entitled SURGICAL INSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF A ROBOTIC TOOL SYSTEM AND REMOTE SENSOR, now U.S. Pat. No. 8,684,253; 
     U.S. patent application Ser. No. 13/118,210, entitled ROBOTICALLY-CONTROLLED DISPOSABLE MOTOR DRIVEN LOADING UNIT, now U.S. Pat. No. 8,752,749; 
     U.S. patent application Ser. No. 13/118,194, entitled ROBOTICALLY-CONTROLLED ENDOSCOPIC ACCESSORY CHANNEL, now U.S. Pat. No. 8,992,422; 
     U. S. patent application Ser. No. 13/118,253, entitled ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,386,983; 
     U.S. patent application Ser. No. 13/118,278, entitled ROBOTICALLY-CONTROLLED SURGICAL STAPLING DEVICES THAT PRODUCE FORMED STAPLES HAVING DIFFERENT LENGTHS, now U.S. Pat. No. 9,237,891; 
     U.S. patent application Ser. No. 13/118,190, entitled ROBOTICALLY-CONTROLLED MOTORIZED CUTTING AND FASTENING INSTRUMENT, now U.S. Patent No. 9,179,912; 
     U.S. patent application Ser. No. 13/118,223, entitled ROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 8,931,682; 
     U.S. patent application Ser. No. 13/118,263, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Patent Application Publication No. 2011/0295295; 
     U.S. patent application Ser. No. 13/118,272, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE-FEEDBACK CAPABILITIES, now U.S. Patent Application Publication No. 2011/0290856; and 
     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. 
     Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. 
     Uses of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment”, or “in an embodiment”, or the like, throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner in one or more other embodiments. Such modifications and variations are intended to be included within the scope of the present invention. 
     In  FIGS. 1-3 , a surgical stapling instrument  10  has at its distal end an end effector, depicted as a staple applying assembly  12 , spaced apart from a handle  14  ( FIG. 2 ) by an elongate shaft  16 . The staple applying assembly  12  includes a staple channel  18  for receiving a replaceable staple cartridge  20 . Pivotally attached to the staple channel  18  is an anvil  22  that clamps tissue to the staple cartridge  20  and serves to deform staples  23  ( FIG. 3 ) driven up from staple holes  24  in the staple cartridge  20  against staple forming recesses  26  ( FIG. 6 ) in an anvil undersurface  28  into a closed shape. When the staple applying assembly  12  is closed, its cross sectional area, as well as the elongate shaft  16  are suitable for insertion through a small surgical opening, such as through a cannula of a trocar (not shown). 
     With particular reference to  FIG. 1 , correct placement and orientation of the staple applying assembly  12  is facilitated by controls on the handle  14 . In particular, a rotation knob  30  causes rotation of the shaft  16  about its longitudinal axis, and hence rotation of the staple applying assembly  12 . Additional positioning is enabled at an articulation joint  32  in the shaft  16  that pivots the staple applying assembly  12  in an arc from the longitudinal axis of the shaft  16 , thereby allowing placement behind an organ or allowing other instruments such as an endoscope (not shown) to be oriented behind the staple applying assembly  12 . This articulation is advantageously effected by an articulation control switch  34  on the handle  14  that transmits an electrical signal to the articulation joint  32  to an Electroactive Polymer (EAP) actuator  36 , powered by an EAP controller and power supply  38  contained within the handle  14 . 
     Once positioned with tissue in the staple applying assembly  12 , a surgeon closes the anvil  22  by drawing a closure trigger  40  proximally toward a pistol grip  42 . Once clamped thus, the surgeon may grasp a more distally presented firing trigger  44 , drawing it back to effect firing of the staple applying assembly  12 , which in some applications is achieved in one single firing stroke and in other applications by multiple firing strokes. Firing accomplishes simultaneously stapling of at least two rows of staples while severing the tissue therebetween. 
     Retraction of the firing components may be automatically initiated upon full travel. Alternatively, a retraction lever  46  may be drawn aft to effect retraction. With the firing components retracted, the staple applying assembly  12  may be unclamped and opened by the surgeon slightly drawing the closure trigger  40  aft toward the pistol grip  42  and depressing a closure release button  48  and then releasing the closure trigger  40 , thereby releasing the two stapled ends of severed tissue from the staple applying assembly  12 . 
     Staple applying assembly. 
     While an articulation joint  32  is depicted in  FIG. 1 , for clarity and as an alternative application, the surgical stapling instrument  10  of  FIGS. 2-14  omit an articulation joint  32 . It should be appreciated, however, that aspects of the present invention have particular advantages for articulation as described below with regard to  FIGS. 15-18 . 
     In  FIGS. 1-3 , the staple applying assembly  12  accomplishes the functions of clamping onto tissue, driving staples and severing tissue by two distinct motions transferred longitudinally down the shaft  16  over a shaft frame  70 . This shaft frame  70  is proximally attached to the handle  14  and coupled for rotation with the rotation knob  30 . An illustrative multi-stroke handle  14  for the surgical stapling and severing instrument  10  of  FIG. 1  is described in greater detail in the co-owned U.S. patent application entitled SURGICAL STAPLING INSTRUMENT INCORPORATING A MULTISTROKE FIRING POSITION INDICATOR AND RETRACTION MECHANISM, U.S. patent application Ser. No. 10/674,026, now U.S. Pat. No. 7,364,061, the disclosure of which is hereby incorporated by reference in its entirety, with additional features and variation as described herein. While a multi-stroke handle  14  advantageously supports applications with high firing forces over a long distance, applications consistent with the present invention may incorporate a single firing stroke, such as described in commonly owned U.S. patent application Ser. No. 10/441,632, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, now U.S. Pat. No. 7,000,818, the disclosure of which is hereby incorporated by reference in its entirety. 
     With particular reference to  FIG. 3 , the distal end of the shaft frame  70  is attached to the staple channel  18 . The anvil  22  has a proximal pivoting end  72  that is pivotally received within a proximal end  74  of the staple channel  18 , just distal to its engagement to the shaft frame  70 . The pivoting end  72  of the anvil  22  includes a closure feature  76  proximate but distal to its pivotal attachment with the staple channel  18 . Thus, a closure tube  78 , whose distal end includes a horseshoe aperture  80  that engages this closure feature  76 , selectively imparts an opening motion to the anvil  22  during proximal longitudinal motion and a closing motion to the anvil  22  during distal longitudinal motion of the closure tube  78  sliding over the shaft frame  70  in response to the closure trigger  40 . 
     The shaft frame  70  encompasses and guides a firing motion from the handle  14  through a longitudinally reciprocating, two-piece knife and firing bar  90 . In particular, the shaft frame  70  includes a longitudinal firing bar slot  92  that receives a proximal portion of the two-piece knife and firing bar  90 , specifically a laminate tapered firing bar  94 . It should be appreciated that the laminated tapered firing bar  94  may be substituted with a solid firing bar or of other materials in applications not intended to pass through an articulation joint, such as depicted in  FIGS. 2-14 . 
     An E-beam  102  is the distal portion of the two-piece knife and firing bar  90 , which facilitates separate closure and firing as well as spacing of the anvil  22  from the elongate staple channel  18  during firing. With particular reference to  FIGS. 3-4 , in addition to any attachment treatment such as brazing or an adhesive, the knife and firing bar  90  are formed of a female vertical attachment aperture  104  proximally formed in the E-beam  102  that receives a corresponding male attachment member  106  distally presented by the laminated tapered firing bar  94 , allowing each portion to be formed of a selected material and process suitable for their disparate functions (e.g., strength, flexibility, friction). The E-beam  102  may be advantageously formed of a material having suitable material properties for forming a pair of top pins  110 , a pair of middle pins  112  and a bottom pin or foot  114 , as well as being able to acquire a sharp cutting edge  116 . In addition, integrally formed and proximally projecting top guide  118  and middle guide  120  bracketing each vertical end of the cutting edge  116  further define a tissue staging area  122  assisting in guiding tissue to the sharp cutting edge  116  prior to being severed. The middle guide  120  also serves to engage and fire the staple applying apparatus  12  by abutting a stepped central member  124  of a wedge sled  126  ( FIG. 5 ) that effects staple formation by the staple applying assembly  12 , as described in greater detail below. 
     Forming these features (e.g., top pins  110 , middle pins  112 , and bottom foot  114 ) integrally with the E-beam  102  facilitates manufacturing at tighter tolerances relative to one another as compared to being assembled from a plurality of parts, ensuring desired operation during firing and/or effective interaction with various lockout features of the staple applying assembly  12 . 
     In  FIGS. 6-7 , the surgical stapling instrument  10  is shown open, with the E-beam  102  fully retracted. During assembly, the lower foot  114  of the E-beam  102  is dropped through a widened hole  130  in the staple channel  18  and the E-beam  102  is then advanced such that the E-beam  102  slides distally along a lower track  132  formed in the staple channel  18 . In particular, the lower track  132  includes a narrow slot  133  that opens up as a widened slot  134  on an undersurface of the staple channel  18  to form an inverted T-shape in lateral cross section, as depicted particularly in  FIGS. 7 and 8 , which communicates with the widened hole  130 . Once assembled, the components proximally coupled to the laminate tapered firing bar  94  do not allow the lower foot  114  to proximally travel again to the widened hole  130  to permit disengagement. 
     In  FIG. 9 , the laminate tapered firing bar  94  facilitates insertion of the staple applying assembly  12  through a trocar. In particular, a more distal, downward projection  136  raises the E-beam  102  when fully retracted. This is accomplished by placement of the downward projection  136  at a point where it cams upwardly on a proximal edge of the widened hole  130  in the staple channel  18 . 
     In  FIG. 10 , the laminate tapered firing bar  94  also enhances operation of certain lockout features that may be incorporated into the staple channel  18  by including a more proximal upward projection  138  that is urged downwardly by the shaft frame  70  during an initial portion of the firing travel. In particular, a lateral bar  140  is defined between a pair of square apertures  142  in the shaft frame  70  ( FIG. 3 ). A clip spring  144  that encompasses the lateral bar  140  downwardly urges a portion of the laminate tapered firing bar  94  projecting distally out of the longitudinal firing bar slot  92 , which ensures certain advantageous lockout features are engaged when appropriate. This urging is more pronounced or confined solely to that portion of the firing travel when the upward projection  138  contacts the clip spring  144 . 
     In  FIGS. 6-7 , the E-beam  102  is retracted with the top pins  110  thereof residing within an anvil pocket  150  near the pivoting proximal end of the anvil  22 . A downwardly open vertical anvil slot  152  ( FIG. 2 ) laterally widens in the anvil  22  into an anvil internal track  154  that captures the top pins  110  of the E-beam  102  as they distally advance during firing, as depicted in  FIGS. 9-10 , affirmatively spacing the anvil  22  from the staple channel  18 . Thus, with the E-beam  102  retracted, the surgeon is able to repeatably open and close the staple applying assembly  12  until satisfied with the placement and orientation of tissue captured therein for stapling and severing, yet the E-beam  102  assists in proper positioning of tissue even for a staple applying assembly  12  of reduced diameter and correspondingly reduced rigidity. 
     In  FIGS. 2-3, 5-6, 8-14 , the staple applying assembly  12  is shown with the replaceable staple cartridge  20  that includes the wedge sled  126 . Longitudinally aligned and parallel plurality of downwardly open wedge slots  202  ( FIG. 8 ) receive respective wedges  204  integral to the wedge sled  126 . In  FIGS. 8-10 , the wedge sled  126  thus cams upwardly a plurality of staple drivers  206  that are vertically slidable within staple driver recesses  208 . In this illustrative version, each staple driver  206  includes two vertical prongs, each translating upwardly into a respective staple hole  210  to upwardly force out and deform a staple  23  resting thereupon against a staple forming surface  214  ( FIG. 10 ) of the anvil  22 . A central firing recess  216  ( FIG. 3 ) defined within the staple cartridge  20  proximate to the staple channel  18  allows the passage of the bottom, horizontal portion  218  ( FIG. 5 ) of the wedge sled  126  as well as the middle pins  112  of the E-beam  102 . Specifically, a staple cartridge tray  220  ( FIGS. 3, 8 ) attaches to and underlies a polymer staple cartridge body  222  that has the staple driver recesses  208 , staple holes  210 , and central firing recess  216  formed therein. As staples  23  are thus formed to either side, the sharp cutting edge  116  enters a vertical through slot  230  passing through the longitudinal axis of the staple cartridge  20 , excepting only a most distal end thereof. 
     Firing the staple applying assembly  12  begins as depicted in  FIG. 10  with the two-piece knife and firing bar  90  proximally drawn until the downward projection  136  cams the middle guide  120  on the E-beam  102  upward and aft, allowing a new staple cartridge  20  to be inserted into the staple channel  18  when the anvil  22  is open as depicted in  FIGS. 2, 6 . 
     In  FIG. 11 , the two-piece knife and firing bar  90  has been distally advanced a small distance, allowing the downward projection  136  to drop into the widened hole  130  of the lower track  132  under the urging of the clip spring  144  against the upward projection  138  of the laminate tapered firing bar  94 . The middle guide  120  prevents further downward rotation by resting upon the stepped central member  124  of the wedge sled  126 , thus maintaining the middle pin  112  of the E-beam within the central firing recess  216 . 
     In  FIG. 12 , the two-piece knife and firing bar  90  has been distally fired, advancing the wedge sled  126  to cause formation of staples  23  while severing tissue  242  clamped between the anvil  22  and staple cartridge  20  with the sharp cutting edge  116 . Thereafter, in  FIG. 13 , the two-piece knife and firing bar  90  is retracted, leaving the wedge sled  126  distally positioned. 
     In  FIG. 14 , the middle pin  112  is allowed to translate down into a lockout recess  240  formed in the staple channel  18  (also see  FIGS. 7, 10 ). Thus, the operator would receive a tactile indication as the middle pin  112  encounters the distal edge of the lockout recess  240  when the wedge sled  126  (not shown in  FIG. 14 ) is not proximally positioned (i.e., missing staple cartridge  20  or spent staple cartridge  20 ). 
     In  FIG. 1 , an articulation joint  32  is depicted that advantageously benefits from the flexible strength of the two-piece knife and firing bar  90 . In  FIGS. 15-18 , the articulation joint  32  is depicted as a flex neck joint  300  formed by vertebral column body  302  having laterally symmetric pairs of arcing recesses  304  that allow articulation in an articulation plane. It is generally known to simultaneously compress and expand respective lateral sides  306 ,  308  by selective movement of control rods (not shown) that longitudinally pass through the respective lateral sides  306 ,  308 . Depicted, however, are EAP plate actuators  310 ,  312 , each capable of powered deflection to one or both lateral directions. 
     A central passage  320  ( FIG. 16 ) defined longitudinally through the vertebral column body  302  receives a pair of support plates  322 ,  324  that prevent buckling and binding of the laminate tapered firing bar  94 . In the illustrative version, each support plate  322 ,  324  has a proximal fixed end  326  ( FIG. 15 ) and a sliding end  328  to accommodate changes in radial distance during articulation. Having a firing bar  94  of a thinner thickness is thus supported. 
     While the present invention has been illustrated by description of several embodiments and while the illustrative embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications may readily appear to those skilled in the art. 
     For example, while there are a number of advantages to having a wedge sled integral to a staple cartridge, in some applications consistent with aspects of the present invention, the wedge sled may be integral instead to an E-beam. For instance, an entire end effector may be replaceable rather than just the staple cartridge. 
     Over the years a variety of minimally invasive robotic (or “telesurgical”) systems have been developed to increase surgical dexterity as well as to permit a surgeon to operate on a patient in an intuitive manner. Many of such systems are disclosed in the following U.S. Patents which are each herein incorporated by reference in their respective entirety: U.S. Pat. No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY, U.S. Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FOR PERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S. Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S. Pat. No. 7,691,098, entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat. No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVE RELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No. 7,824,401, entitled SURGICAL TOOL WITH WRITED MONOPOLAR ELECTROSURGICAL END EFFECTORS. Many of such systems, however, have in the past been unable to generate the magnitude of forces required to effectively cut and fasten tissue. 
       FIG. 19  depicts one version of a master controller  1001  that may be used in connection with a robotic arm slave cart  1100  of the type depicted in  FIG. 20 . Master controller  1001  and robotic arm slave cart  1100 , as well as their respective components and control systems are collectively referred to herein as a robotic system  1000 . Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320 which has been herein incorporated by reference. Thus, various details of such devices will not be described in detail herein beyond that which may be necessary to understand various embodiments and forms of the present invention. As is known, the master controller  1001  generally includes master controllers (generally represented as  1003  in  FIG. 19 ) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display  1002 . The master controllers  1001  generally comprise manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating tools (for example, for closing grasping saws, applying an electrical potential to an electrode, or the like). 
     As can be seen in  FIG. 20 , in one form, the robotic arm cart  1100  is configured to actuate a plurality of surgical tools, generally designated as  1200 . Various robotic surgery systems and methods employing master controller and robotic arm cart arrangements are disclosed in U.S. Pat. No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, the full disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart  1100  includes a base  1002  from which, in the illustrated embodiment, three surgical tools  1200  are supported. In various forms, the surgical tools  1200  are each supported by a series of manually articulatable linkages, generally referred to as set-up joints  1104 , and a robotic manipulator  1106 . These structures are herein illustrated with protective covers extending over much of the robotic linkage. These protective covers may be optional, and may be limited in size or entirely eliminated in some embodiments to minimize the inertia that is encountered by the servo mechanisms used to manipulate such devices, to limit the volume of moving components so as to avoid collisions, and to limit the overall weight of the cart  1100 . Cart  1100  will generally have dimensions suitable for transporting the cart  1100  between operating rooms. The cart  1100  may be configured to typically fit through standard operating room doors and onto standard hospital elevators. In various forms, the cart  1100  would preferably have a weight and include a wheel (or other transportation) system that allows the cart  1100  to be positioned adjacent an operating table by a single attendant. 
     Referring now to  FIG. 21 , in at least one form, robotic manipulators  1106  may include a linkage  1108  that constrains movement of the surgical tool  1200 . In various embodiments, linkage  1108  includes rigid links coupled together by rotational joints in a parallelogram arrangement so that the surgical tool  1200  rotates around a point in space  1110 , as more fully described in issued U.S. Pat. No. 5,817,084, the full disclosure of which is incorporated herein by reference. The parallelogram arrangement constrains rotation to pivoting about an axis  1112   a , sometimes called the pitch axis. The links supporting the parallelogram linkage are pivotally mounted to set-up joints  1104  ( FIG. 20 ) so that the surgical tool  1200  further rotates about an axis  1112   b , sometimes called the yaw axis. The pitch and yaw axes  1112   a ,  1112   b  intersect at the remote center  1114 , which is aligned along a shaft  1208  of the surgical tool  1200 . The surgical tool  1200  may have further degrees of driven freedom as supported by manipulator  1106 , including sliding motion of the surgical tool  1200  along the longitudinal tool axis “LT-LT”. As the surgical tool  1200  slides along the tool axis LT-LT relative to manipulator  1106  (arrow  1112   c ), remote center  1114  remains fixed relative to base  1116  of manipulator  1106 . Hence, the entire manipulator is generally moved to re-position remote center  1114 . Linkage  1108  of manipulator  1106  is driven by a series of motors  1120 . These motors actively move linkage  1108  in response to commands from a processor of a control system. As will be discussed in further detail below, motors  1120  are also employed to manipulate the surgical tool  1200 . 
     An alternative set-up joint structure is illustrated in  FIG. 22 . In this embodiment, a surgical tool  1200  is supported by an alternative manipulator structure  1106 ′ between two tissue manipulation tools. Those of ordinary skill in the art will appreciate that various embodiments of the present invention may incorporate a wide variety of alternative robotic structures, including those described in U.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the full disclosure of which is incorporated herein by reference. Additionally, while the data communication between a robotic component and the processor of the robotic surgical system is primarily described herein with reference to communication between the surgical tool  1200  and the master controller  1001 , it should be understood that similar communication may take place between circuitry of a manipulator, a set-up joint, an endoscope or other image capture device, or the like, and the processor of the robotic surgical system for component compatibility verification, component-type identification, component calibration (such as off-set or the like) communication, confirmation of coupling of the component to the robotic surgical system, or the like. 
     An exemplary non-limiting surgical tool  1200  that is well-adapted for use with a robotic system  1000  that has a tool drive assembly  1010  ( FIG. 24 ) that is operatively coupled to a master controller  1001  that is operable by inputs from an operator (i.e., a surgeon) is depicted in  FIG. 23 . As can be seen in that Figure, the surgical tool  1200  includes a surgical end effector  2012  that comprises an endocutter. In at least one form, the surgical tool  1200  generally includes an elongated shaft assembly  2008  that has a proximal closure tube  2040  and a distal closure tube  2042  that are coupled together by an articulation joint  2011 . The surgical tool  1200  is operably coupled to the manipulator by a tool mounting portion, generally designated as  1300 . The surgical tool  1200  further includes an interface  1230  which mechanically and electrically couples the tool mounting portion  1300  to the manipulator. One form of interface  1230  is illustrated in  FIGS. 24-28 . In various embodiments, the tool mounting portion  1300  includes a tool mounting plate  1302  that operably supports a plurality of (four are shown in  FIG. 28 ) rotatable body portions, driven discs or elements  1304 , that each include a pair of pins  1306  that extend from a surface of the driven element  1304 . One pin  1306  is closer to an axis of rotation of each driven elements  1304  than the other pin  1306  on the same driven element  1304 , which helps to ensure positive angular alignment of the driven element  1304 . Interface  1230  includes an adaptor portion  1240  that is configured to mountingly engage the mounting plate  1302  as will be further discussed below. The adaptor portion  1240  may include an array of electrical connecting pins  1242  ( FIG. 26 ) which may be coupled to a memory structure by a circuit board within the tool mounting portion  1300 . While interface  1230  is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. 
     As can be seen in  FIGS. 24-27 , the adapter portion  1240  generally includes a tool side  1244  and a holder side  1246 . In various forms, a plurality of rotatable bodies  1250  are mounted to a floating plate  1248  which has a limited range of movement relative to the surrounding adaptor structure normal to the major surfaces of the adaptor  1240 . Axial movement of the floating plate  1248  helps decouple the rotatable bodies  1250  from the tool mounting portion  1300  when the levers  1303  along the sides of the tool mounting portion housing  1301  are actuated (See  FIG. 23 ). Other mechanisms/arrangements may be employed for releasably coupling the tool mounting portion  1300  to the adaptor  1240 . In at least one form, rotatable bodies  1250  are resiliently mounted to floating plate  1248  by resilient radial members which extend into a circumferential indentation about the rotatable bodies  1250 . The rotatable bodies  1250  can move axially relative to plate  1248  by deflection of these resilient structures. When disposed in a first axial position (toward tool side  1244 ) the rotatable bodies  1250  are free to rotate without angular limitation. However, as the rotatable bodies  1250  move axially toward tool side  1244 , tabs  1252  (extending radially from the rotatable bodies  1250 ) laterally engage detents on the floating plates so as to limit angular rotation of the rotatable bodies  1250  about their axes. This limited rotation can be used to help drivingly engage the rotatable bodies  1250  with drive pins  1272  of a corresponding tool holder portion  1270  of the robotic system  1000 , as the drive pins  1272  will push the rotatable bodies  1250  into the limited rotation position until the pins  1234  are aligned with (and slide into) openings  1256 ′. Openings  1256  on the tool side  1244  and openings  1256 ′ on the holder side  1246  of rotatable bodies  1250  are configured to accurately align the driven elements  1304  ( FIG. 28 ) of the tool mounting portion  1300  with the drive elements  1271  of the tool holder  1270 . As described above regarding inner and outer pins  1306  of driven elements  1304 , the openings  1256 ,  1256 ′ are at differing distances from the axis of rotation on their respective rotatable bodies  1250  so as to ensure that the alignment is not  180  degrees from its intended position. Additionally, each of the openings  1256  is slightly radially elongated so as to fittingly receive the pins  1306  in the circumferential orientation. This allows the pins  1306  to slide radially within the openings  1256 ,  1256 ′ and accommodate some axial misalignment between the tool  1200  and tool holder  1270 , while minimizing any angular misalignment and backlash between the drive and driven elements. Openings  1256  on the tool side  1244  are offset by about  90  degrees from the openings  1256 ′ (shown in broken lines) on the holder side  1246 , as can be seen most clearly in  FIG. 27 . 
     Various embodiments may further include an array of electrical connector pins  1242  located on holder side  1246  of adaptor  1240 , and the tool side  1244  of the adaptor  1240  may include slots  1258  ( FIG. 27 ) for receiving a pin array (not shown) from the tool mounting portion  1300 . In addition to transmitting electrical signals between the surgical tool  1200  and the tool holder  1270 , at least some of these electrical connections may be coupled to an adaptor memory device  1260  ( FIG. 26 ) by a circuit board of the adaptor  1240 . 
     A detachable latch arrangement  1239  may be employed to releasably affix the adaptor  1240  to the tool holder  1270 . As used herein, the term “tool drive assembly” when used in the context of the robotic system  1000 , at least encompasses various embodiments of the adapter  1240  and tool holder  1270  and which has been generally designated as  1010  in  FIG. 24 . For example, as can be seen in  FIG. 24 , the tool holder  1270  may include a first latch pin arrangement  1274  that is sized to be received in corresponding clevis slots  1241  provided in the adaptor  1240 . In addition, the tool holder  1270  may further have second latch pins  1276  that are sized to be retained in corresponding latch clevises  1243  in the adaptor  1240 . See  FIG. 26 . In at least one form, a latch assembly  1245  is movably supported on the adapter  1240  and is biasable between a first latched position wherein the latch pins  1276  are retained within their respective latch clevis  1243  and an unlatched position wherein the second latch pins  1276  may be into or removed from the latch clevises  1243 . A spring or springs (not shown) are employed to bias the latch assembly into the latched position. A lip on the tool side  1244  of adaptor  1240  may slidably receive laterally extending tabs of tool mounting housing  1301 . 
     Turning next to  FIGS. 28-35 , in at least one embodiment, the surgical tool  1200  includes a surgical end effector  2012  that comprises in this example, among other things, at least one component  2024  that is selectively movable between first and second positions relative to at least one other component  2022  in response to various control motions applied thereto as will be discussed in further detail below. In various embodiments, component  2022  comprises an elongated channel  2022  configured to operably support a surgical staple cartridge  2034  therein and component  2024  comprises a pivotally translatable clamping member, such as an anvil  2024 . Various embodiments of the surgical end effector  2012  are configured to maintain the anvil  2024  and elongated channel  2022  at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector  2012 . As can be seen in  FIG. 34 , the surgical end effector  2012  further includes a cutting instrument  2032  and a sled  2033 . The cutting instrument  2032  may be, for example, a knife. The surgical staple cartridge  2034  operably houses a plurality of surgical staples (not show) therein that are supported on movable staple drivers (not shown). As the cutting instrument  2032  is driven distally through a centrally-disposed slot (not shown) in the surgical staple cartridge  2034 , it forces the sled  2033  distally as well. As the sled  2033  is driven distally, its “wedge-shaped” configuration contacts the movable staple drivers and drives them vertically toward the closed anvil  2024 . The surgical staples are formed as they are driven into the forming surface located on the underside of the anvil  2024 . The sled  2033  may be part of the surgical staple cartridge  2034 , such that when the cutting instrument  2032  is retracted following the cutting operation, the sled  2033  does not retract. The anvil  2024  may be pivotably opened and closed at a pivot point  2025  located at the proximal end of the elongated channel  2022 . The anvil  2024  may also include a tab  2027  at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil  2024 . The elongated channel  2022  and the anvil  2024  may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge  2034  could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge  2034 , as was also described above. 
     As can be seen in  FIGS. 28-35 , the surgical end effector  2012  is attached to the tool mounting portion  1300  by an elongated shaft assembly  2008  according to various embodiments. As shown in the illustrated embodiment, the shaft assembly  2008  includes an articulation joint generally indicated as  2011  that enables the surgical end effector  2012  to be selectively articulated about an articulation axis AA-AA that is substantially transverse to a longitudinal tool axis LT-LT. See  FIG. 29 . In other embodiments, the articulation joint is omitted. In various embodiments, the shaft assembly  2008  may include a closure tube assembly  2009  that comprises a proximal closure tube  2040  and a distal closure tube  2042  that are pivotably linked by a pivot links  2044  and operably supported on a spine assembly generally depicted as  2049 . In the illustrated embodiment, the spine assembly  2049  comprises a distal spine portion  2050  that is attached to the elongated channel  2022  and is pivotally coupled to the proximal spine portion  2052 . The closure tube assembly  2009  is configured to axially slide on the spine assembly  2049  in response to actuation motions applied thereto. The distal closure tube  2042  includes an opening  2045  into which the tab  2027  on the anvil  2024  is inserted in order to facilitate opening of the anvil  2024  as the distal closure tube  2042  is moved axially in the proximal direction “PD”. The closure tubes  2040 ,  2042  may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the main drive shaft assembly (e.g., the drive shafts  2048 ,  2050 ) may be made of a nonconductive material (such as plastic). 
     In use, it may be desirable to rotate the surgical end effector  2012  about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion  1300  includes a rotational transmission assembly  2069  that is configured to receive a corresponding rotary output motion from the tool drive assembly  1010  of the robotic system  1000  and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly  2008  (and surgical end effector  2012 ) about the longitudinal tool axis LT-LT. In various embodiments, for example, the proximal end  2060  of the proximal closure tube  2040  is rotatably supported on the tool mounting plate  1302  of the tool mounting portion  1300  by a forward support cradle  1309  and a closure sled  2100  that is also movably supported on the tool mounting plate  1302 . In at least one form, the rotational transmission assembly  2069  includes a tube gear segment  2062  that is formed on (or attached to) the proximal end  2060  of the proximal closure tube  2040  for operable engagement by a rotational gear assembly  2070  that is operably supported on the tool mounting plate  1302 . As can be seen in  FIG. 31 , the rotational gear assembly  2070 , in at least one embodiment, comprises a rotation drive gear  2072  that is coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  1302  when the tool mounting portion  1300  is coupled to the tool drive assembly  1010 . See  FIG. 28 . The rotational gear assembly  2070  further comprises a rotary driven gear  2074  that is rotatably supported on the tool mounting plate  1302  in meshing engagement with the tube gear segment  2062  and the rotation drive gear  2072 . Application of a first rotary output motion from the tool drive assembly  1010  of the robotic system  1000  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  2072 . Rotation of the rotation drive gear  2072  ultimately results in the rotation of the elongated shaft assembly  2008  (and the surgical end effector  2012 ) about the longitudinal tool axis LT-LT (represented by arrow “R” in  FIG. 31 ). It will be appreciated that the application of a rotary output motion from the tool drive assembly  1010  in one direction will result in the rotation of the elongated shaft assembly  2008  and surgical end effector  2012  about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly  2008  and surgical end effector  2012  in a second direction that is opposite to the first direction. 
     In at least one embodiment, the closure of the anvil  2024  relative to the staple cartridge  2034  is accomplished by axially moving the closure tube assembly  2009  in the distal direction “DD” on the spine assembly  2049 . As indicated above, in various embodiments, the proximal end  2060  of the proximal closure tube  2040  is supported by the closure sled  2100  which comprises a portion of a closure transmission, generally depicted as  2099 . In at least one form, the closure sled  2100  is configured to support the closure tube assembly  2009  on the tool mounting plate  1320  such that the proximal closure tube  2040  can rotate relative to the closure sled  2100 , yet travel axially with the closure sled  2100 . In particular, as can be seen in  FIG. 36 , the closure sled  2100  has an upstanding tab  2101  that extends into a radial groove  2063  in the proximal end portion of the proximal closure tube  2040 . In addition, as can be seen in  33  and  36 , the closure sled  2100  has a tab portion  2102  that extends through a slot  1305  in the tool mounting plate  1302 . The tab portion  2102  is configured to retain the closure sled  2100  in sliding engagement with the tool mounting plate  1302 . In various embodiments, the closure sled  2100  has an upstanding portion  2104  that has a closure rack gear  2106  formed thereon. The closure rack gear  2106  is configured for driving engagement with a closure gear assembly  2110 . See  FIG. 33 . 
     In various forms, the closure gear assembly  2110  includes a closure spur gear  2112  that is coupled to a corresponding second one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  1302 . See  FIG. 28 . Thus, application of a second rotary output motion from the tool drive assembly  1010  of the robotic system  1000  to the corresponding second driven element  1304  will cause rotation of the closure spur gear  2112  when the tool mounting portion  1300  is coupled to the tool drive assembly  1010 . The closure gear assembly  2110  further includes a closure reduction gear set  2114  that is supported in meshing engagement with the closure spur gear  2112 . As can be seen in  FIGS. 32 and 33 , the closure reduction gear set  2114  includes a driven gear  2116  that is rotatably supported in meshing engagement with the closure spur gear  2112 . The closure reduction gear set  2114  further includes a first closure drive gear  2118  that is in meshing engagement with a second closure drive gear  2120  that is rotatably supported on the tool mounting plate  1302  in meshing engagement with the closure rack gear  2106 . Thus, application of a second rotary output motion from the tool drive assembly  1010  of the robotic system  1000  to the corresponding second driven element  1304  will cause rotation of the closure spur gear  2112  and the closure transmission  2110  and ultimately drive the closure sled  2100  and closure tube assembly  2009  axially. The axial direction in which the closure tube assembly  2009  moves ultimately depends upon the direction in which the second driven element  1304  is rotated. For example, in response to one rotary output motion received from the tool drive assembly  1010  of the robotic system  1000 , the closure sled  2100  will be driven in the distal direction “DD” and ultimately drive the closure tube assembly  2009  in the distal direction. As the distal closure tube  2042  is driven distally, the end of the closure tube segment  2042  will engage a portion of the anvil  2024  and cause the anvil  2024  to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly  1010  of the robotic system  1000 , the closure sled  2100  and closure tube assembly  2009  will be driven in the proximal direction “PD”. As the distal closure tube  2042  is driven in the proximal direction, the opening  2045  therein interacts with the tab  2027  on the anvil  2024  to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil to the open position when the distal closure tube  2042  has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly  2110  are sized to generate the necessary closure forces needed to satisfactorily close the anvil  2024  onto the tissue to be cut and stapled by the surgical end effector  2012 . For example, the gears of the closure transmission  2110  may be sized to generate approximately  70 - 120  pounds. 
     In various embodiments, the cutting instrument  2032  is driven through the surgical end effector  2012  by a knife bar  2200 . See  FIGS. 34 and 36 . In at least one form, the knife bar  2200  is fabricated from, for example, stainless steel or other suitable materials and has a substantially rectangular cross-sectional shape. Such knife bar configuration is sufficiently rigid to push the cutting instrument  2032  through tissue clamped in the surgical end effector  2012 , while still being flexible enough to enable the surgical end effector  2012  to articulate relative to the proximal closure tube  2040  and the proximal spine portion  2052  about the articulation axis AA-AA as will be discussed in further detail below. As can be seen in  FIGS. 37 and 38 , the proximal spine portion  2052  has a rectangular-shaped passage  2054  extending therethrough to provide support to the knife bar  2200  as it is axially pushed therethrough. The proximal spine portion  2052  has a proximal end  2056  that is rotatably mounted to a spine mounting bracket  2057  attached to the tool mounting plate  1032 . See  FIG. 36 . Such arrangement permits the proximal spine portion  2052  to rotate, but not move axially, within the proximal closure tube  2040 . 
     As shown in  FIG. 34 , the distal end  2202  of the knife bar  2200  is attached to the cutting instrument  2032 . The proximal end  2204  of the knife bar  2200  is rotatably affixed to a knife rack gear  2206  such that the knife bar  2200  is free to rotate relative to the knife rack gear  2206 . See  FIG. 36 . As can be seen in  FIGS. 30-35 , the knife rack gear  2206  is slidably supported within a rack housing  2210  that is attached to the tool mounting plate  1302  such that the knife rack gear  2206  is retained in meshing engagement with a knife gear assembly  2220 . More specifically and with reference to  FIG. 33 , in at least one embodiment, the knife gear assembly  2220  includes a knife spur gear  2222  that is coupled to a corresponding third one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  1302 . See  FIG. 28 . Thus, application of another rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding third driven element  1304  will cause rotation of the knife spur gear  2222 . The knife gear assembly  2220  further includes a knife gear reduction set  2224  that includes a first knife driven gear  2226  and a second knife drive gear  2228 . The knife gear reduction set  2224  is rotatably mounted to the tool mounting plate  1302  such that the firs knife driven gear  2226  is in meshing engagement with the knife spur gear  2222 . Likewise, the second knife drive gear  2228  is in meshing engagement with a third knife drive gear  2230  that is rotatably supported on the tool mounting plate  1302  in meshing engagement with the knife rack gear  2206 . In various embodiments, the gears of the knife gear assembly  2220  are sized to generate the forces needed to drive the cutting element  2032  through the tissue clamped in the surgical end effector  2012  and actuate the staples therein. For example, the gears of the knife drive assembly  2230  may be sized to generate approximately  40  to  100  pounds. It will be appreciated that the application of a rotary output motion from the tool drive assembly  1010  in one direction will result in the axial movement of the cutting instrument  2032  in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument  2032  in a proximal direction. 
     In various embodiments, the surgical tool  1200  employs and articulation system  2007  that includes an articulation joint  2011  that enables the surgical end effector  2012  to be articulated about an articulation axis AA-AA that is substantially transverse to the longitudinal tool axis LT-LT. In at least one embodiment, the surgical tool  1200  includes first and second articulation bars  2250   a ,  2250   b  that are slidably supported within corresponding passages  2053  provided through the proximal spine portion  2052 . See  FIGS. 36 and 38 . In at least one form, the first and second articulation bars  2250   a ,  2250   b  are actuated by an articulation transmission generally designated as  2249  that is operably supported on the tool mounting plate  1032 . Each of the articulation bars  2250   a ,  2250   b  has a proximal end  2252  that has a guide rod protruding therefrom which extend laterally through a corresponding slot in the proximal end portion of the proximal spine portion  2052  and into a corresponding arcuate slot in an articulation nut  2260  which comprises a portion of the articulation transmission.  FIG. 37  illustrates articulation bar  2250   a . It will be understood that articulation bar  2250   b  is similarly constructed. As can be seen in  FIG. 37 , for example, the articulation bar  2250   a  has a guide rod  2254  which extends laterally through a corresponding slot  2058  in the proximal end portion  2056  of the distal spine portion  2050  and into a corresponding arcuate slot  2262  in the articulation nut  2260 . In addition, the articulation bar  2250   a  has a distal end  2251   a  that is pivotally coupled to the distal spine portion  2050  by, for example, a pin  2253   a  and articulation bar  2250   b  has a distal end  2251   b  that is pivotally coupled to the distal spine portion  2050  by, for example, a pin  2253   b . In particular, the articulation bar  2250   a  is laterally offset in a first lateral direction from the longitudinal tool axis LT-LT and the articulation bar  2250   b  is laterally offset in a second lateral direction from the longitudinal tool axis LT-LT. Thus, axial movement of the articulation bars  2250   a  and  2250   b  in opposing directions will result in the articulation of the distal spine portion  2050  as well as the surgical end effector  2012  attached thereto about the articulation axis AA-AA as will be discussed in further detail below. 
     Articulation of the surgical end effector  2012  is controlled by rotating the articulation nut  2260  about the longitudinal tool axis LT-LT. The articulation nut  2260  is rotatably journaled on the proximal end portion  2056  of the distal spine portion  2050  and is rotatably driven thereon by an articulation gear assembly  2270 . More specifically and with reference to  FIG. 31 , in at least one embodiment, the articulation gear assembly  2270  includes an articulation spur gear  2272  that is coupled to a corresponding fourth one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  1302 . See  FIG. 28 . Thus, application of another rotary input motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding fourth driven element  1304  will cause rotation of the articulation spur gear  2272  when the interface  1230  is coupled to the tool holder  1270 . An articulation drive gear  2274  is rotatably supported on the tool mounting plate  1302  in meshing engagement with the articulation spur gear  2272  and a gear portion  2264  of the articulation nut  2260  as shown. As can be seen in  FIGS. 36 and 37 , the articulation nut  2260  has a shoulder  2266  formed thereon that defines an annular groove  2267  for receiving retaining posts  2268  therein. Retaining posts  2268  are attached to the tool mounting plate  1302  and serve to prevent the articulation nut  2260  from moving axially on the proximal spine portion  2052  while maintaining the ability to be rotated relative thereto. Thus, rotation of the articulation nut  2260  in a first direction, will result in the axial movement of the articulation bar  2250   a  in a distal direction “DD” and the axial movement of the articulation bar  2250   b  in a proximal direction “PD” because of the interaction of the guide rods  2254  with the spiral slots  2262  in the articulation gear  2260 . Similarly, rotation of the articulation nut  2260  in a second direction that is opposite to the first direction will result in the axial movement of the articulation bar  2250   a  in the proximal direction “PD” as well as cause articulation bar  2250   b  to axially move in the distal direction “DD”. Thus, the surgical end effector  2012  may be selectively articulated about articulation axis “AA-AA” in a first direction “FD” by simultaneously moving the articulation bar  2250   a  in the distal direction “DD” and the articulation bar  2250   b  in the proximal direction “PD”. Likewise, the surgical end effector  2012  may be selectively articulated about the articulation axis “AA-AA” in a second direction “SD” by simultaneously moving the articulation bar  2250   a  in the proximal direction “PD” and the articulation bar  2250   b  in the distal direction “DD.” See  FIG. 29 . 
     The tool embodiment described above employs an interface arrangement that is particularly well-suited for mounting the robotically controllable medical tool onto at least one form of robotic arm arrangement that generates at least four different rotary control motions. Those of ordinary skill in the art will appreciate that such rotary output motions may be selectively controlled through the programmable control systems employed by the robotic system/controller. For example, the tool arrangement described above may be well-suited for use with those robotic systems manufactured by Intuitive Surgical, Inc. of Sunnyvale, California, U.S.A., many of which may be described in detail in various patents incorporated herein by reference. The unique and novel aspects of various embodiments of the present invention serve to utilize the rotary output motions supplied by the robotic system to generate specific control motions having sufficient magnitudes that enable end effectors to cut and staple tissue. Thus, the unique arrangements and principles of various embodiments of the present invention may enable a variety of different forms of the tool systems disclosed and claimed herein to be effectively employed in connection with other types and forms of robotic systems that supply programmed rotary or other output motions. In addition, as will become further apparent as the present Detailed Description proceeds, various end effector embodiments of the present invention that require other forms of actuation motions may also be effectively actuated utilizing one or more of the control motions generated by the robotic system. 
       FIGS. 40-44  illustrate yet another surgical tool  2300  that may be effectively employed in connection with the robotic system  1000  that has a tool drive assembly that is operably coupled to a controller of the robotic system that is operable by inputs from an operator and which is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly. In various forms, the surgical tool  2300  includes a surgical end effector  2312  that includes an elongated channel  2322  and a pivotally translatable clamping member, such as an anvil  2324 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector  2312 . As shown in the illustrated embodiment, the surgical end effector  2312  may include, in addition to the previously-mentioned elongated channel  2322  and anvil  2324 , a cutting instrument  2332  that has a sled portion  2333  formed thereon, a surgical staple cartridge  2334  that is seated in the elongated channel  2322 , and a rotary end effector drive shaft  2336  that has a helical screw thread formed thereon. The cutting instrument  2332  may be, for example, a knife. As will be discussed in further detail below, rotation of the end effector drive shaft  2336  will cause the cutting instrument  2332  and sled portion  2333  to axially travel through the surgical staple cartridge  2334  to move between a starting position and an ending position. The direction of axial travel of the cutting instrument  2332  depends upon the direction in which the end effector drive shaft  2336  is rotated. The anvil  2324  may be pivotably opened and closed at a pivot point  2325  connected to the proximate end of the elongated channel  2322 . The anvil  2324  may also include a tab  2327  at its proximate end that operably interfaces with a component of the mechanical closure system (described further below) to open and close the anvil  2324 . When the end effector drive shaft  2336  is rotated, the cutting instrument  2332  and sled  2333  will travel longitudinally through the surgical staple cartridge  2334  from the starting position to the ending position, thereby cutting tissue clamped within the surgical end effector  2312 . The movement of the sled  2333  through the surgical staple cartridge  2334  causes the staples therein to be driven through the severed tissue and against the closed anvil  2324 , which turns the staples to fasten the severed tissue. In one form, the elongated channel  2322  and the anvil  2324  may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge  2334  could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge  2334 , as described above. 
     It should be noted that although the embodiments of the surgical tool  2300  described herein employ a surgical end effector  2312  that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783, and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used. 
     In the illustrated embodiment, the surgical end effector  2312  is coupled to an elongated shaft assembly  2308  that is coupled to a tool mounting portion  2460  and defines a longitudinal tool axis LT-LT. In this embodiment, the elongated shaft assembly  2308  does not include an articulation joint. Those of ordinary skill in the art will understand that other embodiments may have an articulation joint therein. In at least one embodiment, the elongated shaft assembly  2308  comprises a hollow outer tube  2340  that is rotatably supported on a tool mounting plate  2462  of a tool mounting portion  2460  as will be discussed in further detail below. In various embodiments, the elongated shaft assembly  2308  further includes a distal spine shaft  2350 . Distal spine shaft  2350  has a distal end portion  2354  that is coupled to, or otherwise integrally formed with, a distal stationary base portion  2360  that is non-movably coupled to the channel  2322 . See  FIGS. 41-43 . 
     As shown in  FIG. 41 , the distal spine shaft  2350  has a proximal end portion  2351  that is slidably received within a slot  2355  in a proximal spine shaft  2353  that is non-movably supported within the hollow outer tube  2340  by at least one support collar  2357 . As can be further seen in  FIGS. 41 and 42 , the surgical tool  2300  includes a closure tube  2370  that is constrained to only move axially relative to the distal stationary base portion  2360 . The closure tube  2370  has a proximal end  2372  that has an internal thread  2374  formed therein that is in threaded engagement with a transmission arrangement, generally depicted as  2375  that is operably supported on the tool mounting plate  2462 . In various forms, the transmission arrangement  2375  includes a rotary drive shaft assembly, generally designated as  2381 . When rotated, the rotary drive shaft assembly  2381  will cause the closure tube  2370  to move axially as will be describe in further detail below. In at least one form, the rotary drive shaft assembly  2381  includes a closure drive nut  2382  of a closure clutch assembly generally designated as  2380 . More specifically, the closure drive nut  2382  has a proximal end portion  2384  that is rotatably supported relative to the outer tube  2340  and is in threaded engagement with the closure tube  2370 . For assembly purposes, the proximal end portion  2384  may be threadably attached to a retention ring  2386 . Retention ring  2386 , in cooperation with an end  2387  of the closure drive nut  2382 , defines an annular slot  2388  into which a shoulder  2392  of a locking collar  2390  extends. The locking collar  2390  is non-movably attached (e.g., welded, glued, etc.) to the end of the outer tube  2340 . Such arrangement serves to affix the closure drive nut  2382  to the outer tube  2340  while enabling the closure drive nut  2382  to rotate relative to the outer tube  2340 . The closure drive nut  2382  further has a distal end  2383  that has a threaded portion  2385  that threadably engages the internal thread  2374  of the closure tube  2370 . Thus, rotation of the closure drive nut  2382  will cause the closure tube  2370  to move axially as represented by arrow “D” in  FIG. 42 . 
     Closure of the anvil  2324  and actuation of the cutting instrument  2332  are accomplished by control motions that are transmitted by a hollow drive sleeve  2400 . As can be seen in  FIGS. 41 and 42 , the hollow drive sleeve  2400  is rotatably and slidably received on the distal spine shaft  2350 . The drive sleeve  2400  has a proximal end portion  2401  that is rotatably mounted to the proximal spine shaft  2353  that protrudes from the tool mounting portion  2460  such that the drive sleeve  2400  may rotate relative thereto. See  FIG. 41 . As can also be seen in  FIGS. 41-43 , the drive sleeve  2400  is rotated about the longitudinal tool axis “LT-LT” by a drive shaft  2440 . The drive shaft  2440  has a drive gear  2444  that is attached to its distal end  2442  and is in meshing engagement with a driven gear  2450  that is attached to the drive sleeve  2400 . 
     The drive sleeve  2400  further has a distal end portion  2402  that is coupled to a closure clutch  2410  portion of the closure clutch assembly  2380  that has a proximal face  2412  and a distal face  2414 . The proximal face  2412  has a series of proximal teeth  2416  formed thereon that are adapted for selective engagement with corresponding proximal teeth cavities  2418  formed in the proximal end portion  2384  of the closure drive nut  2382 . Thus, when the proximal teeth  2416  are in meshing engagement with the proximal teeth cavities  2418  in the closure drive nut  2382 , rotation of the drive sleeve  2400  will result in rotation of the closure drive nut  2382  and ultimately cause the closure tube  2370  to move axially as will be discussed in further detail below. 
     As can be most particularly seen in  FIGS. 41 and 42  the distal face  2414  of the drive clutch portion  2410  has a series of distal teeth  2415  formed thereon that are adapted for selective engagement with corresponding distal teeth cavities  2426  formed in a face plate portion  2424  of a knife drive shaft assembly  2420 . In various embodiments, the knife drive shaft assembly  2420  comprises a hollow knife shaft segment  2430  that is rotatably received on a corresponding portion of the distal spine shaft  2350  that is attached to or protrudes from the stationary base  2360 . When the distal teeth  2415  of the closure clutch portion  2410  are in meshing engagement with the distal teeth cavities  2426  in the face plate portion  2424 , rotation of the drive sleeve  2400  will result in rotation of the drive shaft segment  2430  about the stationary shaft  2350 . As can be seen in  FIGS. 41-43 , a knife drive gear  2432  is attached to the drive shaft segment  2430  and is meshing engagement with a drive knife gear  2434  that is attached to the end effector drive shaft  2336 . Thus, rotation of the drive shaft segment  2430  will result in the rotation of the end effector drive shaft  2336  to drive the cutting instrument  2332  and sled  2333  distally through the surgical staple cartridge  2334  to cut and staple tissue clamped within the surgical end effector  2312 . The sled  2333  may be made of, for example, plastic, and may have a sloped distal surface. As the sled  2333  traverses the elongated channel  2322 , the sloped forward surface of the sled  2333  pushes up or “drive” the staples in the surgical staple cartridge  2334  through the clamped tissue and against the anvil  2324 . The anvil  2324  turns or “forms” the staples, thereby stapling the severed tissue. As used herein, the term “fire” refers to the initiation of actions required to drive the cutting instrument and sled portion in a distal direction through the surgical staple cartridge to cut the tissue clamped in the surgical end effector and drive the staples through the severed tissue. 
     In use, it may be desirable to rotate the surgical end effector  2312  about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement  2375  includes a rotational transmission assembly  2465  that is configured to receive a corresponding rotary output motion from the tool drive assembly  1010  of the robotic system  1000  and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly  2308  (and surgical end effector  2312 ) about the longitudinal tool axis LT-LT. As can be seen in  FIG. 44 , a proximal end  2341  of the outer tube  2340  is rotatably supported within a cradle arrangement  2343  attached to the tool mounting plate  2462  of the tool mounting portion  2460 . A rotation gear  2345  is formed on or attached to the proximal end  2341  of the outer tube  2340  of the elongated shaft assembly  2308  for meshing engagement with a rotation gear assembly  2470  operably supported on the tool mounting plate  2462 . In at least one embodiment, a rotation drive gear  2472  is coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  2462  when the tool mounting portion  2460  is coupled to the tool drive assembly  1010 . See  FIGS. 28 and 44 . The rotation drive assembly  2470  further comprises a rotary driven gear  2474  that is rotatably supported on the tool mounting plate  2462  in meshing engagement with the rotation gear  2345  and the rotation drive gear  2472 . Application of a first rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  2472  by virtue of being operably coupled thereto. Rotation of the rotation drive gear  2472  ultimately results in the rotation of the elongated shaft assembly  2308  (and the end effector  2312 ) about the longitudinal tool axis LT-LT (primary rotary motion). 
     Closure of the anvil  2324  relative to the staple cartridge  2034  is accomplished by axially moving the closure tube  2370  in the distal direction “DD”. Axial movement of the closure tube  2370  in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut  2382 . To apply the rotary control motion to the closure drive nut  2382 , the closure clutch  2410  must first be brought into meshing engagement with the proximal end portion  2384  of the closure drive nut  2382 . In various embodiments, the transmission arrangement  2375  further includes a shifter drive assembly  2480  that is operably supported on the tool mounting plate  2462 . More specifically and with reference to  FIG. 44 , it can be seen that a proximal end portion  2359  of the proximal spine portion  2353  extends through the rotation gear  2345  and is rotatably coupled to a shifter gear rack  2481  that is slidably affixed to the tool mounting plate  2462  through slots  2482 . The shifter drive assembly  2480  further comprises a shifter drive gear  2483  that is coupled to a corresponding second one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  2462  when the tool mounting portion  2460  is coupled to the tool holder  1270 . See  FIGS. 28 and 44 . The shifter drive assembly  2480  further comprises a shifter driven gear  2478  that is rotatably supported on the tool mounting plate  2462  in meshing engagement with the shifter drive gear  2483  and the shifter rack gear  2482 . Application of a second rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding driven element  1304  will thereby cause rotation of the shifter drive gear  2483  by virtue of being operably coupled thereto. Rotation of the shifter drive gear  2483  ultimately results in the axial movement of the shifter gear rack  2482  and the proximal spine portion  2353  as well as the drive sleeve  2400  and the closure clutch  2410  attached thereto. The direction of axial travel of the closure clutch  2410  depends upon the direction in which the shifter drive gear  2483  is rotated by the robotic system  1000 . Thus, rotation of the shifter drive gear  2483  in a first rotary direction will result in the axial movement of the closure clutch  2410  in the proximal direction “PD” to bring the proximal teeth  2416  into meshing engagement with the proximal teeth cavities  2418  in the closure drive nut  2382 . Conversely, rotation of the shifter drive gear  2483  in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the closure clutch  2410  in the distal direction “DD” to bring the distal teeth  2415  into meshing engagement with corresponding distal teeth cavities  2426  formed in the face plate portion  2424  of the knife drive shaft assembly  2420 . 
     Once the closure clutch  2410  has been brought into meshing engagement with the closure drive nut  2382 , the closure drive nut  2382  is rotated by rotating the closure clutch  2410 . Rotation of the closure clutch  2410  is controlled by applying rotary output motions to a rotary drive transmission portion  2490  of transmission arrangement  2375  that is operably supported on the tool mounting plate  2462  as shown in  FIG. 44 . In at least one embodiment, the rotary drive transmission  2490  includes a rotary drive assembly  2490 ′ that includes a gear  2491  that is coupled to a corresponding third one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  2462  when the tool mounting portion  2460  is coupled to the tool holder  1270 . See  FIGS. 28 and 44 . The rotary drive transmission  2490  further comprises a first rotary driven gear  2492  that is rotatably supported on the tool mounting plate  2462  in meshing engagement with a second rotary driven gear  2493  and the rotary drive gear  2491 . The second rotary driven gear  2493  is coupled to a proximal end portion  2443  of the drive shaft  2440 . 
     Rotation of the rotary drive gear  2491  in a first rotary direction will result in the rotation of the drive shaft  2440  in a first direction. Conversely, rotation of the rotary drive gear  2491  in a second rotary direction (opposite to the first rotary direction) will cause the drive shaft  2440  to rotate in a second direction. As indicated above, the drive shaft  2440  has a drive gear  2444  that is attached to its distal end  2442  and is in meshing engagement with a driven gear  2450  that is attached to the drive sleeve  2400 . Thus, rotation of the drive shaft  2440  results in rotation of the drive sleeve  2400 . 
     A method of operating the surgical tool  2300  will now be described. Once the tool mounting portion  2462  has been operably coupled to the tool holder  1270  of the robotic system  1000  and oriented into position adjacent the target tissue to be cut and stapled, if the anvil  2334  is not already in the open position ( FIG. 41 ), the robotic system  1000  may apply the first rotary output motion to the shifter drive gear  2483  which results in the axial movement of the closure clutch  2410  into meshing engagement with the closure drive nut  2382  (if it is not already in meshing engagement therewith). See  FIG. 42 . Once the controller  1001  of the robotic system  1000  has confirmed that the closure clutch  2410  is meshing engagement with the closure drive nut  2382  (e.g., by means of sensor(s)—not shown) in the surgical end effector  2312  that are in communication with the robotic control system), the robotic controller  1001  may then apply a second rotary output motion to the rotary drive gear  2492  which, as was described above, ultimately results in the rotation of the rotary drive nut  2382  in the first direction which results in the axial travel of the closure tube  2370  in the distal direction “DD”. As the closure tube  2370  moved in the distal direction, it contacts a portion of the anvil  2323  and causes the anvil  2324  to pivot to the closed position to clamp the target tissue between the anvil  2324  and the surgical staple cartridge  2334 . Once the robotic controller  1001  determines that the anvil  2334  has been pivoted to the closed position by corresponding sensor(s) in the surgical end effector  2312  in communication therewith (not shown), the robotic system  1000  discontinues the application of the second rotary output motion to the rotary drive gear  2491 . The robotic controller  1001  may also provide the surgeon with an indication that the anvil  2334  has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller  1001 . The robotic controller  1001  then applies the primary rotary control motion  2483  to the shifter drive gear  2483  which results in the axial movement of the closure clutch  2410  into meshing engagement with the face plate portion  2424  of the knife drive shaft assembly  2420 . See  FIG. 43 . Once the controller  1001  of the robotic system  1000  has confirmed that the closure clutch  2410  is meshing engagement with the face plate portion  2424  (by means of sensor(s) in the end effector  2312  that are in communication with the robotic controller  1001 ), the robotic controller  1001  may then apply the second rotary output motion to the rotary drive gear  2492  which, as was described above, ultimately results in the axial movement of the cutting instrument  2332  and sled portion  2333  in the distal direction “DD” through the surgical staple cartridge  2334 . As the cutting instrument  2332  moves distally through the surgical staple cartridge  2334 , the tissue clamped therein is severed. As the sled portion  2333  is driven distally, it causes the staples within the surgical staple cartridge to be driven through the severed tissue into forming contact with the anvil  2324 . Once the robotic controller  1001  has determined that the cutting instrument  2324  has reached the end position within the surgical staple cartridge  2334  (by means of sensor(s)—(not shown) in the end effector  2312  that are in communication with the robotic controller  1001 ), the robotic controller  1001  discontinues the application of the second rotary output motion to the rotary drive gear  2491 . Thereafter, the robotic controller  1001  applies the secondary rotary output motion to the rotary drive gear  2491  which ultimately results in the axial travel of the cutting instrument  2332  and sled portion  2333  in the proximal direction “PD” to the starting position. Once the robotic controller  1001 has determined that the cutting instrument  2324  has reached the staring position by means of sensor(s) in the surgical end effector  2312  that are in communication with the robotic controller  1001 , the robotic controller  1001  discontinues the application of the secondary rotary output motion to the rotary drive gear  2491 . Thereafter, the robotic controller  1001  applies the primary rotary output motion to the shifter drive gear  2483  to cause the closure clutch  2410  to move into engagement with the rotary drive nut  2382 . Once the closure clutch  2410  has been moved into meshing engagement with the rotary drive nut  2382 , the robotic controller  1001  then applies the secondary output motion to the rotary drive gear  2491  which ultimately results in the rotation of the rotary drive nut  2382  in the second direction to cause the closure tube  2370  to move in the proximal direction “PD”. As can be seen in  FIGS. 41-43 , the closure tube  2370  has an opening  2345  therein that engages the tab  2327  on the anvil  2324  to cause the anvil  2324  to pivot to the open position. In alternative embodiments, a spring may also be employed to pivot the anvil  2324  to the open position when the closure tube  2370  has been returned to the starting position ( FIG. 41 ). 
       FIGS. 45-49  illustrate yet another surgical tool  2500  that may be effectively employed in connection with the robotic system  1000 . In various forms, the surgical tool  2500  includes a surgical end effector  2512  that includes a “first portion” in the form of an elongated channel  2522  and a “second movable portion” in the form of a pivotally translatable clamping member, such as an anvil  2524 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector  2512 . As shown in the illustrated embodiment, the surgical end effector  2512  may include, in addition to the previously-mentioned elongated channel  2522  and anvil  2524 , a “third movable portion” in the form of a cutting instrument  2532 , a sled (not shown), and a surgical staple cartridge  2534  that is removably seated in the elongated channel  2522 . The cutting instrument  2532  may be, for example, a knife. The anvil  2524  may be pivotably opened and closed at a pivot point  2525  connected to the proximate end of the elongated channel  2522 . The anvil  2524  may also include a tab  2527  at its proximate end that is configured to operably interface with a component of the mechanical closure system (described further below) to open and close the anvil  2524 . When actuated, the knife  2532  and sled travel longitudinally along the elongated channel  2522 , thereby cutting tissue clamped within the surgical end effector  2512 . The movement of the sled along the elongated channel  2522  causes the staples of the surgical staple cartridge  2534  to be driven through the severed tissue and against the closed anvil  2524 , which turns the staples to fasten the severed tissue. In one form, the elongated channel  2522  and the anvil  2524  may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge  2534  could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge  2534 , as described above. 
     It should be noted that although the embodiments of the surgical tool  2500  described herein employ a surgical end effector  2512  that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783 and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used. 
     In the illustrated embodiment, the elongated channel  2522  of the surgical end effector  2512  is coupled to an elongated shaft assembly  2508  that is coupled to a tool mounting portion  2600 . In at least one embodiment, the elongated shaft assembly  2508  comprises a hollow spine tube  2540  that is non-movably coupled to a tool mounting plate  2602  of the tool mounting portion  2600 . As can be seen in  FIGS. 46 and 47 , the proximal end  2523  of the elongated channel  2522  comprises a hollow tubular structure configured to be attached to the distal end  2541  of the spine tube  2540 . In one embodiment, for example, the proximal end  2523  of the elongated channel  2522  is welded or glued to the distal end of the spine tube  2540 . 
     As can be further seen in  FIGS. 46 and 47 , in at least one non-limiting embodiment, the surgical tool  2500  further includes an axially movable actuation member in the form of a closure tube  2550  that is constrained to move axially relative to the elongated channel  2522  and the spine tube  1540 . The closure tube  2550  has a proximal end  2552  that has an internal thread  2554  formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut  2560 . More specifically, the closure drive nut  2560  has a proximal end portion  2562  that is rotatably supported relative to the elongated channel  2522  and the spine tube  2540 . For assembly purposes, the proximal end portion  2562  is threadably attached to a retention ring  2570 . The retention ring  2570  is received in a groove  2529  formed between a shoulder  2527  on the proximal end  2523  of the elongated channel  2522  and the distal end  2541  of the spine tube  1540 . Such arrangement serves to rotatably support the closure drive nut  2560  within the elongated channel  2522 . Rotation of the closure drive nut  2560  will cause the closure tube  2550  to move axially as represented by arrow “D” in  FIG. 46 . 
     Extending through the spine tube  2540  and the closure drive nut  2560  is a drive member which, in at least one embodiment, comprises a knife bar  2580  that has a distal end portion  2582  that is rotatably coupled to the cutting instrument  2532  such that the knife bar  2580  may rotate relative to the cutting instrument  2582 . As can be seen in  FIG. 46-51 , the closure drive nut  2560  has a slot  2564  therein through which the knife bar  2580  can slidably extend. Such arrangement permits the knife bar  2580  to move axially relative to the closure drive nut  2560 . However, rotation of the knife bar  2580  about the longitudinal tool axis LT-LT will also result in the rotation of the closure drive nut  2560 . The axial direction in which the closure tube  2550  moves ultimately depends upon the direction in which the knife bar  2580  and the closure drive nut  2560  are rotated. As the closure tube  2550  is driven distally, the distal end thereof will contact the anvil  2524  and cause the anvil  2524  to pivot to a closed position. Upon application of an opening rotary output motion from the robotic system  1000 , the closure tube  2550  will be driven in the proximal direction “PD” and pivot the anvil  2524  to the open position by virtue of the engagement of the tab  2527  with the opening  2555  in the closure tube  2550 . 
     In use, it may be desirable to rotate the surgical end effector  2512  about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion  2600  is configured to receive a corresponding first rotary output motion from the robotic system  1000  and convert that first rotary output motion to a rotary control motion for rotating the elongated shaft assembly  2508  about the longitudinal tool axis LT-LT. As can be seen in  FIG. 44 , a proximal end  2542  of the hollow spine tube  2540  is rotatably supported within a cradle arrangement  2603  attached to a tool mounting plate  2602  of the tool mounting portion  2600 . Various embodiments of the surgical tool  2500  further include a transmission arrangement, generally depicted as  2605 , that is operably supported on the tool mounting plate  2602 . In various forms the transmission arrangement  2605  include a rotation gear  2544  that is formed on or attached to the proximal end  2542  of the spine tube  2540  for meshing engagement with a rotation drive assembly  2610  that is operably supported on the tool mounting plate  2602 . In at least one embodiment, a rotation drive gear  2612  is coupled to a corresponding first one of the rotational bodies, driven discs or elements  1304  on the adapter side of the tool mounting plate  2602  when the tool mounting portion  2600  is coupled to the tool holder  1270 . See  FIGS. 28 and 49 . The rotation drive assembly  2610  further comprises a rotary driven gear  2614  that is rotatably supported on the tool mounting plate  2602  in meshing engagement with the rotation gear  2544  and the rotation drive gear  2612 . Application of a first rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding driven rotational body  1304  will thereby cause rotation of the rotation drive gear  2612  by virtue of being operably coupled thereto. Rotation of the rotation drive gear  2612  ultimately results in the rotation of the elongated shaft assembly  2508  (and the end effector  2512 ) about the longitudinal tool axis LT-LT. 
     Closure of the anvil  2524  relative to the surgical staple cartridge  2534  is accomplished by axially moving the closure tube  2550  in the distal direction “DD”. Axial movement of the closure tube  2550  in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut  2382 . In various embodiments, the closure drive nut  2560  is rotated by applying a rotary output motion to the knife bar  2580 . Rotation of the knife bar  2580  is controlled by applying rotary output motions to a rotary closure system  2620  that is operably supported on the tool mounting plate  2602  as shown in  FIG. 49 . In at least one embodiment, the rotary closure system  2620  includes a closure drive gear  2622  that is coupled to a corresponding second one of the driven rotatable body portions discs or elements  1304  on the adapter side of the tool mounting plate  2462  when the tool mounting portion  2600  is coupled to the tool holder  1270 . See  FIGS. 28 and 49 . The closure drive gear  2622 , in at least one embodiment, is in meshing driving engagement with a closure gear train, generally depicted as  2623 . The closure gear drive rain  2623  comprises a first driven closure gear  2624  that is rotatably supported on the tool mounting plate  2602 . The first closure driven gear  2624  is attached to a second closure driven gear  2626  by a drive shaft  2628 . The second closure driven gear  2626  is in meshing engagement with a third closure driven gear  2630  that is rotatably supported on the tool mounting plate  2602 . Rotation of the closure drive gear  2622  in a second rotary direction will result in the rotation of the third closure driven gear  2630  in a second direction. Conversely, rotation of the closure drive gear  2483  in a secondary rotary direction (opposite to the second rotary direction) will cause the third closure driven gear  2630  to rotate in a secondary direction. 
     As can be seen in  FIG. 49 , a drive shaft assembly  2640  is coupled to a proximal end of the knife bar  2580 . In various embodiments, the drive shaft assembly  2640  includes a proximal portion  2642  that has a square cross-sectional shape. The proximal portion  2642  is configured to slideably engage a correspondingly shaped aperture in the third driven gear  2630 . Such arrangement results in the rotation of the drive shaft assembly  2640  (and knife bar  2580 ) when the third driven gear  2630  is rotated. The drive shaft assembly  2640  is axially advanced in the distal and proximal directions by a knife drive assembly  2650 . One form of the knife drive assembly  2650  comprises a rotary drive gear  2652  that is coupled to a corresponding third one of the driven rotatable body portions, discs or elements  1304  on the adapter side of the tool mounting plate  2462  when the tool mounting portion  2600  is coupled to the tool holder  1270 . See  FIGS. 28 and 49 . The rotary driven gear  2652  is in meshing driving engagement with a gear train, generally depicted as  2653 . In at least one form, the gear train  2653  further comprises a first rotary driven gear assembly  2654  that is rotatably supported on the tool mounting plate  2602 . The first rotary driven gear assembly  2654  is in meshing engagement with a third rotary driven gear assembly  2656  that is rotatably supported on the tool mounting plate  2602  and which is in meshing engagement with a fourth rotary driven gear assembly  2658  that is in meshing engagement with a threaded portion  2644  of the drive shaft assembly  2640 . Rotation of the rotary drive gear  2652  in a third rotary direction will result in the axial advancement of the drive shaft assembly  2640  and knife bar  2580  in the distal direction “DD”. Conversely, rotation of the rotary drive gear  2652  in a tertiary rotary direction (opposite to the third rotary direction) will cause the drive shaft assembly  2640  and the knife bar  2580  to move in the proximal direction. 
     A method of operating the surgical tool  2500  will now be described. Once the tool mounting portion  2600  has been operably coupled to the tool holder  1270  of the robotic system  1000 , the robotic system  1000  can orient the surgical end effector  2512  in position adjacent the target tissue to be cut and stapled. If the anvil  2524  is not already in the open position ( FIG. 46 ), the robotic system  1000  may apply the second rotary output motion to the closure drive gear  2622  which results in the rotation of the knife bar  2580  in a second direction. Rotation of the knife bar  2580  in the second direction results in the rotation of the closure drive nut  2560  in a second direction. As the closure drive nut  2560  rotates in the second direction, the closure tube  2550  moves in the proximal direction “PD”. As the closure tube  2550  moves in the proximal direction “PD”, the tab  2527  on the anvil  2524  interfaces with the opening  2555  in the closure tube  2550  and causes the anvil  2524  to pivot to the open position. In addition or in alternative embodiments, a spring (not shown) may be employed to pivot the anvil  2354  to the open position when the closure tube  2550  has been returned to the starting position ( FIG. 46 ). The opened surgical end effector  2512  may then be manipulated by the robotic system  1000  to position the target tissue between the open anvil  2524  and the surgical staple cartridge  2534 . Thereafter, the surgeon may initiate the closure process by activating the robotic control system  1000  to apply the second rotary output motion to the closure drive gear  2622  which, as was described above, ultimately results in the rotation of the closure drive nut  2382  in the second direction which results in the axial travel of the closure tube  2250  in the distal direction “DD”. As the closure tube  2550  moves in the distal direction, it contacts a portion of the anvil  2524  and causes the anvil  2524  to pivot to the closed position to clamp the target tissue between the anvil  2524  and the staple cartridge  2534 . Once the robotic controller  1001  determines that the anvil  2524  has been pivoted to the closed position by corresponding sensor(s) in the end effector  2512  that are in communication therewith (not shown), the robotic controller  1001  discontinues the application of the second rotary output motion to the closure drive gear  2622 . The robotic controller  1001  may also provide the surgeon with an indication that the anvil  2524  has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller  1001 . 
     After the robotic controller  1001  has determined that the anvil  2524  is in the closed position, the robotic controller  1001  then applies the third rotary output motion to the rotary drive gear  2652  which results in the axial movement of the drive shaft assembly  2640  and knife bar  2580  in the distal direction “DD”. As the cutting instrument  2532  moves distally through the surgical staple cartridge  2534 , the tissue clamped therein is severed. As the sled portion (not shown) is driven distally, it causes the staples within the surgical staple cartridge  2534  to be driven through the severed tissue into forming contact with the anvil  2524 . Once the robotic controller  1001  has determined that the cutting instrument  2532  has reached the end position within the surgical staple cartridge  2534  by means of sensor(s) (not shown) in the surgical end effector  2512  that are in communication with the robotic controller  1001 , the robotic controller  1001  discontinues the application of the second rotary output motion to the rotary drive gear  2652 . Thereafter, the robotic controller  1001  applies the secondary rotary control motion to the rotary drive gear  2652  which ultimately results in the axial travel of the cutting instrument  2532  and sled portion in the proximal direction “PD” to the starting position. Once the robotic controller  1001  has determined that the cutting instrument  2524  has reached the staring position by means of sensor(s) (not shown) in the end effector  2512  that are in communication with the robotic controller  1001 , the robotic controller  1001  discontinues the application of the secondary rotary output motion to the rotary drive gear  2652 . Thereafter, the robotic controller  1001  may apply the secondary rotary output motion to the closure drive gear  2622  which results in the rotation of the knife bar  2580  in a secondary direction. Rotation of the knife bar  2580  in the secondary direction results in the rotation of the closure drive nut  2560  in a secondary direction. As the closure drive nut  2560  rotates in the secondary direction, the closure tube  2550  moves in the proximal direction “PD” to the open position. 
       FIGS. 50-55B  illustrate yet another surgical tool  2700  that may be effectively employed in connection with the robotic system  1000 . In various forms, the surgical tool  2700  includes a surgical end effector  2712  that includes a “first portion” in the form of an elongated channel  2722  and a “second movable portion” in on form comprising a pivotally translatable clamping member, such as an anvil  2724 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector  2712 . As shown in the illustrated embodiment, the surgical end effector  2712  may include, in addition to the previously-mentioned channel  2722  and anvil  2724 , a “third movable portion” in the form of a cutting instrument  2732 , a sled (not shown), and a surgical staple cartridge  2734  that is removably seated in the elongated channel  2722 . The cutting instrument  2732  may be, for example, a knife. The anvil  2724  may be pivotably opened and closed at a pivot point  2725  connected to the proximal end of the elongated channel  2722 . The anvil  2724  may also include a tab  2727  at its proximal end that interfaces with a component of the mechanical closure system (described further below) to open and close the anvil  2724 . When actuated, the knife  2732  and sled to travel longitudinally along the elongated channel  2722 , thereby cutting tissue clamped within the surgical end effector  2712 . The movement of the sled along the elongated channel  2722  causes the staples of the surgical staple cartridge  2734  to be driven through the severed tissue and against the closed anvil  2724 , which turns the staples to fasten the severed tissue. In one form, the elongated channel  2722  and the anvil  2724  may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge  2734  could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge  2734 , as described above. 
     It should be noted that although the embodiments of the surgical tool  2500  described herein employ a surgical end effector  2712  that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, and U.S. Pat. No. 5,688,270, entitled ELECTROSURGICAL HEMOSTATIC DEVICE WITH RECESSED AND/OR OFFSET ELECTRODES, which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783 and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used. 
     In the illustrated embodiment, the elongated channel  2722  of the surgical end effector  2712  is coupled to an elongated shaft assembly  2708  that is coupled to a tool mounting portion  2900 . Although not shown, the elongated shaft assembly  2708  may include an articulation joint to permit the surgical end effector  2712  to be selectively articulated about an axis that is substantially transverse to the tool axis LT-LT. In at least one embodiment, the elongated shaft assembly  2708  comprises a hollow spine tube  2740  that is non-movably coupled to a tool mounting plate  2902  of the tool mounting portion  2900 . As can be seen in  FIGS. 51 and 52 , the proximal end  2723  of the elongated channel  2722  comprises a hollow tubular structure that is attached to the spine tube  2740  by means of a mounting collar  2790 . A cross-sectional view of the mounting collar  2790  is shown in  FIG. 53 . In various embodiments, the mounting collar  2790  has a proximal flanged end  2791  that is configured for attachment to the distal end of the spine tube  2740 . In at least one embodiment, for example, the proximal flanged end  2791  of the mounting collar  2790  is welded or glued to the distal end of the spine tube  2740 . As can be further seen in  FIGS. 51 and 52 , the mounting collar  2790  further has a mounting hub portion  2792  that is sized to receive the proximal end  2723  of the elongated channel  2722  thereon. The proximal end  2723  of the elongated channel  2722  is non-movably attached to the mounting hub portion  2792  by, for example, welding, adhesive, etc. 
     As can be further seen in  FIGS. 51 and 52 , the surgical tool  2700  further includes an axially movable actuation member in the form of a closure tube  2750  that is constrained to move axially relative to the elongated channel  2722 . The closure tube  2750  has a proximal end  2752  that has an internal thread  2754  formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut  2760 . More specifically, the closure drive nut  2760  has a proximal end portion  2762  that is rotatably supported relative to the elongated channel  2722  and the spine tube  2740 . For assembly purposes, the proximal end portion  2762  is threadably attached to a retention ring  2770 . The retention ring  2770  is received in a groove  2729  formed between a shoulder  2727  on the proximal end  2723  of the channel  2722  and the mounting hub  2729  of the mounting collar  2790 . Such arrangement serves to rotatably support the closure drive nut  2760  within the channel  2722 . Rotation of the closure drive nut  2760  will cause the closure tube  2750  to move axially as represented by arrow “D” in  FIG. 51 . 
     Extending through the spine tube  2740 , the mounting collar  2790 , and the closure drive nut  2760  is a drive member, which in at least one embodiment, comprises a knife bar  2780  that has a distal end portion  2782  that is coupled to the cutting instrument  2732 . As can be seen in  FIGS. 51 and 52 , the mounting collar  2790  has a passage  2793  therethrough for permitting the knife bar  2780  to slidably pass therethrough. Similarly, the closure drive nut  2760  has a slot  2764  therein through which the knife bar  2780  can slidably extend. Such arrangement permits the knife bar  2780  to move axially relative to the closure drive nut  2760 . 
     Actuation of the anvil  2724  is controlled by a rotary driven closure shaft  2800 . As can be seen in  FIGS. 51 and 52 , a distal end portion  2802  of the closure drive shaft  2800  extends through a passage  2794  in the mounting collar  2790  and a closure gear  2804  is attached thereto. The closure gear  2804  is configured for driving engagement with the inner surface  2761  of the closure drive nut  2760 . Thus, rotation of the closure shaft  2800  will also result in the rotation of the closure drive nut  2760 . The axial direction in which the closure tube  2750  moves ultimately depends upon the direction in which the closure shaft  2800  and the closure drive nut  2760  are rotated. For example, in response to one rotary closure motion received from the robotic system  1000 , the closure tube  2750  will be driven in the distal direction “DD”. As the closure tube  2750  is driven distally, the opening  2745  will engage the tab  2727  on the anvil  2724  and cause the anvil  2724  to pivot to a closed position. Upon application of an opening rotary motion from the robotic system  1000 , the closure tube  2750  will be driven in the proximal direction “PD” and pivot the anvil  2724  to the open position. In various embodiments, a spring (not shown) may be employed to bias the anvil  2724  to the open position ( FIG. 51 ). 
     In use, it may be desirable to rotate the surgical end effector  2712  about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion  2900  is configured to receive a corresponding first rotary output motion from the robotic system  1000  for rotating the elongated shaft assembly  2708  about the tool axis LT-LT. As can be seen in  FIG. 55 , a proximal end  2742  of the hollow spine tube  2740  is rotatably supported within a cradle arrangement  2903  and a bearing assembly  2904  that are attached to a tool mounting plate  2902  of the tool mounting portion  2900 . A rotation gear  2744  is formed on or attached to the proximal end  2742  of the spine tube  2740  for meshing engagement with a rotation drive assembly  2910  that is operably supported on the tool mounting plate  2902 . In at least one embodiment, a rotation drive gear  2912  is coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  2602  when the tool mounting portion  2600  is coupled to the tool holder  1270 . See  FIGS. 28 and 55 . The rotation drive assembly  2910  further comprises a rotary driven gear  2914  that is rotatably supported on the tool mounting plate  2902  in meshing engagement with the rotation gear  2744  and the rotation drive gear  2912 . Application of a first rotary control motion from the robotic system  1000  through the tool holder  1270  and the adapter  1240  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  2912  by virtue of being operably coupled thereto. Rotation of the rotation drive gear  2912  ultimately results in the rotation of the elongated shaft assembly  2708  (and the end effector  2712 ) about the longitudinal tool axis LT-LT (primary rotary motion). 
     Closure of the anvil  2724  relative to the staple cartridge  2734  is accomplished by axially moving the closure tube  2750  in the distal direction “DD”. Axial movement of the closure tube  2750  in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut  2760 . In various embodiments, the closure drive nut  2760  is rotated by applying a rotary output motion to the closure drive shaft  2800 . As can be seen in  FIG. 55 , a proximal end portion  2806  of the closure drive shaft  2800  has a driven gear  2808  thereon that is in meshing engagement with a closure drive assembly  2920 . In various embodiments, the closure drive system  2920  includes a closure drive gear  2922  that is coupled to a corresponding second one of the driven rotational bodies or elements  1304  on the adapter side of the tool mounting plate  2462  when the tool mounting portion  2900  is coupled to the tool holder  1270 . See  FIGS. 28 and 55 . The closure drive gear  2922  is supported in meshing engagement with a closure gear train, generally depicted as  2923 . In at least one form, the closure gear rain  2923  comprises a first driven closure gear  2924  that is rotatably supported on the tool mounting plate  2902 . The first closure driven gear  2924  is attached to a second closure driven gear  2926  by a drive shaft  2928 . The second closure driven gear  2926  is in meshing engagement with a planetary gear assembly  2930 . In various embodiments, the planetary gear assembly  2930  includes a driven planetary closure gear  2932  that is rotatably supported within the bearing assembly  2904  that is mounted on tool mounting plate  2902 . As can be seen in  FIGS. 55 and 55B , the proximal end portion  2806  of the closure drive shaft  2800  is rotatably supported within the proximal end portion  2742  of the spine tube  2740  such that the driven gear  2808  is in meshing engagement with central gear teeth  2934  formed on the planetary gear  2932 . As can also be seen in  FIG. 55A , two additional support gears  2936  are attached to or rotatably supported relative to the proximal end portion  2742  of the spine tube  2740  to provide bearing support thereto. Such arrangement with the planetary gear assembly  2930  serves to accommodate rotation of the spine shaft  2740  by the rotation drive assembly  2910  while permitting the closure driven gear  2808  to remain in meshing engagement with the closure drive system  2920 . In addition, rotation of the closure drive gear  2922  in a first direction will ultimately result in the rotation of the closure drive shaft  2800  and closure drive nut  2760  which will ultimately result in the closure of the anvil  2724  as described above. Conversely, rotation of the closure drive gear  2922  in a second opposite direction will ultimately result in the rotation of the closure drive nut  2760  in an opposite direction which results in the opening of the anvil  2724 . 
     As can be seen in  FIG. 55 , the proximal end  2784  of the knife bar  2780  has a threaded shaft portion  2786  attached thereto which is in driving engagement with a knife drive assembly  2940 . In various embodiments, the threaded shaft portion  2786  is rotatably supported by a bearing  2906  attached to the tool mounting plate  2902 . Such arrangement permits the threaded shaft portion  2786  to rotate and move axially relative to the tool mounting plate  2902 . The knife bar  2780  is axially advanced in the distal and proximal directions by the knife drive assembly  2940 . One form of the knife drive assembly  2940  comprises a rotary drive gear  2942  that is coupled to a corresponding third one of the rotatable bodies, driven discs or elements  1304  on the adapter side of the tool mounting plate  2902  when the tool mounting portion  2900  is coupled to the tool holder  1270 . See  FIGS. 28 and 55 . The rotary drive gear  2942  is in meshing engagement with a knife gear train, generally depicted as  2943 . In various embodiments, the knife gear train  2943  comprises a first rotary driven gear assembly  2944  that is rotatably supported on the tool mounting plate  2902 . The first rotary driven gear assembly  2944  is in meshing engagement with a third rotary driven gear assembly  2946  that is rotatably supported on the tool mounting plate  2902  and which is in meshing engagement with a fourth rotary driven gear assembly  2948  that is in meshing engagement with the threaded portion  2786  of the knife bar  2780 . Rotation of the rotary drive gear  2942  in one direction will result in the axial advancement of the knife bar  2780  in the distal direction “DD”. Conversely, rotation of the rotary drive gear  2942  in an opposite direction will cause the knife bar  2780  to move in the proximal direction. Tool  2700  may otherwise be used as described above. 
       FIGS. 56 and 57  illustrate a surgical tool embodiment  2700  that is substantially identical to tool  2700  that was described in detail above. However tool  2700 ′ includes a pressure sensor  2950  that is configured to provide feedback to the robotic controller  1001  concerning the amount of clamping pressure experienced by the anvil  2724 . In various embodiments, for example, the pressure sensor may comprise a spring biased contact switch. For a continuous signal, it would use either a cantilever beam with a strain gage on it or a dome button top with a strain gage on the inside. Another version may comprise an off switch that contacts only at a known desired load. Such arrangement would include a dome on the based wherein the dome is one electrical pole and the base is the other electrical pole. Such arrangement permits the robotic controller  1001  to adjust the amount of clamping pressure being applied to the tissue within the surgical end effector  2712  by adjusting the amount of closing pressure applied to the anvil  2724 . Those of ordinary skill in the art will understand that such pressure sensor arrangement may be effectively employed with several of the surgical tool embodiments described herein as well as their equivalent structures. 
       FIG. 58  illustrates a portion of another surgical tool  3000  that may be effectively used in connection with a robotic system  1000 . The surgical tool  3003  employs on-board motor(s) for powering various components of a surgical end effector cutting instrument. In at least one non-limiting embodiment for example, the surgical tool  3000  includes a surgical end effector in the form of an endocutter (not shown) that has an anvil (not shown) and surgical staple cartridge arrangement (not shown) of the types and constructions described above. The surgical tool  3000  also includes an elongated shaft (not shown) and anvil closure arrangement (not shown) of the types described above. Thus, this portion of the Detailed Description will not repeat the description of those components beyond that which is necessary to appreciate the unique and novel attributes of the various embodiments of surgical tool  3000 . 
     In the depicted embodiment, the end effector includes a cutting instrument  3002  that is coupled to a knife bar  3003 . As can be seen in  FIG. 58 , the surgical tool  3000  includes a tool mounting portion  3010  that includes a tool mounting plate  3012  that is configured to mountingly interface with the adaptor portion  1240 ′ which is coupled to the robotic system  1000  in the various manners described above. The tool mounting portion  3010  is configured to operably support a transmission arrangement  3013  thereon. In at least one embodiment, the adaptor portion  1240 ′ may be identical to the adaptor portion  1240  described in detail above without the powered rotation bodies and disc members employed by adapter  1240 . In other embodiments, the adaptor portion  1240 ′ may be identical to adaptor portion  1240 . Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions (i.e., rotary motion(s)) from the tool holder portion  1270  (as described hereinabove) to power/actuate the transmission arrangement  3013  while also employing one or more motors within the tool mounting portion  3010  to power one or more other components of the surgical end effector. In addition, while the end effector of the depicted embodiment comprises an endocutter, those of ordinary skill in the art will understand that the unique and novel attributes of the depicted embodiment may be effectively employed in connection with other types of surgical end effectors without departing from the spirit and scope of various forms of the present invention. 
     In various embodiments, the tool mounting plate  3012  is configured to at least house a first firing motor  3011  for supplying firing and retraction motions to the knife bar  3003  which is coupled to or otherwise operably interfaces with the cutting instrument  3002 . The tool mounting plate  3012  has an array of electrical connecting pins  3014  which are configured to interface with the slots  1258  ( FIG. 27 ) in the adapter  1240 ′. Such arrangement permits the controller  1001  of the robotic system  1000  to provide control signals to the electronic control circuit  3020  of the surgical tool  3000 . While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. 
     Control circuit  3020  is shown in schematic form in  FIG. 58 . In one form or embodiment, the control circuit  3020  includes a power supply in the form of a battery  3022  that is coupled to an on-off solenoid powered switch  3024 . Control circuit  3020  further includes an on/off firing solenoid  3026  that is coupled to a double pole switch  3028  for controlling the rotational direction of the motor  3011 . Thus, when the controller  1001  of the robotic system  1000  supplies an appropriate control signal, switch  3024  will permit battery  3022  to supply power to the double pole switch  3028 . The controller  1001  of the robotic system  1000  will also supply an appropriate signal to the double pole switch  3028  to supply power to the motor  3011 . When it is desired to fire the surgical end effector (i.e., drive the cutting instrument  3002  distally through tissue clamped in the surgical end effector, the double pole switch  3028  will be in a first position. When it is desired to retract the cutting instrument  3002  to the starting position, the double pole switch  3028  will be moved to the second position by the controller  1001 . 
     Various embodiments of the surgical tool  3000  also employ a gear box  3030  that is sized, in cooperation with a firing gear train  3031  that, in at least one non-limiting embodiment, comprises a firing drive gear  3032  that is in meshing engagement with a firing driven gear  3034  for generating a desired amount of driving force necessary to drive the cutting instrument  3002  through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted in  FIG. 58 , the driven gear  3034  is coupled to a screw shaft  3036  that is in threaded engagement with a screw nut arrangement  3038  that is constrained to move axially (represented by arrow “D”). The screw nut arrangement  3038  is attached to the firing bar  3003 . Thus, by rotating the screw shaft  3036  in a first direction, the cutting instrument  3002  is driven in the distal direction “DD” and rotating the screw shaft in an opposite second direction, the cutting instrument  3002  may be retracted in the proximal direction “PD”. 
       FIG. 59  illustrates a portion of another surgical tool  3000 ′ that is substantially identical to tool  3000  described above, except that the driven gear  3034  is attached to a drive shaft  3040 . The drive shaft  3040  is attached to a second driver gear  3042  that is in meshing engagement with a third driven gear  3044  that is in meshing engagement with a screw  3046  coupled to the firing bar  3003 . 
       FIG. 60  illustrates another surgical tool  3200  that may be effectively used in connection with a robotic system  1000 . In this embodiment, the surgical tool  3200  includes a surgical end effector  3212  that in one non-limiting form, comprises a component portion that is selectively movable between first and second positions relative to at least one other end effector component portion. As will be discussed in further detail below, the surgical tool  3200  employs on-board motors for powering various components of a transmission arrangement  3305 . The surgical end effector  3212  includes an elongated channel  3222  that operably supports a surgical staple cartridge  3234 . The elongated channel  3222  has a proximal end  3223  that slidably extends into a hollow elongated shaft assembly  3208  that is coupled to a tool mounting portion  3300 . In addition, the surgical end effector  3212  includes an anvil  3224  that is pivotally coupled to the elongated channel  3222  by a pair of trunnions  3225  that are received within corresponding openings  3229  in the elongated channel  3222 . A distal end portion  3209  of the shaft assembly  3208  includes an opening  3245  into which a tab  3227  on the anvil  3224  is inserted in order to open the anvil  3224  as the elongated channel  3222  is moved axially in the proximal direction “PD” relative to the distal end portion  3209  of the shaft assembly  3208 . In various embodiments, a spring (not shown) may be employed to bias the anvil  3224  to the open position. 
     As indicated above, the surgical tool  3200  includes a tool mounting portion  3300  that includes a tool mounting plate  3302  that is configured to operably support the transmission arrangement  3305  and to mountingly interface with the adaptor portion  1240 ′ which is coupled to the robotic system  1000  in the various manners described above. In at least one embodiment, the adaptor portion  1240 ′ may be identical to the adaptor portion  1240  described in detail above without the powered disc members employed by adapter  1240 . In other embodiments, the adaptor portion  1240 ′ may be identical to adaptor portion  1240 . However, in such embodiments, because the various components of the surgical end effector  3212  are all powered by motor(s) in the tool mounting portion  3300 , the surgical tool  3200  will not employ or require any of the mechanical (i.e., non-electrical) actuation motions from the tool holder portion  1270  to power the surgical end effector  3200  components. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions from the tool holder portion  1270  (as described hereinabove) to power/actuate one or more of the surgical end effector components while also employing one or more motors within the tool mounting portion to power one or more other components of the surgical end effector. 
     In various embodiments, the tool mounting plate  3302  is configured to support a first firing motor  3310  for supplying firing and retraction motions to the transmission arrangement  3305  to drive a knife bar  3335  that is coupled to a cutting instrument  3332  of the type described above. As can be seen in  FIG. 60 , the tool mounting plate  3212  has an array of electrical connecting pins  3014  which are configured to interface with the slots  1258  ( FIG. 27 ) in the adapter  1240 ′. Such arrangement permits the controller  1001  of the robotic system  1000  to provide control signals to the electronic control circuits  3320 ,  3340  of the surgical tool  3200 . While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. 
     In one form or embodiment, the first control circuit  3320  includes a first power supply in the form of a first battery  3322  that is coupled to a first on-off solenoid powered switch  3324 . The first firing control circuit  3320  further includes a first on/off firing solenoid  3326  that is coupled to a first double pole switch  3328  for controlling the rotational direction of the first firing motor  3310 . Thus, when the robotic controller  1001  supplies an appropriate control signal, the first switch  3324  will permit the first battery  3322  to supply power to the first double pole switch  3328 . The robotic controller  1001  will also supply an appropriate signal to the first double pole switch  3328  to supply power to the first firing motor  3310 . When it is desired to fire the surgical end effector (i.e., drive the cutting instrument  3232  distally through tissue clamped in the surgical end effector  3212 , the first switch  3328  will be positioned in a first position by the robotic controller  1001 . When it is desired to retract the cutting instrument  3232  to the starting position, the robotic controller  1001  will send the appropriate control signal to move the first switch  3328  to the second position. 
     Various embodiments of the surgical tool  3200  also employ a first gear box  3330  that is sized, in cooperation with a firing drive gear  3332  coupled thereto that operably interfaces with a firing gear train  3333 . In at least one non-limiting embodiment, the firing gear train  333  comprises a firing driven gear  3334  that is in meshing engagement with drive gear  3332 , for generating a desired amount of driving force necessary to drive the cutting instrument  3232  through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted in  FIG. 60 , the driven gear  3334  is coupled to a drive shaft  3335  that has a second driven gear  3336  coupled thereto. The second driven gear  3336  is supported in meshing engagement with a third driven gear  3337  that is in meshing engagement with a fourth driven gear  3338 . The fourth driven gear  3338  is in meshing engagement with a threaded proximal portion  3339  of the knife bar  3235  that is constrained to move axially. Thus, by rotating the drive shaft  3335  in a first direction, the cutting instrument  3232  is driven in the distal direction “DD” and rotating the drive shaft  3335  in an opposite second direction, the cutting instrument  3232  may be retracted in the proximal direction “PD”. 
     As indicated above, the opening and closing of the anvil  3224  is controlled by axially moving the elongated channel  3222  relative to the elongated shaft assembly  3208 . The axial movement of the elongated channel  3222  is controlled by a closure control system  3339 . In various embodiments, the closure control system  3339  includes a closure shaft  3340  which has a hollow threaded end portion  3341  that threadably engages a threaded closure rod  3342 . The threaded end portion  3341  is rotatably supported in a spine shaft  3343  that operably interfaces with the tool mounting portion  3300  and extends through a portion of the shaft assembly  3208  as shown. The closure system  3339  further comprises a closure control circuit  3350  that includes a second power supply in the form of a second battery  3352  that is coupled to a second on-off solenoid powered switch  3354 . Closure control circuit  3350  further includes a second on/off firing solenoid  3356  that is coupled to a second double pole switch  3358  for controlling the rotation of a second closure motor  3360 . Thus, when the robotic controller  1001  supplies an appropriate control signal, the second switch  3354  will permit the second battery  3352  to supply power to the second double pole switch  3354 . The robotic controller  1001  will also supply an appropriate signal to the second double pole switch  3358  to supply power to the second motor  3360 . When it is desired to close the anvil  3224 , the second switch  3348  will be in a first position. When it is desired to open the anvil  3224 , the second switch  3348  will be moved to a second position. 
     Various embodiments of tool mounting portion  3300  also employ a second gear box  3362  that is coupled to a closure drive gear  3364 . The closure drive gear  3364  is in meshing engagement with a closure gear train  3363 . In various non-limiting forms, the closure gear train  3363  includes a closure driven gear  3365  that is attached to a closure drive shaft  3366 . Also attached to the closure drive shaft  3366  is a closure drive gear  3367  that is in meshing engagement with a closure shaft gear  3360  attached to the closure shaft  3340 .  FIG. 60  depicts the end effector  3212  in the open position. As indicated above, when the threaded closure rod  3342  is in the position depicted in  FIG. 60 , a spring (not shown) biases the anvil  3224  to the open position. When it is desired to close the anvil  3224 , the robotic controller  1001  will activate the second motor  3360  to rotate the closure shaft  3340  to draw the threaded closure rod  3342  and the channel  3222  in the proximal direction ‘PD’. As the anvil  3224  contacts the distal end portion  3209  of the shaft  3208 , the anvil  3224  is pivoted to the closed position. 
     A method of operating the surgical tool  3200  will now be described. Once the tool mounting portion  3302  has be operably coupled to the tool holder  1270  of the robotic system  1000 , the robotic system  1000  can orient the end effector  3212  in position adjacent the target tissue to be cut and stapled. If the anvil  3224  is not already in the open position, the robotic controller  1001  may activate the second closure motor  3360  to drive the channel  3222  in the distal direction to the position depicted in  FIG. 60 . Once the robotic controller  1001  determines that the surgical end effector  3212  is in the open position by sensor(s) in the and effector and/or the tool mounting portion  3300 , the robotic controller  1001  may provide the surgeon with a signal to inform the surgeon that the anvil  3224  may then be closed. Once the target tissue is positioned between the open anvil  3224  and the surgical staple cartridge  3234 , the surgeon may then commence the closure process by activating the robotic controller  1001  to apply a closure control signal to the second closure motor  3360 . The second closure motor  3360  applies a rotary motion to the closure shaft  3340  to draw the channel  3222  in the proximal direction “PD” until the anvil  3224  has been pivoted to the closed position. Once the robotic controller  1001  determines that the anvil  3224  has been moved to the closed position by sensor(s) in the surgical end effector  3212  and/or in the tool mounting portion  3300  that are in communication with the robotic control system, the motor  3360  may be deactivated. Thereafter, the firing process may be commenced either manually by the surgeon activating a trigger, button, etc. on the controller  1001  or the controller  1001  may automatically commence the firing process. 
     To commence the firing process, the robotic controller  1001  activates the firing motor  3310  to drive the firing bar  3235  and the cutting instrument  3232  in the distal direction “DD”. Once robotic controller  1001  has determined that the cutting instrument  3232  has moved to the ending position within the surgical staple cartridge  3234  by means of sensors (not shown) in the surgical end effector  3212  and/or the motor drive portion  3300 , the robotic controller  1001  may provide the surgeon with an indication signal. Thereafter the surgeon may manually activate the first motor  3310  to retract the cutting instrument  3232  to the starting position or the robotic controller  1001  may automatically activate the first motor  3310  to retract the cutting element  3232 . 
     The embodiment depicted in  FIG. 60  does not include an articulation joint.  FIGS. 61 and 62  illustrate surgical tools  3200 ′ and  3200 ″ that have end effectors  3212 ′,  3212 ″, respectively that may be employed with an elongated shaft embodiment that has an articulation joint of the various types disclosed herein. For example, as can be seen in  FIG. 61 , a threaded closure shaft  3342  is coupled to the proximal end  3223  of the elongated channel  3222  by a flexible cable or other flexible member  3345 . The location of an articulation joint (not shown) within the elongated shaft assembly  3208  will coincide with the flexible member  3345  to enable the flexible member  3345  to accommodate such articulation. In addition, in the above-described embodiment, the flexible member  33345  is rotatably affixed to the proximal end portion  3223  of the elongated channel  3222  to enable the flexible member  3345  to rotate relative thereto to prevent the flexible member  3229  from “winding up” relative to the channel  3222 . Although not shown, the cutting element may be driven in one of the above described manners by a knife bar that can also accommodate articulation of the elongated shaft assembly.  FIG. 62  depicts a surgical end effector  3212 ″ that is substantially identical to the surgical end effector  3212  described above, except that the threaded closure rod  3342  is attached to a closure nut  3347  that is constrained to only move axially within the elongated shaft assembly  3208 . The flexible member  3345  is attached to the closure nut  3347 . Such arrangement also prevents the threaded closure rod  3342  from winding-up the flexible member  3345 . A flexible knife bar  3235 ′ may be employed to facilitate articulation of the surgical end effector  3212 ″. 
     The surgical tools  3200 ,  3200 ′, and  3200 ″ described above may also employ anyone of the cutting instrument embodiments described herein. As described above, the anvil of each of the end effectors of these tools is closed by drawing the elongated channel into contact with the distal end of the elongated shaft assembly. Thus, once the target tissue has been located between the staple cartridge  3234  and the anvil  3224 , the robotic controller  1001  can start to draw the channel  3222  inward into the shaft assembly  3208 . In various embodiments, however, to prevent the end effector  3212 ,  3212 ′,  3212 ″ from moving the target tissue with the end effector during this closing process, the controller  1001  may simultaneously move the tool holder and ultimately the tool such to compensate for the movement of the elongated channel  3222  so that, in effect, the target tissue is clamped between the anvil and the elongated channel without being otherwise moved. 
       FIGS. 63-65  depict another surgical tool embodiment  3201  that is substantially identical to surgical tool  3200 ″ described above, except for the differences discussed below. In this embodiment, the threaded closure rod  3342 ′ has variable pitched grooves. More specifically, as can be seen in  FIG. 64 , the closure rod  3342 ′ has a distal groove section  3380  and a proximal groove section  3382 . The distal and proximal groove sections  3380 ,  3382  are configured for engagement with a lug  3390  supported within the hollow threaded end portion  3341 ′. As can be seen in  FIG. 64 , the distal groove section  3380  has a finer pitch than the groove section  3382 . Thus, such variable pitch arrangement permits the elongated channel  3222  to be drawn into the shaft  3208  at a first speed or rate by virtue of the engagement between the lug  3390  and the proximal groove segment  3382 . When the lug  3390  engages the distal groove segment, the channel  3222  will be drawn into the shaft  3208  at a second speed or rate. Because the proximal groove segment  3382  is coarser than the distal groove segment  3380 , the first speed will be greater than the second speed. Such arrangement serves to speed up the initial closing of the end effector for tissue manipulation and then after the tissue has been properly positioned therein, generate the amount of closure forces to properly clamp the tissue for cutting and sealing. Thus, the anvil  3234  initially closes fast with a lower force and then applies a higher closing force as the anvil closes more slowly. 
     The surgical end effector opening and closing motions are employed to enable the user to use the end effector to grasp and manipulate tissue prior to fully clamping it in the desired location for cutting and sealing. The user may, for example, open and close the surgical end effector numerous times during this process to orient the end effector in a proper position which enables the tissue to be held in a desired location. Thus, in at least some embodiments, to produce the high loading for firing, the fine thread may require as many as 5-10 full rotations to generate the necessary load. In some cases, for example, this action could take as long as 2-5 seconds. If it also took an equally long time to open and close the end effector each time during the positioning/tissue manipulation process, just positioning the end effector may take an undesirably long time. If that happens, it is possible that a user may abandon such use of the end effector for use of a conventional grasper device. Use of graspers, etc. may undesirably increase the costs associated with completing the surgical procedure. 
     The above-described embodiments employ a battery or batteries to power the motors used to drive the end effector components. Activation of the motors is controlled by the robotic system  1000 . In alternative embodiments, the power supply may comprise alternating current “AC” that is supplied to the motors by the robotic system  1000 . That is, the AC power would be supplied from the system powering the robotic system  1000  through the tool holder and adapter. In still other embodiments, a power cord or tether may be attached to the tool mounting portion  3300  to supply the requisite power from a separate source of alternating or direct current. 
     In use, the controller  1001  may apply an initial rotary motion to the closure shaft  3340  ( FIG. 60 ) to draw the elongated channel  3222  axially inwardly into the elongated shaft assembly  3208  and move the anvil from a first position to an intermediate position at a first rate that corresponds with the point wherein the distal groove section  3380  transitions to the proximal groove section  3382 . Further application of rotary motion to the closure shaft  3340  will cause the anvil to move from the intermediate position to the closed position relative to the surgical staple cartridge. When in the closed position, the tissue to be cut and stapled is properly clamped between the anvil and the surgical staple cartridge. 
       FIGS. 66-69  illustrate another surgical tool embodiment  3400  of the present invention. This embodiment includes an elongated shaft assembly  3408  that extends from a tool mounting portion  3500 . The elongated shaft assembly  3408  includes a rotatable proximal closure tube segment  3410  that is rotatably journaled on a proximal spine member  3420  that is rigidly coupled to a tool mounting plate  3502  of the tool mounting portion  3500 . The proximal spine member  3420  has a distal end  3422  that is coupled to an elongated channel portion  3522  of a surgical end effector  3412 . For example, in at least one embodiment, the elongated channel portion  3522  has a distal end portion  3523  that “hookingly engages” the distal end  3422  of the spine member  3420 . The elongated channel  3522  is configured to support a surgical staple cartridge  3534  therein. This embodiment may employ one of the various cutting instrument embodiments disclosed herein to sever tissue that is clamped in the surgical end effector  3412  and fire the staples in the staple cartridge  3534  into the severed tissue. 
     Surgical end effector  3412  has an anvil  3524  that is pivotally coupled to the elongated channel  3522  by a pair of trunnions  3525  that are received in corresponding openings  3529  in the elongated channel  3522 . The anvil  3524  is moved between the open ( FIG. 66 ) and closed positions ( FIGS. 67-69 ) by a distal closure tube segment  3430 . A distal end portion  3432  of the distal closure tube segment  3430  includes an opening  3445  into which a tab  3527  on the anvil  3524  is inserted in order to open and close the anvil  3524  as the distal closure tube segment  3430  moves axially relative thereto. In various embodiments, the opening  3445  is shaped such that as the closure tube segment  3430  is moved in the proximal direction, the closure tube segment  3430  causes the anvil  3524  to pivot to an open position. In addition or in the alternative, a spring (not shown) may be employed to bias the anvil  3524  to the open position. 
     As can be seen in  FIGS. 66-69 , the distal closure tube segment  3430  includes a lug  3442  that extends from its distal end  3440  into threaded engagement with a variable pitch groove/thread  3414  formed in the distal end  3412  of the rotatable proximal closure tube segment  3410 . The variable pitch groove/thread  3414  has a distal section  3416  and a proximal section  3418 . The pitch of the distal groove/thread section  3416  is finer than the pitch of the proximal groove/thread section  3418 . As can also be seen in  FIGS. 66-69 , the distal closure tube segment  3430  is constrained for axial movement relative to the spine member  3420  by an axial retainer pin  3450  that is received in an axial slot  3424  in the distal end of the spine member  3420 . 
     As indicated above, the anvil  2524  is open and closed by rotating the proximal closure tube segment  3410 . The variable pitch thread arrangement permits the distal closure tube segment  3430  to be driven in the distal direction “DD” at a first speed or rate by virtue of the engagement between the lug  3442  and the proximal groove/thread section  3418 . When the lug  3442  engages the distal groove/thread section  3416 , the distal closure tube segment  3430  will be driven in the distal direction at a second speed or rate. Because the proximal groove/thread section  3418  is coarser than the distal groove/thread segment  3416 , the first speed will be greater than the second speed. 
     In at least one embodiment, the tool mounting portion  3500  is configured to receive a corresponding first rotary motion from the robotic controller  1001  and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube segment  3410  about a longitudinal tool axis LT-LT. As can be seen in  FIG. 70 , a proximal end  3460  of the proximal closure tube segment  3410  is rotatably supported within a cradle arrangement  3504  attached to a tool mounting plate  3502  of the tool mounting portion  3500 . A rotation gear  3462  is formed on or attached to the proximal end  3460  of the closure tube segment  3410  for meshing engagement with a rotation drive assembly  3470  that is operably supported on the tool mounting plate  3502 . In at least one embodiment, a rotation drive gear  3472  is coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  3502  when the tool mounting portion  3500  is coupled to the tool holder  1270 . See  FIGS. 28 and 70 . The rotation drive assembly  3470  further comprises a rotary driven gear  3474  that is rotatably supported on the tool mounting plate  3502  in meshing engagement with the rotation gear  3462  and the rotation drive gear  3472 . Application of a first rotary control motion from the robotic controller  1001  through the tool holder  1270  and the adapter  1240  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  3472  by virtue of being operably coupled thereto. Rotation of the rotation drive gear  3472  ultimately results in the rotation of the closure tube segment  3410  to open and close the anvil  3524  as described above. 
     As indicated above, the surgical end effector  3412  employs a cutting instrument of the type and constructions described above.  FIG. 70  illustrates one form of knife drive assembly  3480  for axially advancing a knife bar  3492  that is attached to such cutting instrument. One form of the knife drive assembly  3480  comprises a rotary drive gear  3482  that is coupled to a corresponding third one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  3502  when the tool drive portion  3500  is coupled to the tool holder  1270 . See  FIGS. 28 and 70 . The knife drive assembly  3480  further comprises a first rotary driven gear assembly  3484  that is rotatably supported on the tool mounting plate  5200 . The first rotary driven gear assembly  3484  is in meshing engagement with a third rotary driven gear assembly  3486  that is rotatably supported on the tool mounting plate  3502  and which is in meshing engagement with a fourth rotary driven gear assembly  3488  that is in meshing engagement with a threaded portion  3494  of drive shaft assembly  3490  that is coupled to the knife bar  3492 . Rotation of the rotary drive gear  3482  in a second rotary direction will result in the axial advancement of the drive shaft assembly  3490  and knife bar  3492  in the distal direction “DD”. Conversely, rotation of the rotary drive gear  3482  in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly  3490  and the knife bar  3492  to move in the proximal direction. 
       FIGS. 71-80  illustrate another surgical tool  3600  embodiment of the present invention that may be employed in connection with a robotic system  1000 . As can be seen in  FIG. 71 , the tool  3600  includes an end effector in the form of a disposable loading unit  3612 . Various forms of disposable loading units that may be employed in connection with tool  3600  are disclosed, for example, in U.S. Patent Application Publication No. 2009/0206131, entitled END EFFECTOR COUPLING ARRANGEMENTS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, the disclosure of which is herein incorporated by reference in its entirety. 
     In at least one form, the disposable loading unit  3612  includes an anvil assembly  3620  that is supported for pivotal travel relative to a carrier  3630  that operably supports a staple cartridge  3640  therein. A mounting assembly  3650  is pivotally coupled to the cartridge carrier  3630  to enable the carrier  3630  to pivot about an articulation axis AA-AA relative to a longitudinal tool axis LT-LT. Referring to  FIG. 76 , mounting assembly  3650  includes upper and lower mounting portions  3652  and  3654 . Each mounting portion includes a threaded bore  3656  on each side thereof dimensioned to receive threaded bolts (not shown) for securing the proximal end of carrier  3630  thereto. A pair of centrally located pivot members  3658  extends between upper and lower mounting portions via a pair of coupling members  3660  which engage a distal end of a housing portion  3662 . Coupling members  3660  each include an interlocking proximal portion  3664  configured to be received in grooves  3666  formed in the proximal end of housing portion  3662  to retain mounting assembly  3650  and housing portion  3662  in a longitudinally fixed position in relation thereto. 
     In various forms, housing portion  3662  of disposable loading unit  3614  includes an upper housing half  3670  and a lower housing half  3672  contained within an outer casing  3674 . The proximal end of housing half  3670  includes engagement nubs  3676  for releasably engaging an elongated shaft  3700  and an insertion tip  3678 . Nubs  3676  form a bayonet-type coupling with the distal end of the elongated shaft  3700  which will be discussed in further detail below. Housing halves  3670 ,  3672  define a channel  3674  for slidably receiving axial drive assembly  3680 . A second articulation link  3690  is dimensioned to be slidably positioned within a slot  3679  formed between housing halves  3670 ,  3672 . A pair of blow out plates  3691  are positioned adjacent the distal end of housing portion  3662  adjacent the distal end of axial drive assembly  3680  to prevent outward bulging of drive assembly  3680  during articulation of carrier  3630 . 
     In various embodiments, the second articulation link  3690  includes at least one elongated metallic plate. Preferably, two or more metallic plates are stacked to form link  3690 . The proximal end of articulation link  3690  includes a hook portion  3692  configured to engage first articulation link  3710  extending through the elongated shaft  3700 . The distal end of the second articulation link  3690  includes a loop  3694  dimensioned to engage a projection formed on mounting assembly  3650 . The projection is laterally offset from pivot pin  3658  such that linear movement of second articulation link  3690  causes mounting assembly  3650  to pivot about pivot pins  3658  to articulate the carrier  3630 . 
     In various forms, axial drive assembly  3680  includes an elongated drive beam  3682  including a distal working head  3684  and a proximal engagement section  3685 . Drive beam  3682  may be constructed from a single sheet of material or, preferably, multiple stacked sheets. Engagement section  3685  includes a pair of engagement fingers which are dimensioned and configured to mountingly engage a pair of corresponding retention slots formed in drive member  3686 . Drive member  3686  includes a proximal porthole  3687  configured to receive the distal end  3722  of control rod  2720  (See  FIG. 80 ) when the proximal end of disposable loading unit  3614  is engaged with elongated shaft  3700  of surgical tool  3600 . 
     Referring to  FIGS. 71 and 78-80 , to use the surgical tool  3600 , a disposable loading unit  3612  is first secured to the distal end of elongated shaft  3700 . It will be appreciated that the surgical tool  3600  may include an articulating or a non-articulating disposable loading unit. To secure the disposable loading unit  3612  to the elongated shaft  3700 , the distal end  3722  of control rod  3720  is inserted into insertion tip  3678  of disposable loading unit  3612 , and insertion tip  3678  is slid longitudinally into the distal end of the elongated shaft  3700  in the direction indicated by arrow “A” in  FIG. 78  such that hook portion  3692  of second articulation link  3690  slides within a channel  3702  in the elongated shaft  3700 . Nubs  3676  will each be aligned in a respective channel (not shown) in elongated shaft  3700 . When hook portion  3692  engages the proximal wall  3704  of channel  3702 , disposable loading unit  3612  is rotated in the direction indicated by arrow “B” in  FIGS. 78 and 80  to move hook portion  3692  of second articulation link  3690  into engagement with finger  3712  of first articulation link  3710 . Nubs  3676  also form a “bayonet-type” coupling within annular channel  3703  in the elongated shaft  3700 . During rotation of loading unit  3612 , nubs  3676  engage cam surface  3732  ( FIG. 78 ) of block plate  3730  to initially move plate  3730  in the direction indicated by arrow “C” in  FIG. 78  to lock engagement member  3734  in recess  3721  of control rod  3720  to prevent longitudinal movement of control rod  3720  during attachment of disposable loading unit  3612 . During the final degree of rotation, nubs  3676  disengage from cam surface  3732  to allow blocking plate  3730  to move in the direction indicated by arrow “D” in  FIGS. 77 and 80  from behind engagement member  3734  to once again permit longitudinal movement of control rod  3720 . While the above-described attachment method reflects that the disposable loading unit  3612  is manipulated relative to the elongated shaft  3700 , the person of ordinary skill in the art will appreciate that the disposable loading unit  3612  may be supported in a stationary position and the robotic system  1000  may manipulate the elongated shaft portion  3700  relative to the disposable loading unit  3612  to accomplish the above-described coupling procedure. 
       FIG. 81  illustrates another disposable loading unit  3612 ′ that is attachable in a bayonet-type arrangement with the elongated shaft  3700 ′ that is substantially identical to shaft  3700  except for the differences discussed below. As can be seen in  FIG. 81 , the elongated shaft  3700 ′ has slots  3705  that extend for at least a portion thereof and which are configured to receive nubs  3676  therein. In various embodiments, the disposable loading unit  3612 ′ includes arms  3677  extending therefrom which, prior to the rotation of disposable loading unit  3612 ′, can be aligned, or at least substantially aligned, with nubs  3676  extending from housing portion  3662 . In at least one embodiment, arms  3677  and nubs  3676  can be inserted into slots  3705  in elongated shaft  3700 ′, for example, when disposable loading unit  3612 ′ is inserted into elongated shaft  3700 ′. When disposable loading unit  3612 ′ is rotated, arms  3677  can be sufficiently confined within slots  3705  such that slots  3705  can hold them in position, whereas nubs  3676  can be positioned such that they are not confined within slots  3705  and can be rotated relative to arms  3677 . When rotated, the hook portion  3692  of the articulation link  3690  is engaged with the first articulation link  3710  extending through the elongated shaft  3700 ′. 
     Other methods of coupling the disposable loading units to the end of the elongated shaft may be employed. For example, as shown in  FIGS. 82 and 83 , disposable loading unit  3612 ″ can include connector portion  3613  which can be configured to be engaged with connector portion  3740  of the elongated shaft  3700 ″. In at least one embodiment, connector portion  3613  can include at least one projection and/or groove which can be mated with at least one projection and/or groove of connector portion  3740 . In at least one such embodiment, the connector portions can include co-operating dovetail portions. In various embodiments, the connector portions can be configured to interlock with one another and prevent, or at least inhibit, distal and/or proximal movement of disposable loading unit  3612 ″ along axis  3741 . In at least one embodiment, the distal end of the axial drive assembly  3680 ′ can include aperture  3681  which can be configured to receive projection  3721  extending from control rod  3720 ′. In various embodiments, such an arrangement can allow disposable loading unit  3612 ″ to be assembled to elongated shaft  3700  in a direction which is not collinear with or parallel to axis  3741 . Although not illustrated, axial drive assembly  3680 ′ and control rod  3720  can include any other suitable arrangement of projections and apertures to operably connect them to each other. Also in this embodiment, the first articulation link  3710  which can be operably engaged with second articulation link  3690 . 
     As can be seen in  FIGS. 71 and 84 , the surgical tool  3600  includes a tool mounting portion  3750 . The tool mounting portion  3750  includes a tool mounting plate  3751  that is configured for attachment to the tool drive assembly  1010 . The tool mounting portion operably supported a transmission arrangement  3752  thereon. In use, it may be desirable to rotate the disposable loading unit  3612  about the longitudinal tool axis defined by the elongated shaft  3700 . In at least one embodiment, the transmission arrangement  3752  includes a rotational transmission assembly  3753  that is configured to receive a corresponding rotary output motion from the tool drive assembly  1010  of the robotic system  1000  and convert that rotary output motion to a rotary control motion for rotating the elongated shaft  3700  (and the disposable loading unit  3612 ) about the longitudinal tool axis LT-LT. As can be seen in  FIG. 84 , a proximal end  3701  of the elongated shaft  3700  is rotatably supported within a cradle arrangement  3754  that is attached to the tool mounting plate  3751  of the tool mounting portion  3750 . A rotation gear  3755  is formed on or attached to the proximal end  3701  of the elongated shaft  3700  for meshing engagement with a rotation gear assembly  3756  operably supported on the tool mounting plate  3751 . In at least one embodiment, a rotation drive gear  3757  drivingly coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  3751  when the tool mounting portion  3750  is coupled to the tool drive assembly  1010 . The rotation transmission assembly  3753  further comprises a rotary driven gear  3758  that is rotatably supported on the tool mounting plate  3751  in meshing engagement with the rotation gear  3755  and the rotation drive gear  3757 . Application of a first rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  3757  by virtue of being operably coupled thereto. Rotation of the rotation drive gear  3757  ultimately results in the rotation of the elongated shaft  3700  (and the disposable loading unit  3612 ) about the longitudinal tool axis LT-LT (primary rotary motion). 
     As can be seen in  FIG. 84 , a drive shaft assembly  3760  is coupled to a proximal end of the control rod  2720 . In various embodiments, the control rod  2720  is axially advanced in the distal and proximal directions by a knife/closure drive transmission  3762 . One form of the knife/closure drive assembly  3762  comprises a rotary drive gear  3763  that is coupled to a corresponding second one of the driven rotatable body portions, discs or elements  1304  on the adapter side of the tool mounting plate  3751  when the tool mounting portion  3750  is coupled to the tool holder  1270 . The rotary driven gear  3763  is in meshing driving engagement with a gear train, generally depicted as  3764 . In at least one form, the gear train  3764  further comprises a first rotary driven gear assembly  3765  that is rotatably supported on the tool mounting plate  3751 . The first rotary driven gear assembly  3765  is in meshing engagement with a second rotary driven gear assembly  3766  that is rotatably supported on the tool mounting plate  3751  and which is in meshing engagement with a third rotary driven gear assembly  3767  that is in meshing engagement with a threaded portion  3768  of the drive shaft assembly  3760 . Rotation of the rotary drive gear  3763  in a second rotary direction will result in the axial advancement of the drive shaft assembly  3760  and control rod  2720  in the distal direction “DD”. Conversely, rotation of the rotary drive gear  3763  in a secondary rotary direction which is opposite to the second rotary direction will cause the drive shaft assembly  3760  and the control rod  2720  to move in the proximal direction. When the control rod  2720  moves in the distal direction, it drives the drive beam  3682  and the working head  3684  thereof distally through the surgical staple cartridge  3640 . As the working head  3684  is driven distally, it operably engages the anvil  3620  to pivot it to a closed position. 
     The cartridge carrier  3630  may be selectively articulated about articulation axis AA-AA by applying axial articulation control motions to the first and second articulation links  3710  and  3690 . In various embodiments, the transmission arrangement  3752  further includes an articulation drive  3770  that is operably supported on the tool mounting plate  3751 . More specifically and with reference to  FIG. 84 , it can be seen that a proximal end portion  3772  of an articulation drive shaft  3771  configured to operably engage with the first articulation link  3710  extends through the rotation gear  3755  and is rotatably coupled to a shifter rack gear  3774  that is slidably affixed to the tool mounting plate  3751  through slots  3775 . The articulation drive  3770  further comprises a shifter drive gear  3776  that is coupled to a corresponding third one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  3751  when the tool mounting portion  3750  is coupled to the tool holder  1270 . The articulation drive assembly  3770  further comprises a shifter driven gear  3778  that is rotatably supported on the tool mounting plate  3751  in meshing engagement with the shifter drive gear  3776  and the shifter rack gear  3774 . Application of a third rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding driven element  1304  will thereby cause rotation of the shifter drive gear  3776  by virtue of being operably coupled thereto. Rotation of the shifter drive gear  3776  ultimately results in the axial movement of the shifter gear rack  3774  and the articulation drive shaft  3771 . The direction of axial travel of the articulation drive shaft  3771  depends upon the direction in which the shifter drive gear  3776  is rotated by the robotic system  1000 . Thus, rotation of the shifter drive gear  3776  in a first rotary direction will result in the axial movement of the articulation drive shaft  3771  in the proximal direction “PD” and cause the cartridge carrier  3630  to pivot in a first direction about articulation axis AA-AA. Conversely, rotation of the shifter drive gear  3776  in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the articulation drive shaft  3771  in the distal direction “DD” to thereby cause the cartridge carrier  3630  to pivot about articulation axis AA-AA in an opposite direction. 
       FIG. 85  illustrates yet another surgical tool  3800  embodiment of the present invention that may be employed with a robotic system  1000 . As can be seen in  FIG. 85 , the surgical tool  3800  includes a surgical end effector  3812  in the form of an endocutter  3814  that employs various cable-driven components. Various forms of cable driven endocutters are disclosed, for example, in U.S. Pat. No. 7,726,537, entitled SURGICAL STAPLER WITH UNIVERSAL ARTICULATION AND TISSUE PRE-CLAMP and U.S. Patent Application Publication No. 2008/0308603, entitled CABLE DRIVEN SURGICAL STAPLING AND CUTTING INSTRUMENT WITH IMPROVED CABLE ATTACHMENT ARRANGEMENTS, the disclosures of each are herein incorporated by reference in their respective entireties. Such endocutters  3814  may be referred to as a “disposable loading unit” because they are designed to be disposed of after a single use. However, the various unique and novel arrangements of various embodiments of the present invention may also be employed in connection with cable driven end effectors that are reusable. 
     As can be seen in  FIG. 85 , in at least one form, the endocutter  3814  includes an elongated channel  3822  that operably supports a surgical staple cartridge  3834  therein. An anvil  3824  is pivotally supported for movement relative to the surgical staple cartridge  3834 . The anvil  3824  has a cam surface  3825  that is configured for interaction with a preclam ping collar  3840  that is supported for axial movement relative thereto. The end effector  3814  is coupled to an elongated shaft assembly  3808  that is attached to a tool mounting portion  3900 . In various embodiments, a closure cable  3850  is employed to move pre-clamping collar  3840  distally onto and over cam surface  3825  to close the anvil  3824  relative to the surgical staple cartridge  3834  and compress the tissue therebetween. Preferably, closure cable  3850  attaches to the pre-clamping collar  3840  at or near point  3841  and is fed through a passageway in anvil  3824  (or under a proximal portion of anvil  3824 ) and fed proximally through shaft  3808 . Actuation of closure cable  3850  in the proximal direction “PD” forces pre-clamping collar  3840  distally against cam surface  3825  to close anvil  3824  relative to staple cartridge assembly  3834 . A return mechanism, e.g., a spring, cable system or the like (not shown), may be employed to return pre-clamping collar  3840  to a pre-clamping orientation which re-opens the anvil  3824 . 
     The elongated shaft assembly  3808  may be cylindrical in shape and define a channel  3811  which may be dimensioned to receive a tube adapter  3870 . See  FIG. 86 . In various embodiments, the tube adapter  3870  may be slidingly received in friction-fit engagement with the internal channel of elongated shaft  3808 . The outer surface of the tube adapter  3870  may further include at least one mechanical interface, e.g., a cutout or notch  3871 , oriented to mate with a corresponding mechanical interface, e.g., a radially inwardly extending protrusion or detent (not shown), disposed on the inner periphery of internal channel  3811  to lock the tube adapter  3870  to the elongated shaft  3808 . In various embodiments, the distal end of tube adapter  3870  may include a pair of opposing flanges  3872   a  and  3872   b  which define a cavity for pivotably receiving a pivot block  3873  therein. Each flange  3872   a  and  3872   b  may include an aperture  3874   a  and  3874   b  that is oriented to receive a pivot pin  3875  that extends through an aperture in pivot block  3873  to allow pivotable movement of pivot block  3873  about an axis that is perpendicular to longitudinal tool axis “LT-LT”. The channel  3822  may be formed with two upwardly extending flanges  3823   a ,  3823   b  that have apertures therein, which are dimensioned to receive a pivot pin  3827 . In turn, pivot pin  3875  mounts through apertures in pivot block  3873  to permit rotation of the surgical end effector  3814  about the “Y” axis as needed during a given surgical procedure. Rotation of pivot block  3873  about pin  3875  along “Z” axis rotates the surgical end effector  3814  about the “Z” axis. See  FIG. 86 . Other methods of fastening the elongated channel  3822  to the pivot block  3873  may be effectively employed without departing from the spirit and scope of the present invention. 
     The surgical staple cartridge  3834  can be assembled and mounted within the elongated channel  3822  during the manufacturing or assembly process and sold as part of the surgical end effector  3812 , or the surgical staple cartridge  3834  may be designed for selective mounting within the elongated channel  3822  as needed and sold separately, e.g., as a single use replacement, replaceable or disposable staple cartridge assembly. It is within the scope of this disclosure that the surgical end effector  3812  may be pivotally, operatively, or integrally attached, for example, to distal end  3809  of the elongated shaft assembly  3808  of a disposable surgical stapler. As is known, a used or spent disposable loading unit  3814  can be removed from the elongated shaft assembly  3808  and replaced with an unused disposable unit. The endocutter  3814  may also preferably include an actuator, preferably a dynamic clamping member  3860 , a sled  3862 , as well as staple pushers (not shown) and staples (not shown) once an unspent or unused cartridge  3834  is mounted in the elongated channel  3822 . See  FIG. 86 . 
     In various embodiments, the dynamic clamping member  3860  is associated with, e.g., mounted on and rides on, or with or is connected to or integral with and/or rides behind sled  3862 . It is envisioned that dynamic clamping member  3860  can have cam wedges or cam surfaces attached or integrally formed or be pushed by a leading distal surface thereof. In various embodiments, dynamic clamping member  3860  may include an upper portion  3863  having a transverse aperture  3864  with a pin  3865  mountable or mounted therein, a central support or upward extension  3866  and substantially T-shaped bottom flange  3867  which cooperate to slidingly retain dynamic clamping member  3860  along an ideal cutting path during longitudinal, distal movement of sled  3862 . The leading cutting edge  3868 , here, knife blade  3869 , is dimensioned to ride within slot  3835  of staple cartridge assembly  3834  and separate tissue once stapled. As used herein, the term “knife assembly” may include the aforementioned dynamic clamping member  3860 , knife  3869 , and sled  3862  or other knife/beam/sled drive arrangements and cutting instrument arrangements. In addition, the various embodiments of the present invention may be employed with knife assembly/cutting instrument arrangements that may be entirely supported in the staple cartridge  3834  or partially supported in the staple cartridge  3834  and elongated channel  3822  or entirely supported within the elongated channel  3822 . 
     In various embodiments, the dynamic clamping member  3860  may be driven in the proximal and distal directions by a cable drive assembly  3870 . In one non-limiting form, the cable drive assembly comprises a pair of advance cables  3880 ,  3882  and a firing cable  3884 .  FIGS. 87 and 88  illustrate the cables  3880 ,  3882 ,  3884  in diagrammatic form. As can be seen in those Figures, a first advance cable  3880  is operably supported on a first distal cable transition support  3885  which may comprise, for example, a pulley, rod, capstan, etc. that is attached to the distal end of the elongated channel  3822  and a first proximal cable transition support  3886  which may comprise, for example, a pulley, rod, capstan, etc. that is operably supported by the elongated channel  3822 . A distal end  3881  of the first advance cable  3880  is affixed to the dynamic clamping assembly  3860 . The second advance cable  3882  is operably supported on a second distal cable transition support  3887  which may, for example, comprise a pulley, rod, capstan etc. that is mounted to the distal end of the elongated channel  3822  and a second proximal cable transition support  3888  which may, for example, comprise a pulley, rod, capstan, etc. mounted to the proximal end of the elongated channel  3822 . The proximal end  3883  of the second advance cable  3882  may be attached to the dynamic clamping assembly  3860 . Also in these embodiments, an endless firing cable  3884  is employed and journaled on a support  3889  that may comprise a pulley, rod, capstan, etc. mounted within the elongated shaft  3808 . In one embodiment, the retract cable  3884  may be formed in a loop and coupled to a connector  3889 ′ that is fixedly attached to the first and second advance cables  3880 ,  3882 . 
     Various non-limiting embodiments of the present invention include a cable drive transmission  3920  that is operably supported on a tool mounting plate  3902  of the tool mounting portion  3900 . The tool mounting portion  3900  has an array of electrical connecting pins  3904  which are configured to interface with the slots  1258  ( FIG. 27 ) in the adapter  1240 ′. Such arrangement permits the robotic system  1000  to provide control signals to a control circuit  3910  of the tool  3800 . While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like. 
     Control circuit  3910  is shown in schematic form in  FIG. 85 . In one form or embodiment, the control circuit  3910  includes a power supply in the form of a battery  3912  that is coupled to an on-off solenoid powered switch  3914 . In other embodiments, however, the power supply may comprise a source of alternating current. Control circuit  3910  further includes an on/off solenoid  3916  that is coupled to a double pole switch  3918  for controlling motor rotation direction. Thus, when the robotic system  1000  supplies an appropriate control signal, switch  3914  will permit battery  3912  to supply power to the double pole switch  3918 . The robotic system  1000  will also supply an appropriate signal to the double pole switch  3918  to supply power to a shifter motor  3922 . 
     Turning to  FIGS. 89-94 , at least one embodiment of the cable drive transmission  3920  comprises a drive pulley  3930  that is operably mounted to a drive shaft  3932  that is attached to a driven element  1304  of the type and construction described above that is designed to interface with a corresponding drive element  1250  of the adapter  1240 . See  FIGS. 27 and 92 . Thus, when the tool mounting portion  3900  is operably coupled to the tool holder  1270 , the robot system  1000  can apply rotary motion to the drive pulley  3930  in a desired direction. A first drive member or belt  3934  drivingly engages the drive pulley  3930  and a second drive shaft  3936  that is rotatably supported on a shifter yoke  3940 . The shifter yoke  3940  is operably coupled to the shifter motor  3922  such that rotation of the shaft  3923  of the shifter motor  3922  in a first direction will shift the shifter yoke in a first direction “FD” and rotation of the shifter motor shaft  3923  in a second direction will shift the shifter yoke  3940  in a second direction “SD”. Other embodiments of the present invention may employ a shifter solenoid arrangement for shifting the shifter yoke in said first and second directions. 
     As can be seen in  FIGS. 89-92 , a closure drive gear  3950  mounted to a second drive shaft  3936  and is configured to selectively mesh with a closure drive assembly, generally designated as  3951 . Likewise a firing drive gear  3960  is also mounted to the second drive shaft  3936  and is configured to selectively mesh with a firing drive assembly generally designated as  3961 . Rotation of the second drive shaft  3936  causes the closure drive gear  3950  and the firing drive gear  3960  to rotate. In one non-limiting embodiment, the closure drive assembly  3951  comprises a closure driven gear  3952  that is coupled to a first closure pulley  3954  that is rotatably supported on a third drive shaft  3956 . The closure cable  3850  is drivingly received on the first closure pulley  3954  such that rotation of the closure driven gear  3952  will drive the closure cable  3850 . Likewise, the firing drive assembly  3961  comprises a firing driven gear  3962  that is coupled to a first firing pulley  3964  that is rotatably supported on the third drive shaft  3956 . The first and second driving pulleys  3954  and  3964  are independently rotatable on the third drive shaft  3956 . The firing cable  3884  is drivingly received on the first firing pulley  3964  such that rotation of the firing driven gear  3962  will drive the firing cable  3884 . 
     Also in various embodiments, the cable drive transmission  3920  further includes a braking assembly  3970 . In at least one embodiment, for example, the braking assembly  3970  includes a closure brake  3972  that comprises a spring arm  3973  that is attached to a portion of the transmission housing  3971 . The closure brake  3972  has a gear lug  3974  that is sized to engage the teeth of the closure driven gear  3952  as will be discussed in further detail below. The braking assembly  3970  further includes a firing brake  3976  that comprises a spring arm  3977  that is attached to another portion of the transmission housing  3971 . The firing brake  3976  has a gear lug  3978  that is sized to engage the teeth of the firing driven gear  3962 . 
     At least one embodiment of the surgical tool  3800  may be used as follows. The tool mounting portion  3900  is operably coupled to the interface  1240  of the robotic system  1000 . The controller or control unit of the robotic system is operated to locate the tissue to be cut and stapled between the open anvil  3824  and the staple cartridge  3834 . When in that initial position, the braking assembly  3970  has locked the closure driven gear  3952  and the firing driven gear  3962  such that they cannot rotate. That is, as shown in  FIG. 90 , the gear lug  3974  is in locking engagement with the closure driven gear  3952  and the gear lug  3978  is in locking engagement with the firing driven gear  3962 . Once the surgical end effector  3814  has been properly located, the controller  1001  of the robotic system  1000  will provide a control signal to the shifter motor  3922  (or shifter solenoid) to move the shifter yoke  3940  in the first direction. As the shifter yoke  3940  is moved in the first direction, the closure drive gear  3950  moves the gear lug  3974  out of engagement with the closure driven gear  3952  as it moves into meshing engagement with the closure driven gear  3952 . As can be seen in  FIG. 89 , when in that position, the gear lug  3978  remains in locking engagement with the firing driven gear  3962  to prevent actuation of the firing system. Thereafter, the robotic controller  1001  provides a first rotary actuation motion to the drive pulley  3930  through the interface between the driven element  1304  and the corresponding components of the tool holder  1240 . As the drive pulley  3930  is rotated in the first direction, the closure cable  3850  is rotated to drive the preclamping collar  3840  into closing engagement with the cam surface  3825  of the anvil  3824  to move it to the closed position thereby clamping the target tissue between the anvil  3824  and the staple cartridge  3834 . See  FIG. 85 . Once the anvil  3824  has been moved to the closed position, the robotic controller  1001  stops the application of the first rotary motion to the drive pulley  3930 . Thereafter, the robotic controller  1001  may commence the firing process by sending another control signal to the shifter motor  3922  (or shifter solenoid) to cause the shifter yoke to move in the second direction “SD” as shown in  FIG. 91 . As the shifter yoke  3940  is moved in the second direction, the firing drive gear  3960  moves the gear lug  3978  out of engagement with the firing driven gear  3962  as it moves into meshing engagement with the firing driven gear  3962 . As can be seen in  FIG. 91 , when in that position, the gear lug  3974  remains in locking engagement with the closure driven gear  3952  to prevent actuation of the closure system. Thereafter, the robotic controller  1001  is activated to provide the first rotary actuation motion to the drive pulley  3930  through the interface between the driven element  1304  and the corresponding components of the tool holder  1240 . As the drive pulley  3930  is rotated in the first direction, the firing cable  3884  is rotated to drive the dynamic clamping member  3860  in the distal direction “DD” thereby firing the stapes and cutting the tissue clamped in the end effector  3814 . Once the robotic system  1000  determines that the dynamic clamping member  3860  has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive pulley  3930 , the controller  1001  may then apply a second rotary motion to the drive pulley  3930  to rotate the closure cable  3850  in an opposite direction to cause the dynamic clamping member  3860  to be retracted in the proximal direction “PD”. Once the dynamic clamping member has been retracted to the starting position, the application of the second rotary motion to the drive pulley  3930  is discontinued. Thereafter, the shifter motor  3922  (or shifter solenoid) is powered to move the shifter yoke  3940  to the closure position ( FIG. 92 ). Once the closure drive gear  3950  is in meshing engagement with the closure driven gear  3952 , the robotic controller  1001  may once again apply the second rotary motion to the drive pulley  3930 . Rotation of the drive pulley  3930  in the second direction causes the closure cable  3850  to retract the preclamping collar  3840  out of engagement with the cam surface  3825  of the anvil  3824  to permit the anvil  3824  to move to an open position (by a spring or other means) to release the stapled tissue from the surgical end effector  3814 . 
       FIG. 95  illustrates a surgical tool  4000  that employs a gear driven firing bar  4092  as shown in  FIGS. 96-98 . This embodiment includes an elongated shaft assembly  4008  that extends from a tool mounting portion  4100 . The tool mounting portion  4100  includes a tool mounting plate  4102  that operable supports a transmission arrangement  4103  thereon. The elongated shaft assembly  4008  includes a rotatable proximal closure tube  4010  that is rotatably journaled on a proximal spine member  4020  that is rigidly coupled to the tool mounting plate  4102 . The proximal spine member  4020  has a distal end that is coupled to an elongated channel portion  4022  of a surgical end effector  4012 . The surgical effector  4012  may be substantially similar to surgical end effector  3412  described above. In addition, the anvil  4024  of the surgical end effector  4012  may be opened and closed by a distal closure tube  4030  that operably interfaces with the proximal closure tube  4010 . Distal closure tube  4030  is identical to distal closure tube  3430  described above. Similarly, proximal closure tube  4010  is identical to proximal closure tube segment  3410  described above. 
     Anvil  4024  is opened and closed by rotating the proximal closure tube  4010  in manner described above with respect to distal closure tube  3410 . In at least one embodiment, the transmission arrangement comprises a closure transmission, generally designated as  4011 . As will be further discussed below, the closure transmission  4011  is configured to receive a corresponding first rotary motion from the robotic system  1000  and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube  4010  about the longitudinal tool axis LT-LT. As can be seen in  FIG. 98 , a proximal end  4060  of the proximal closure tube  4010  is rotatably supported within a cradle arrangement  4104  that is attached to a tool mounting plate  4102  of the tool mounting portion  4100 . A rotation gear  4062  is formed on or attached to the proximal end  4060  of the closure tube segment  4010  for meshing engagement with a rotation drive assembly  4070  that is operably supported on the tool mounting plate  4102 . In at least one embodiment, a rotation drive gear  4072  is coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  4102  when the tool mounting portion  4100  is coupled to the tool holder  1270 . See  FIGS. 28 and 98 . The rotation drive assembly  4070  further comprises a rotary driven gear  4074  that is rotatably supported on the tool mounting plate  4102  in meshing engagement with the rotation gear  4062  and the rotation drive gear  4072 . Application of a first rotary control motion from the robotic system  1000  through the tool holder  1270  and the adapter  1240  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  4072  by virtue of being operably coupled thereto. Rotation of the rotation drive gear  4072  ultimately results in the rotation of the closure tube segment  4010  to open and close the anvil  4024  as described above. 
     As indicated above, the end effector  4012  employs a cutting element  3860  as shown in  FIGS. 96 and 97 . In at least one non-limiting embodiment, the transmission arrangement  4103  further comprises a knife drive transmission that includes a knife drive assembly  4080 .  FIG. 98  illustrates one form of knife drive assembly  4080  for axially advancing the knife bar  4092  that is attached to such cutting element using cables as described above with respect to surgical tool  3800 . In particular, the knife bar  4092  replaces the firing cable  3884  employed in an embodiment of surgical tool  3800 . One form of the knife drive assembly  4080  comprises a rotary drive gear  4082  that is coupled to a corresponding second one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  4102  when the tool mounting portion  4100  is coupled to the tool holder  1270 . See  FIGS. 28 and 98 . The knife drive assembly  4080  further comprises a first rotary driven gear assembly  4084  that is rotatably supported on the tool mounting plate  4102 . The first rotary driven gear assembly  4084  is in meshing engagement with a third rotary driven gear assembly  4086  that is rotatably supported on the tool mounting plate  4102  and which is in meshing engagement with a fourth rotary driven gear assembly  4088  that is in meshing engagement with a threaded portion  4094  of drive shaft assembly  4090  that is coupled to the knife bar  4092 . Rotation of the rotary drive gear  4082  in a second rotary direction will result in the axial advancement of the drive shaft assembly  4090  and knife bar  4092  in the distal direction “DD”. Conversely, rotation of the rotary drive gear  4082  in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly  4090  and the knife bar  4092  to move in the proximal direction. Movement of the firing bar  4092  in the proximal direction “PD” will drive the cutting element  3860  in the distal direction “DD”. Conversely, movement of the firing bar  4092  in the distal direction “DD” will result in the movement of the cutting element  3860  in the proximal direction “PD”. 
       FIGS. 99-105  illustrate yet another surgical tool  5000  that may be effectively employed in connection with a robotic system  1000 . In various forms, the surgical tool  5000  includes a surgical end effector  5012  in the form of a surgical stapling instrument that includes an elongated channel  5020  and a pivotally translatable clamping member, such as an anvil  5070 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector  5012 . As can be seen in  FIG. 101 , the elongated channel  5020  may be substantially U-shaped in cross-section and be fabricated from, for example, titanium,  203  stainless steel,  304  stainless steel,  416  stainless steel,  17 - 4  stainless steel,  17 - 7  stainless steel,  6061  or  7075  aluminum, chromium steel, ceramic, etc. A substantially U-shaped metal channel pan  5022  may be supported in the bottom of the elongated channel  5020  as shown. 
     Various embodiments include an actuation member in the form of a sled assembly  5030  that is operably supported within the surgical end effector  5012  and axially movable therein between a staring position and an ending position in response to control motions applied thereto. In some forms, the metal channel pan  5022  has a centrally-disposed slot  5024  therein to movably accommodate a base portion  5032  of the sled assembly  5030 . The base portion  5032  includes a foot portion  5034  that is sized to be slidably received in a slot  5021  in the elongated channel  5020 . See  FIG. 101 . As can be seen in  FIGS. 100, 101, 104, and 105 , the base portion  5032  of sled assembly  5030  includes an axially extending threaded bore  5036  that is configured to be threadedly received on a threaded drive shaft  5130  as will be discussed in further detail below. In addition, the sled assembly  5030  includes an upstanding support portion  5038  that supports a tissue cutting blade or tissue cutting instrument  5040 . The upstanding support portion  5038  terminates in a top portion  5042  that has a pair of laterally extending retaining fins  5044  protruding therefrom. As shown in  FIG. 101 , the fins  5044  are positioned to be received within corresponding slots  5072  in anvil  5070 . The fins  5044  and the foot  5034  serve to retain the anvil  5070  in a desired spaced closed position as the sled assembly  5030  is driven distally through the tissue clamped within the surgical end effector  5014 . As can also be seen in  FIGS. 103 and 105 , the sled assembly  5030  further includes a reciprocatably or sequentially activatable drive assembly  5050  for driving staple pushers toward the closed anvil  5070 . 
     More specifically and with reference to  FIGS. 101 and 102 , the elongated channel  5020  is configured to operably support a surgical staple cartridge  5080  therein. In at least one form, the surgical staple cartridge  5080  comprises a body portion  5082  that may be fabricated from, for example, Vectra, Nylon ( 6 / 6  or  6 / 12 ) and include a centrally disposed slot  5084  for accommodating the upstanding support portion  5038  of the sled assembly  5030 . See  FIG. 101 . These materials could also be filled with glass, carbon, or mineral fill of  10 %- 40 %. The surgical staple cartridge  5080  further includes a plurality of cavities  5086  for movably supporting lines or rows of staple-supporting pushers  5088  therein. The cavities  5086  may be arranged in spaced longitudinally extending lines or rows  5090 ,  5092 ,  5094 ,  5096 . For example, the rows  5090  may be referred to herein as first outboard rows. The rows  5092  may be referred to herein as first inboard rows. The rows  5094  may be referred to as second inboard rows and the rows  5096  may be referred to as second outboard rows. The first inboard row  5090  and the first outboard row  5092  are located on a first lateral side of the longitudinal slot  5084  and the second inboard row  5094  and the second outboard row  5096  are located on a second lateral side of the longitudinal slot  5084 . The first staple pushers  5088  in the first inboard row  5092  are staggered in relationship to the first staple pushers  5088  in the first outboard row  5090 . Similarly, the second staple pushers  5088  in the second outboard row  5096  are staggered in relationship to the second pushers  5088  in the second inboard row  5094 . Each pusher  5088  operably supports a surgical staple  5098  thereon. 
     In various embodiments, the sequentially-activatable or reciprocatably-activatable drive assembly  5050  includes a pair of outboard drivers  5052  and a pair of inboard drivers  5054  that are each attached to a common shaft  5056  that is rotatably mounted within the base  5032  of the sled assembly  5030 . The outboard drivers  5052  are oriented to sequentially or reciprocatingly engage a corresponding plurality of outboard activation cavities  5026  provided in the channel pan  5022 . Likewise, the inboard drivers  5054  are oriented to sequentially or reciprocatingly engage a corresponding plurality of inboard activation cavities  5028  provided in the channel pan  5022 . The inboard activation cavities  5028  are arranged in a staggered relationship relative to the adjacent outboard activation cavities  5026 . See  FIG. 102 . As can also be seen in  FIGS. 103 and 104 , in at least one embodiment, the sled assembly  5030  further includes distal wedge segments  5060  and intermediate wedge segments  5062  located on each side of the bore  5036  to engage the pushers  5088  as the sled assembly  5030  is driven distally in the distal direction “DD”. As indicated above, the sled assembly  5030  is threadedly received on a threaded portion  5132  of a drive shaft  5130  that is rotatably supported within the end effector  5012 . In various embodiments, for example, the drive shaft  5130  has a distal end  5134  that is supported in a distal bearing  5136  mounted in the surgical end effector  5012 . See  FIGS. 101 and 102 . 
     In various embodiments, the surgical end effector  5012  is coupled to a tool mounting portion  5200  by an elongated shaft assembly  5108 . In at least one embodiment, the tool mounting portion  5200  operably supports a transmission arrangement generally designated as  5204  that is configured to receive rotary output motions from the robotic system. The elongated shaft assembly  5108  includes an outer closure tube  5110  that is rotatable and axially movable on a spine member  5120  that is rigidly coupled to a tool mounting plate  5201  of the tool mounting portion  5200 . The spine member  5120  also has a distal end  5122  that is coupled to the elongated channel portion  5020  of the surgical end effector  5012 . 
     In use, it may be desirable to rotate the surgical end effector  5012  about a longitudinal tool axis LT-LT defined by the elongated shaft assembly  5008 . In various embodiments, the outer closure tube  5110  has a proximal end  5112  that is rotatably supported on the tool mounting plate  5201  of the tool drive portion  5200  by a forward support cradle  5203 . The proximal end  5112  of the outer closure tube  5110  is configured to operably interface with a rotation transmission portion  5206  of the transmission arrangement  5204 . In various embodiments, the proximal end  5112  of the outer closure tube  5110  is also supported on a closure sled  5140  that is also movably supported on the tool mounting plate  5201 . A closure tube gear segment  5114  is formed on the proximal end  5112  of the outer closure tube  5110  for meshing engagement with a rotation drive assembly  5150  of the rotation transmission  5206 . As can be seen in  FIG. 99 , the rotation drive assembly  5150 , in at least one embodiment, comprises a rotation drive gear  5152  that is coupled to a corresponding first one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  5201  when the tool drive portion  5200  is coupled to the tool holder  1270 . The rotation drive assembly  5150  further comprises a rotary driven gear  5154  that is rotatably supported on the tool mounting plate  5201  in meshing engagement with the closure tube gear segment  5114  and the rotation drive gear  5152 . Application of a first rotary control motion from the robotic system  1000  through the tool holder  1270  and the adapter  1240  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  5152 . Rotation of the rotation drive gear  5152  ultimately results in the rotation of the elongated shaft assembly  5108  (and the end effector  5012 ) about the longitudinal tool axis LT-LT (represented by arrow “R” in  FIG. 99 ). 
     Closure of the anvil  5070  relative to the surgical staple cartridge  5080  is accomplished by axially moving the outer closure tube  5110  in the distal direction “DD”. Such axial movement of the outer closure tube  5110  may be accomplished by a closure transmission portion closure transmission portion  5144  of the transmission arrangement  5204 . As indicated above, in various embodiments, the proximal end  5112  of the outer closure tube  5110  is supported by the closure sled  5140  which enables the proximal end  5112  to rotate relative thereto, yet travel axially with the closure sled  5140 . In particular, as can be seen in  FIG. 99 , the closure sled  5140  has an upstanding tab  5141  that extends into a radial groove  5115  in the proximal end portion  5112  of the outer closure tube  5110 . In addition, as was described above, the closure sled  5140  is slidably mounted to the tool mounting plate  5201 . In various embodiments, the closure sled  5140  has an upstanding portion  5142  that has a closure rack gear  5143  formed thereon. The closure rack gear  5143  is configured for driving engagement with the closure transmission  5144 . 
     In various forms, the closure transmission  5144  includes a closure spur gear  5145  that is coupled to a corresponding second one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  5201 . Thus, application of a second rotary control motion from the robotic system  1000  through the tool holder  1270  and the adapter  1240  to the corresponding second driven element  1304  will cause rotation of the closure spur gear  5145  when the interface  1230  is coupled to the tool mounting portion  5200 . The closure transmission  5144  further includes a driven closure gear set  5146  that is supported in meshing engagement with the closure spur gear  5145  and the closure rack gear  5143 . Thus, application of a second rotary control motion from the robotic system  1000  through the tool holder  1270  and the adapter  1240  to the corresponding second driven element  1304  will cause rotation of the closure spur gear  5145  and ultimately drive the closure sled  5140  and the outer closure tube  5110  axially. The axial direction in which the closure tube  5110  moves ultimately depends upon the direction in which the second driven element  1304  is rotated. For example, in response to one rotary closure motion received from the robotic system  1000 , the closure sled  5140  will be driven in the distal direction “DD” and ultimately the outer closure tube  5110  will be driven in the distal direction as well. The outer closure tube  5110  has an opening  5117  in the distal end  5116  that is configured for engagement with a tab  5071  on the anvil  5070  in the manners described above. As the outer closure tube  5110  is driven distally, the proximal end  5116  of the closure tube  5110  will contact the anvil  5070  and pivot it closed. Upon application of an “opening” rotary motion from the robotic system  1000 , the closure sled  5140  and outer closure tube  5110  will be driven in the proximal direction “PD” and pivot the anvil  5070  to the open position in the manners described above. 
     In at least one embodiment, the drive shaft  5130  has a proximal end  5137  that has a proximal shaft gear  5138  attached thereto. The proximal shaft gear  5138  is supported in meshing engagement with a distal drive gear  5162  attached to a rotary drive bar  5160  that is rotatably supported with spine member  5120 . Rotation of the rotary drive bar  5160  and ultimately rotary drive shaft  5130  is controlled by a rotary knife transmission  5207  which comprises a portion of the transmission arrangement  5204  supported on the tool mounting plate  5210 . In various embodiments, the rotary knife transmission  5207  comprises a rotary knife drive system  5170  that is operably supported on the tool mounting plate  5201 . In various embodiments, the knife drive system  5170  includes a rotary drive gear  5172  that is coupled to a corresponding third one of the driven discs or elements  1304  on the adapter side of the tool mounting plate  5201  when the tool drive portion  5200  is coupled to the tool holder  1270 . The knife drive system  5170  further comprises a first rotary driven gear  5174  that is rotatably supported on the tool mounting plate  5201  in meshing engagement with a second rotary driven gear  5176  and the rotary drive gear  5172 . The second rotary driven gear  5176  is coupled to a proximal end portion  5164  of the rotary drive bar  5160 . 
     Rotation of the rotary drive gear  5172  in a first rotary direction will result in the rotation of the rotary drive bar  5160  and rotary drive shaft  5130  in a first direction. Conversely, rotation of the rotary drive gear  5172  in a second rotary direction (opposite to the first rotary direction) will cause the rotary drive bar  5160  and rotary drive shaft  5130  to rotate in a second direction.  2400 . Thus, rotation of the drive shaft  2440  results in rotation of the drive sleeve  2400 . 
     One method of operating the surgical tool  5000  will now be described. The tool drive  5200  is operably coupled to the interface  1240  of the robotic system  1000 . The controller  1001  of the robotic system  1000  is operated to locate the tissue to be cut and stapled between the open anvil  5070  and the surgical staple cartridge  5080 . Once the surgical end effector  5012  has been positioned by the robot system  1000  such that the target tissue is located between the anvil  5070  and the surgical staple cartridge  5080 , the controller  1001  of the robotic system  1000  may be activated to apply the second rotary output motion to the second driven element  1304  coupled to the closure spur gear  5145  to drive the closure sled  5140  and the outer closure tube  5110  axially in the distal direction to pivot the anvil  5070  closed in the manner described above. Once the robotic controller  1001  determines that the anvil  5070  has been closed by, for example, sensors in the surgical end effector  5012  and/or the tool drive portion  5200 , the robotic controller  1001  system may provide the surgeon with an indication that signifies the closure of the anvil. Such indication may be, for example, in the form of a light and/or audible sound, tactile feedback on the control members, etc. Then the surgeon may initiate the firing process. In alternative embodiments, however, the robotic controller  1001  may automatically commence the firing process. 
     To commence the firing process, the robotic controller applies a third rotary output motion to the third driven disc or element  1304  coupled to the rotary drive gear  5172 . Rotation of the rotary drive gear  5172  results in the rotation of the rotary drive bar  5160  and rotary drive shaft  5130  in the manner described above. Firing and formation of the surgical staples  5098  can be best understood from reference to  FIGS. 103, 105, and 106 . As the sled assembly  5030  is driven in the distal direction “DD” through the surgical staple cartridge  5080 , the distal wedge segments  5060  first contact the staple pushers  5088  and start to move them toward the closed anvil  5070 . As the sled assembly  5030  continues to move distally, the outboard drivers  5052  will drop into the corresponding activation cavity  5026  in the channel pan  5022 . The opposite end of each outboard driver  5052  will then contact the corresponding outboard pusher  5088  that has moved up the distal and intermediate wedge segments  5060 ,  5062 . Further distal movement of the sled assembly  5030  causes the outboard drivers  5052  to rotate and drive the corresponding pushers  5088  toward the anvil  5070  to cause the staples  5098  supported thereon to be formed as they are driven into the anvil  5070 . It will be understood that as the sled assembly  5030  moves distally, the knife blade  5040  cuts through the tissue that is clamped between the anvil and the staple cartridge. Because the inboard drivers  5054  and outboard drivers  5052  are attached to the same shaft  5056  and the inboard drivers  5054  are radially offset from the outboard drivers  5052  on the shaft  5056 , as the outboard drivers  5052  are driving their corresponding pushers  5088  toward the anvil  5070 , the inboard drivers  5054  drop into their next corresponding activation cavity  5028  to cause them to rotatably or reciprocatingly drive the corresponding inboard pushers  5088  towards the closed anvil  5070  in the same manner. Thus, the laterally corresponding outboard staples  5098  on each side of the centrally disposed slot  5084  are simultaneously formed together and the laterally corresponding inboard staples  5098  on each side of the slot  5084  are simultaneously formed together as the sled assembly  5030  is driven distally. Once the robotic controller  1001  determines that the sled assembly  5030  has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive shaft  5130  and/or the rotary drive bar  5160 , the controller  1001  may then apply a third rotary output motion to the drive shaft  5130  to rotate the drive shaft  5130  in an opposite direction to retract the sled assembly  5030  back to its starting position. Once the sled assembly  5030  has been retracted to the starting position (as signaled by sensors in the end effector  5012  and/or the tool drive portion  5200 ), the application of the second rotary motion to the drive shaft  5130  is discontinued. Thereafter, the surgeon may manually activate the anvil opening process or it may be automatically commenced by the robotic controller  1001 . To open the anvil  5070 , the second rotary output motion is applied to the closure spur gear  5145  to drive the closure sled  5140  and the outer closure tube  5110  axially in the proximal direction. As the closure tube  5110  moves proximally, the opening  5117  in the distal end  5116  of the closure tube  5110  contacts the tab  5071  on the anvil  5070  to pivot the anvil  5070  to the open position. A spring may also be employed to bias the anvil  5070  to the open position when the closure tube  5116  has been returned to the starting position. Again, sensors in the surgical end effector  5012  and/or the tool mounting portion  5200  may provide the robotic controller  1001  with a signal indicating that the anvil  5070  is now open. Thereafter, the surgical end effector  5012  may be withdrawn from the surgical site. 
       FIGS. 106-111  diagrammatically depict the sequential firing of staples in a surgical tool assembly  5000 ′ that is substantially similar to the surgical tool assembly  5000  described above. In this embodiment, the inboard and outboard drivers  5052 ′,  5054 ′ have a cam-like shape with a cam surface  5053  and an actuator protrusion  5055  as shown in  FIGS. 106-112 . The drivers  5052 ′,  5054 ′ are journaled on the same shaft  5056 ′ that is rotatably supported by the sled assembly  5030 ′. In this embodiment, the sled assembly  5030 ′ has distal wedge segments  5060 ′ for engaging the pushers  5088 .  FIG. 106  illustrates an initial position of two inboard or outboard drivers  5052 ′,  5054 ′ as the sled assembly  5030 ′ is driven in the distal direction “DD”. As can be seen in that Figure, the pusher  5088   a  has advanced up the wedge segment  5060 ′ and has contacted the driver  5052 ′,  5054 ′. Further travel of the sled assembly  5030 ′ in the distal direction causes the driver  5052 ′,  5054 ′ to pivot in the “P” direction ( FIG. 107 ) until the actuator portion  5055  contacts the end wall  5029   a  of the activation cavity  5026 ,  5028  as shown in  FIG. 108 . Continued advancement of the sled assembly  5030 ′ in the distal direction “DD” causes the driver  5052 ′,  5054 ′to rotate in the “D” direction as shown in  FIG. 109 . As the driver  5052 ′,  5054 ′ rotates, the pusher  5088   a  rides up the cam surface  5053  to the final vertical position shown in  FIG. 110 . When the pusher  5088   a  reaches the final vertical position shown in  FIGS. 110 and 111 , the staple (not shown) supported thereon has been driven into the staple forming surface of the anvil to form the staple. 
       FIGS. 113-119  illustrate a surgical end effector  5312  that may be employed for example, in connection with the tool mounting portion  1300  and shaft  2008  described in detail above. In various forms, the surgical end effector  5312  includes an elongated channel  5322  that is constructed as described above for supporting a surgical staple cartridge  5330  therein. The surgical staple cartridge  5330  comprises a body portion  5332  that includes a centrally disposed slot  5334  for accommodating an upstanding support portion  5386  of a sled assembly  5380 . See  FIGS. 113-115 . The surgical staple cartridge body portion  5332  further includes a plurality of cavities  5336  for movably supporting staple-supporting pushers  5350  therein. The cavities  5336  may be arranged in spaced longitudinally extending rows  5340 ,  5342 ,  5344 ,  5346 . The rows  5340 ,  5342  are located on one lateral side of the longitudinal slot  5334  and the rows  5344 ,  5346  are located on the other side of longitudinal slot  5334 . In at least one embodiment, the pushers  5350  are configured to support two surgical staples  5352  thereon. In particular, each pusher  5350  located on one side of the elongated slot  5334  supports one staple  5352  in row  5340  and one staple  5352  in row  5342  in a staggered orientation. Likewise, each pusher  5350  located on the other side of the elongated slot  5334  supports one surgical staple  5352  in row  5344  and another surgical staple  5352  in row  5346  in a staggered orientation. Thus, every pusher  5350  supports two surgical staples  5352 . 
     As can be further seen in  FIGS. 113, 114 , the surgical staple cartridge  5330  includes a plurality of rotary drivers  5360 . More particularly, the rotary drivers  5360  on one side of the elongated slot  5334  are arranged in a single line  5370  and correspond to the pushers  5350  in lines  5340 ,  5342 . In addition, the rotary drivers  5360  on the other side of the elongated slot  5334  are arranged in a single line  5372  and correspond to the pushers  5350  in lines  5344 ,  5346 . As can be seen in  FIG. 113 , each rotary driver  5360  is rotatably supported within the staple cartridge body  5332 . More particularly, each rotary driver  5360  is rotatably received on a corresponding driver shaft  5362 . Each driver  5360  has an arcuate ramp portion  5364  formed thereon that is configured to engage an arcuate lower surface  5354  formed on each pusher  5350 . See  FIG. 118 . In addition, each driver  5360  has a lower support portion  5366  extend therefrom to slidably support the pusher  5360  on the channel  5322 . Each driver  5360  has a downwardly extending actuation rod  5368  that is configured for engagement with a sled assembly  5380 . 
     As can be seen in  FIG. 115 , in at least one embodiment, the sled assembly  5380  includes a base portion  5382  that has a foot portion  5384  that is sized to be slidably received in a slot  5333  in the channel  5322 . See  FIG. 113 . The sled assembly  5380  includes an upstanding support portion  5386  that supports a tissue cutting blade or tissue cutting instrument  5388 . The upstanding support portion  5386  terminates in a top portion  5390  that has a pair of laterally extending retaining fins  5392  protruding therefrom. The fins  5392  are positioned to be received within corresponding slots (not shown) in the anvil (not shown). As with the above-described embodiments, the fins  5392  and the foot portion  5384  serve to retain the anvil (not shown) in a desired spaced closed position as the sled assembly  5380  is driven distally through the tissue clamped within the surgical end effector  5312 . The upstanding support portion  5386  is configured for attachment to a knife bar  2200  ( FIG. 34 ). The sled assembly  5380  further has a horizontally-extending actuator plate  5394  that is shaped for actuating engagement with each of the actuation rods  5368  on the pushers  5360 . 
     Operation of the surgical end effector  5312  will now be explained with reference to  FIGS. 113 and 114 . As the sled assembly  5380  is driven in the distal direction “DD” through the staple cartridge  5330 , the actuator plate  5394  sequentially contacts the actuation rods  5368  on the pushers  5360 . As the sled assembly  5380  continues to move distally, the actuator plate  5394  sequentially contacts the actuator rods  5368  of the drivers  5360  on each side of the elongated slot  5334 . Such action causes the drivers  5360  to rotate from a first unactuated position to an actuated portion wherein the pushers  5350  are driven towards the closed anvil. As the pushers  5350  are driven toward the anvil, the surgical staples  5352  thereon are driven into forming contact with the underside of the anvil. Once the robotic system  1000  determines that the sled assembly  5080  has reached its distal most position through sensors or other means, the control system of the robotic system  1000  may then retract the knife bar and sled assembly  5380  back to the starting position. Thereafter, the robotic control system may then activate the procedure for returning the anvil to the open position to release the stapled tissue. 
       FIGS. 119-123  depict one form of an automated reloading system embodiment of the present invention, generally designated as  5500 . In one form, the automated reloading system  5500  is configured to replace a “spent” surgical end effector component in a manipulatable surgical tool portion of a robotic surgical system with a “new” surgical end effector component. As used herein, the term “surgical end effector component” may comprise, for example, a surgical staple cartridge, a disposable loading unit or other end effector components that, when used, are spent and must be replaced with a new component. Furthermore, the term “spent” means that the end effector component has been activated and is no longer useable for its intended purpose in its present state. For example, in the context of a surgical staple cartridge or disposable loading unit, the term “spent” means that at least some of the unformed staples that were previously supported therein have been “fired” therefrom. As used herein, the term “new” surgical end effector component refers to an end effector component that is in condition for its intended use. In the context of a surgical staple cartridge or disposable loading unit, for example, the term “new” refers to such a component that has unformed staples therein and which is otherwise ready for use. 
     In various embodiments, the automated reloading system  5500  includes a base portion  5502  that may be strategically located within a work envelope  1109  of a robotic arm cart  1100  ( FIG. 20 ) of a robotic system  1000 . As used herein, the term “manipulatable surgical tool portion” collectively refers to a surgical tool of the various types disclosed herein and other forms of surgical robotically-actuated tools that are operably attached to, for example, a robotic arm cart  1100  or similar device that is configured to automatically manipulate and actuate the surgical tool. The term “work envelope” as used herein refers to the range of movement of the manipulatable surgical tool portion of the robotic system.  FIG. 20  generally depicts an area that may comprise a work envelope of the robotic arm cart  1100 . Those of ordinary skill in the art will understand that the shape and size of the work envelope depicted therein is merely illustrative. The ultimate size, shape and location of a work envelope will ultimately depend upon the construction, range of travel limitations, and location of the manipulatable surgical tool portion. Thus, the term “work envelope” as used herein is intended to cover a variety of different sizes and shapes of work envelopes and should not be limited to the specific size and shape of the sample work envelope depicted in  FIG. 20 . 
     As can be seen in  FIG. 119 , the base portion  5502  includes a new component support section or arrangement  5510  that is configured to operably support at least one new surgical end effector component in a “loading orientation”. As used herein, the term “loading orientation” means that the new end effector component is supported in such away so as to permit the corresponding component support portion of the manipulatable surgical tool portion to be brought into loading engagement with (i.e., operably seated or operably attached to) the new end effector component (or the new end effector component to be brought into loading engagement with the corresponding component support portion of the manipulatable surgical tool portion) without human intervention beyond that which may be necessary to actuate the robotic system. As will be further appreciated as the present Detailed Description proceeds, in at least one embodiment, the preparation nurse will load the new component support section before the surgery with the appropriate length and color cartridges (some surgical staple cartridges may support certain sizes of staples the size of which may be indicated by the color of the cartridge body) required for completing the surgical procedure. However, no direct human interaction is necessary during the surgery to reload the robotic endocutter. In one form, the surgical end effector component comprises a staple cartridge  2034  that is configured to be operably seated within a component support portion (elongated channel) of any of the various other end effector arrangements described above. For explanation purposes, new (unused) cartridges will be designated as “ 2034   a ” and spent cartridges will be designated as “ 2034   b ”. The Figures depict cartridges  2034   a ,  2034   b  designed for use with a surgical end effector  2012  that includes a channel  2022  and an anvil  2024 , the construction and operation of which were discussed in detail above. Cartridges  2034   a ,  2034   b  are identical to cartridges  2034  described above. In various embodiments, the cartridges  2034   a ,  2034   b  are configured to be snappingly retained (i.e., loading engagement) within the channel  2022  of a surgical end effector  2012 . As the present Detailed Description proceeds, however, those of ordinary skill in the art will appreciate that the unique and novel features of the automated cartridge reloading system  5500  may be effectively employed in connection with the automated removal and installation of other cartridge arrangements without departing from the spirit and scope of the present invention. 
     In the depicted embodiment, the term “loading orientation” means that the distal tip portion  2035   a  of the a new surgical staple cartridge  2034   a  is inserted into a corresponding support cavity  5512  in the new cartridge support section  5510  such that the proximal end portion  2037   a  of the new surgical staple cartridge  2034   a  is located in a convenient orientation for enabling the arm cart  1100  to manipulate the surgical end effector  2012  into a position wherein the new cartridge  2034   a  may be automatically loaded into the channel  2022  of the surgical end effector  2012 . In various embodiments, the base  5502  includes at least one sensor  5504  which communicates with the control system  1003  of the robotic controller  1001  to provide the control system  1003  with the location of the base  5502  and/or the reload length and color doe each staged or new cartridge  2034   a.    
     As can also be seen in the Figures, the base  5502  further includes a collection receptacle  5520  that is configured to collect spent cartridges  2034   b  that have been removed or disengaged from the surgical end effector  2012  that is operably attached to the robotic system  1000 . In addition, in one form, the automated reloading system  5500  includes an extraction system  5530  for automatically removing the spent end effector component from the corresponding support portion of the end effector or manipulatable surgical tool portion without specific human intervention beyond that which may be necessary to activate the robotic system. In various embodiments, the extraction system  5530  includes an extraction hook member  5532 . In one form, for example, the extraction hook member  5532  is rigidly supported on the base portion  5502 . In one embodiment, the extraction hook member has at least one hook  5534  formed thereon that is configured to hookingly engage the distal end  2035  of a spent cartridge  2034   b  when it is supported in the elongated channel  2022  of the surgical end effector  2012 . In various forms, the extraction hook member  5532  is conveniently located within a portion of the collection receptacle  5520  such that when the spent end effector component (cartridge  2034   b ) is brought into extractive engagement with the extraction hook member  5532 , the spent end effector component (cartridge  2034   b ) is dislodged from the corresponding component support portion (elongated channel  2022 ), and falls into the collection receptacle  5020 . Thus, to use this embodiment, the manipulatable surgical tool portion manipulates the end effector attached thereto to bring the distal end  2035  of the spent cartridge  2034   b  therein into hooking engagement with the hook  5534  and then moves the end effector in such a way to dislodge the spent cartridge  2034   b  from the elongated channel  2022 . 
     In other arrangements, the extraction hook member  5532  comprises a rotatable wheel configuration that has a pair of diametrically-opposed hooks  5334  protruding therefrom. See  FIGS. 119 and 123 . The extraction hook member  5532  is rotatably supported within the collection receptacle  5520  and is coupled to an extraction motor  5540  that is controlled by the controller  1001  of the robotic system. This form of the automated reloading system  5500  may be used as follows.  FIG. 121  illustrates the introduction of the surgical end effector  2012  that is operably attached to the manipulatable surgical tool portion  1200 . As can be seen in that Figure, the arm cart  1100  of the robotic system  1000  locates the surgical end effector  2012  in the shown position wherein the hook end  5534  of the extraction member  5532  hookingly engages the distal end  2035  of the spent cartridge  2034   b  in the surgical end effector  2012 . The anvil  2024  of the surgical end effector  2012  is in the open position. After the distal end  2035  of the spent cartridge  2034   b  is engaged with the hook end  5532 , the extraction motor  5540  is actuated to rotate the extraction wheel  5532  to disengage the spent cartridge  2034   b  from the channel  2022 . To assist with the disengagement of the spent cartridge  2034   b  from the channel  2022  (or if the extraction member  5530  is stationary), the robotic system  1000  may move the surgical end effector  2012  in an upward direction (arrow “U” in  FIG. 137 ). As the spent cartridge  2034   b  is dislodged from the channel  2022 , the spent cartridge  2034   b  falls into the collection receptacle  5520 . Once the spent cartridge  2034   b  has been removed from the surgical end effector  2012 , the robotic system  1000  moves the surgical end effector  2012  to the position shown in  FIG. 123 . 
     In various embodiments, a sensor arrangement  5533  is located adjacent to the extraction member  5532  that is in communication with the controller  1001  of the robotic system  1000 . The sensor arrangement  5533  may comprise a sensor that is configured to sense the presence of the surgical end effector  2012  and, more particularly the tip  2035   b  of the spent surgical staple cartridge  2034   b  thereof as the distal tip portion  2035   b  is brought into engagement with the extraction member  5532 . In some embodiments, the sensor arrangement  5533  may comprise, for example, a light curtain arrangement. However, other forms of proximity sensors may be employed. In such arrangement, when the surgical end effector  2012  with the spent surgical staple cartridge  2034   b  is brought into extractive engagement with the extraction member  5532 , the sensor senses the distal tip  2035   b  of the surgical staple cartridge  2034   b  (e.g., the light curtain is broken). When the extraction member  5532  spins and pops the surgical staple cartridge  2034   b  loose and it falls into the collection receptacle  5520 , the light curtain is again unbroken. Because the surgical end effector  2012  was not moved during this procedure, the robotic controller  1001  is assured that the spent surgical staple cartridge  2034   b  has been removed therefrom. Other sensor arrangements may also be successfully employed to provide the robotic controller  1001  with an indication that the spent surgical staple cartridge  2034   b  has been removed from the surgical end effector  2012 . 
     As can be seen in  FIG. 123 , the surgical end effector  2012  is positioned to grasp a new surgical staple cartridge  2034   a  between the channel  2022  and the anvil  2024 . More specifically, as shown in  FIGS. 120 and 123 , each cavity  5512  has a corresponding upstanding pressure pad  5514  associated with it. The surgical end effector  2012  is located such that the pressure pad  5514  is located between the new cartridge  2034   a  and the anvil  2024 . Once in that position, the robotic system  1000  closes the anvil  2024  onto the pressure pad  5514  which serves to push the new cartridge  2034   a  into snapping engagement with the channel  2022  of the surgical end effector  2012 . Once the new cartridge  2034   a  has been snapped into position within the elongated channel  2022 , the robotic system  1000  then withdraws the surgical end effector  2012  from the automated cartridge reloading system  5500  for use in connection with performing another surgical procedure. 
       FIGS. 124-128  depict another automated reloading system  5600  that may be used to remove a spent disposable loading unit  3612  from a manipulatable surgical tool arrangement  3600  ( FIGS. 71-84 ) that is operably attached to an arm cart  1100  or other portion of a robotic system  1000  and reload a new disposable loading unit  3612  therein. As can be seen in  FIGS. 124 and 125 , one form of the automated reloading system  5600  includes a housing  5610  that has a movable support assembly in the form of a rotary carrousel top plate  5620  supported thereon which cooperates with the housing  5610  to form a hollow enclosed area  5612 . The automated reloading system  5600  is configured to be operably supported within the work envelop of the manipulatable surgical tool portion of a robotic system as was described above. In various embodiments, the rotary carrousel plate  5620  has a plurality of holes  5622  for supporting a plurality of orientation tubes  5660  therein. As can be seen in  FIGS. 125 and 126 , the rotary carrousel plate  5620  is affixed to a spindle shaft  5624 . The spindle shaft  5624  is centrally disposed within the enclosed area  5612  and has a spindle gear  5626  attached thereto. The spindle gear  5626  is in meshing engagement with a carrousel drive gear  5628  that is coupled to a carrousel drive motor  5630  that is in operative communication with the robotic controller  1001  of the robotic system  1000 . 
     Various embodiments of the automated reloading system  5600  may also include a carrousel locking assembly, generally designated as  5640 . In various forms, the carrousel locking assembly  5640  includes a cam disc  5642  that is affixed to the spindle shaft  5624 . The spindle gear  5626  may be attached to the underside of the cam disc  5642  and the cam disc  5642  may be keyed onto the spindle shaft  5624 . In alternative arrangements, the spindle gear  5626  and the cam disc  5642  may be independently non-rotatably affixed to the spindle shaft  5624 . As can be seen in  FIGS. 125 and 126 , a plurality of notches  5644  are spaced around the perimeter of the cam disc  5642 . A locking arm  5648  is pivotally mounted within the housing  5610  and is biased into engagement with the perimeter of the cam disc  5642  by a locking spring  5649 . As can be seen in  FIG. 127 , the outer perimeter of the cam disc  5642  is rounded to facilitate rotation of the cam disc  5642  relative to the locking arm  5648 . The edges of each notch  5644  are also rounded such that when the cam disc  5642  is rotated, the locking arm  5648  is cammed out of engagement with the notches  5644  by the perimeter of the cam disc  5642 . 
     Various forms of the automated reloading system  5600  are configured to support a portable/replaceable tray assembly  5650  that is configured to support a plurality of disposable loading units  3612  in individual orientation tubes  5660 . More specifically and with reference to  FIGS. 125 and 126 , the replaceable tray assembly  5650  comprises a tray  5652  that has a centrally-disposed locator spindle  5654  protruding from the underside thereof. The locator spindle  5654  is sized to be received within a hollow end  5625  of spindle shaft  5624 . The tray  5652  has a plurality of holes  5656  therein that are configured to support an orientation tube  5660  therein. Each orientation tube  5660  is oriented within a corresponding hole  5656  in the replaceable tray assembly  5650  in a desired orientation by a locating fin  5666  on the orientation tube  5660  that is designed to be received within a corresponding locating slot  5658  in the tray assembly  5650 . In at least one embodiment, the locating fin  5666  has a substantially V-shaped cross-sectional shape that is sized to fit within a V-shaped locating slot  5658 . Such arrangement serves to orient the orientation tube  5660  in a desired starting position while enabling it to rotate within the hole  5656  when a rotary motion is applied thereto. That is, when a rotary motion is applied to the orientation tube  5660  the V-shaped locating fin  5666  will pop out of its corresponding locating slot enabling the tube  5660  to rotate relative to the tray  5652  as will be discussed in further detail below. As can also be seen in  FIGS. 124-126 , the replaceable tray  5652  may be provided with one or more handle portions  5653  to facilitate transport of the tray assembly  5652  when loaded with orientation tubes  5660 . 
     As can be seen in  FIG. 128 , each orientation tube  5660  comprises a body portion  5662  that has a flanged open end  5664 . The body portion  5662  defines a cavity  5668  that is sized to receive a portion of a disposable loading unit  3612  therein. To properly orient the disposable loading unit  3612  within the orientation tube  5660 , the cavity  5668  has a flat locating surface  5670  formed therein. As can be seen in  FIG. 128 , the flat locating surface  5670  is configured to facilitate the insertion of the disposable loading unit into the cavity  5668  in a desired or predetermined non-rotatable orientation. In addition, the end  5669  of the cavity  5668  may include a foam or cushion material  5672  that is designed to cushion the distal end of the disposable loading unit  3612  within the cavity  5668 . Also, the length of the locating surface may cooperate with a sliding support member  3689  of the axial drive assembly  3680  of the disposable loading unit 3612  to further locate the disposable loading unit  3612  at a desired position within the orientation tube  5660 . 
     The orientation tubes  5660  may be fabricated from Nylon, polycarbonate, polyethylene, liquid crystal polymer,  6061  or  7075  aluminum, titanium,  300  or  400  series stainless steel, coated or painted steel, plated steel, etc. and, when loaded in the replaceable tray  5662  and the locator spindle  5654  is inserted into the hollow end  5625  of spindle shaft  5624 , the orientation tubes  5660  extend through corresponding holes  5662  in the carrousel top plate  5620 . Each replaceable tray  5662  is equipped with a location sensor  5663  that communicates with the control system  1003  of the controller  1001  of the robotic system  1000 . The sensor  5663  serves to identify the location of the reload system, and the number, length, color and fired status of each reload housed in the tray. In addition, an optical sensor or sensors  5665  that communicate with the robotic controller  1001  may be employed to sense the type/size/length of disposable loading units that are loaded within the tray  5662 . 
     Various embodiments of the automated reloading system  5600  further include a drive assembly  5680  for applying a rotary motion to the orientation tube  5660  holding the disposable loading unit  3612  to be attached to the shaft  3700  of the surgical tool  3600  (collectively the “manipulatable surgical tool portion”) that is operably coupled to the robotic system. The drive assembly  5680  includes a support yoke  5682  that is attached to the locking arm  5648 . Thus, the support yoke  5682  pivots with the locking arm  5648 . The support yoke  5682  rotatably supports a tube idler wheel  5684  and a tube drive wheel  5686  that is driven by a tube motor  5688  attached thereto. Tube motor  5688  communicates with the control system  1003  and is controlled thereby. The tube idler wheel  5684  and tube drive wheel  5686  are fabricated from, for example, natural rubber, sanoprene, isoplast, etc. such that the outer surfaces thereof create sufficient amount of friction to result in the rotation of an orientation tube  5660  in contact therewith upon activation of the tube motor  5688 . The idler wheel  5684  and tube drive wheel  5686  are oriented relative to each other to create a cradle area  5687  therebetween for receiving an orientation tube  5060  in driving engagement therein. 
     In use, one or more of the orientation tubes  5660  loaded in the automated reloading system  5600  are left empty, while the other orientation tubes  5660  may operably support a corresponding new disposable loading unit  3612  therein. As will be discussed in further detail below, the empty orientation tubes  5660  are employed to receive a spent disposable loading unit  3612  therein. 
     The automated reloading system  5600  may be employed as follows after the system  5600  is located within the work envelope of the manipulatable surgical tool portion of a robotic system. If the manipulatable surgical tool portion has a spent disposable loading unit  3612  operably coupled thereto, one of the orientation tubes  5660  that are supported on the replaceable tray  5662  is left empty to receive the spent disposable loading unit  3612  therein. If, however, the manipulatable surgical tool portion does not have a disposable loading unit  3612  operably coupled thereto, each of the orientation tubes  5660  may be provided with a properly oriented new disposable loading unit  3612 . 
     As described hereinabove, the disposable loading unit  3612  employs a rotary “bayonet-type” coupling arrangement for operably coupling the disposable loading unit  3612  to a corresponding portion of the manipulatable surgical tool portion. That is, to attach a disposable loading unit  3612  to the corresponding portion of the manipulatable surgical tool portion ( 3700 —see  FIG. 77, 81 ), a rotary installation motion must be applied to the disposable loading unit  3612  and/or the corresponding portion of the manipulatable surgical tool portion when those components have been moved into loading engagement with each other. Such installation motions are collectively referred to herein as “loading motions”. Likewise, to decouple a spent disposable loading unit  3612  from the corresponding portion of the manipulatable surgical tool, a rotary decoupling motion must be applied to the spent disposable loading unit  3612  and/or the corresponding portion of the manipulatable surgical tool portion while simultaneously moving the spent disposable loading unit and the corresponding portion of the manipulatable surgical tool away from each other. Such decoupling motions are collectively referred to herein as “extraction motions”. 
     To commence the loading process, the robotic system  1000  is activated to manipulate the manipulatable surgical tool portion and/or the automated reloading system  5600  to bring the manipulatable surgical tool portion into loading engagement with the new disposable loading unit  3612  that is supported in the orientation tube  5660  that is in driving engagement with the drive assembly  5680 . Once the robotic controller  1001  ( FIG. 19 ) of the robotic control system  1000  has located the manipulatable surgical tool portion in loading engagement with the new disposable loading unit  3612 , the robotic controller  1001  activates the drive assembly  5680  to apply a rotary loading motion to the orientation tube  5660  in which the new disposable loading unit  3612  is supported and/or applies another rotary loading motion to the corresponding portion of the manipulatable surgical tool portion. Upon application of such rotary loading motions(s), the robotic controller  1001  also causes the corresponding portion of the manipulatable surgical tool portion to be moved towards the new disposable loading unit  3612  into loading engagement therewith. Once the disposable loading unit  3612  is in loading engagement with the corresponding portion of the manipulatable tool portion, the loading motions are discontinued and the manipulatable surgical tool portion may be moved away from the automated reloading system  5600  carrying with it the new disposable loading unit  3612  that has been operably coupled thereto. 
     To decouple a spent disposable loading unit  3612  from a corresponding manipulatable surgical tool portion, the robotic controller  1001  of the robotic system manipulates the manipulatable surgical tool portion so as to insert the distal end of the spent disposable loading unit  3612  into the empty orientation tube  5660  that remains in driving engagement with the drive assembly  5680 . Thereafter, the robotic controller  1001  activates the drive assembly  5680  to apply a rotary extraction motion to the orientation tube  5660  in which the spent disposable loading unit  3612  is supported and/or applies a rotary extraction motion to the corresponding portion of the manipulatable surgical tool portion. The robotic controller  1001  also causes the manipulatable surgical tool portion to withdraw away from the spent rotary disposable loading unit  3612 . Thereafter the rotary extraction motion(s) are discontinued. 
     After the spent disposable loading unit  3612  has been removed from the manipulatable surgical tool portion, the robotic controller  1001  may activate the carrousel drive motor  5630  to index the carrousel top plate  5620  to bring another orientation tube  5660  that supports a new disposable loading unit  3612  therein into driving engagement with the drive assembly  5680 . Thereafter, the loading process may be repeated to attach the new disposable loading unit  3612  therein to the portion of the manipulatable surgical tool portion. The robotic controller  1001  may record the number of disposable loading units that have been used from a particular replaceable tray  5652 . Once the controller  1001  determines that all of the new disposable loading units  3612  have been used from that tray, the controller  1001  may provide the surgeon with a signal (visual and/or audible) indicating that the tray  5652  supporting all of the spent disposable loading units  3612  must be replaced with a new tray  5652  containing new disposable loading units  3612 . 
       FIGS. 129-134  depicts another non-limiting embodiment of a surgical tool  6000  of the present invention that is well-adapted for use with a robotic system  1000  that has a tool drive assembly  1010  ( FIG. 24 ) that is operatively coupled to a master controller  1001  that is operable by inputs from an operator (i.e., a surgeon). As can be seen in  FIG. 129 , the surgical tool  6000  includes a surgical end effector  6012  that comprises an endocutter. In at least one form, the surgical tool  6000  generally includes an elongated shaft assembly  6008  that has a proximal closure tube  6040  and a distal closure tube  6042  that are coupled together by an articulation joint  6100 . The surgical tool  6000  is operably coupled to the manipulator by a tool mounting portion, generally designated as  6200 . The surgical tool  6000  further includes an interface  6030  which may mechanically and electrically couple the tool mounting portion  6200  to the manipulator in the various manners described in detail above. 
     In at least one embodiment, the surgical tool  6000  includes a surgical end effector  6012  that comprises, among other things, at least one component  6024  that is selectively movable between first and second positions relative to at least one other component  6022  in response to various control motions applied to component  6024  as will be discussed in further detail below to perform a surgical procedure. In various embodiments, component  6022  comprises an elongated channel  6022  configured to operably support a surgical staple cartridge  6034  therein and component  6024  comprises a pivotally translatable clamping member, such as an anvil  6024 . Various embodiments of the surgical end effector  6012  are configured to maintain the anvil  6024  and elongated channel  6022  at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector  6012 . Unless otherwise stated, the end effector  6012  is similar to the surgical end effector  2012  described above and includes a cutting instrument (not shown) and a sled (not shown). The anvil  6024  may include a tab  6027  at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil  6024 . The elongated channel  6022  and the anvil  6024  may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge  6034  could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge  6034 , as was also described above. 
     As can be seen in  FIG. 129 , the surgical end effector  6012  is attached to the tool mounting portion  6200  by the elongated shaft assembly  6008  according to various embodiments. As shown in the illustrated embodiment, the elongated shaft assembly  6008  includes an articulation joint generally designated as  6100  that enables the surgical end effector  6012  to be selectively articulated about a first tool articulation axis AA 1 -AA 1  that is substantially transverse to a longitudinal tool axis LT-LT and a second tool articulation axis AA 2 -AA 2  that is substantially transverse to the longitudinal tool axis LT-LT as well as the first articulation axis AA 1 -AA 1 . See  FIG. 130 . In various embodiments, the elongated shaft assembly  6008  includes a closure tube assembly  6009  that comprises a proximal closure tube  6040  and a distal closure tube  6042  that are pivotably linked by a pivot links  6044  and  6046 . The closure tube assembly  6009  is movably supported on a spine assembly generally designated as  6102 . 
     As can be seen in  FIG. 131 , the proximal closure tube  6040  is pivotally linked to an intermediate closure tube joint  6043  by an upper pivot link  6044 U and a lower pivot link  6044 L such that the intermediate closure tube joint  6043  is pivotable relative to the proximal closure tube  6040  about a first closure axis CA 1 -CA 1  and a second closure axis CA 2 -CA 2 . In various embodiments, the first closure axis CA 1 -CA 1  is substantially parallel to the second closure axis CA 2 -CA 2  and both closure axes CA 1 -CA 1 , CA 2 -CA 2  are substantially transverse to the longitudinal tool axis LT-LT. As can be further seen in  FIG. 131 , the intermediate closure tube joint  6043  is pivotally linked to the distal closure tube  6042  by a left pivot link  6046 L and a right pivot link  6046 R such that the intermediate closure tube joint  6043  is pivotable relative to the distal closure tube  6042  about a third closure axis CA 3 -CA 3  and a fourth closure axis CA 4 -CA 4 . In various embodiments, the third closure axis CA 3 -CA 3  is substantially parallel to the fourth closure axis CA 4 -CA 4  and both closure axes CA 3 -CA 3 , CA 4 -CA 4  are substantially transverse to the first and second closure axes CA 1 -CA 1 , CA 2 -CA 2  as well as to longitudinal tool axis LT-LT. 
     The closure tube assembly  6009  is configured to axially slide on the spine assembly  6102  in response to actuation motions applied thereto. The distal closure tube  6042  includes an opening  6045  which interfaces with the tab  6027  on the anvil  6024  to facilitate opening of the anvil  6024  as the distal closure tube  6042  is moved axially in the proximal direction “PD”. The closure tubes  6040 ,  6042  may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the spine assembly  6102  may be made of a nonconductive material (such as plastic). 
     As indicated above, the surgical tool  6000  includes a tool mounting portion  6200  that is configured for operable attachment to the tool mounting assembly  1010  of the robotic system  1000  in the various manners described in detail above. As can be seen in  FIG. 133 , the tool mounting portion  6200  comprises a tool mounting plate  6202  that operably supports a transmission arrangement  6204  thereon. In various embodiments, the transmission arrangement  6204  includes an articulation transmission  6142  that comprises a portion of an articulation system  6140  for articulating the surgical end effector  6012  about a first tool articulation axis TA 1 -TA 1  and a second tool articulation axis TA 2 -TA 2 . The first tool articulation axis TA 1 -TA 1  is substantially transverse to the second tool articulation axis TA 2 -TA 2  and both of the first and second tool articulation axes are substantially transverse to the longitudinal tool axis LT-LT. See  FIG. 130 . 
     To facilitate selective articulation of the surgical end effector  6012  about the first and second tool articulation axes TA 1 -TA 1 , TA 2 -TA 2 , the spine assembly  6102  comprises a proximal spine portion  6110  that is pivotally coupled to a distal spine portion  6120  by pivot pins  6122  for selective pivotal travel about TA 1 -TA 1 . Similarly, the distal spine portion  6120  is pivotally attached to the elongated channel  6022  of the surgical end effector  6012  by pivot pins  6124  to enable the surgical end effector  6012  to selectively pivot about the second tool axis TA 2 -TA 2  relative to the distal spine portion  6120 . 
     In various embodiments, the articulation system  6140  further includes a plurality of articulation elements that operably interface with the surgical end effector  6012  and an articulation control arrangement  6160  that is operably supported in the tool mounting member  6200  as will described in further detail below. In at least one embodiment, the articulation elements comprise a first pair of first articulation cables  6144  and  6146 . The first articulation cables are located on a first or right side of the longitudinal tool axis. Thus, the first articulation cables are referred to herein as a right upper cable  6144  and a right lower cable  6146 . The right upper cable  6144  and the right lower cable  6146  extend through corresponding passages  6147 ,  6148 , respectively along the right side of the proximal spine portion  6110 . See  FIG. 134 . The articulation system  6140  further includes a second pair of second articulation cables  6150 ,  6152 . The second articulation cables are located on a second or left side of the longitudinal tool axis. Thus, the second articulation cables are referred to herein as a left upper articulation cable  6150  and a left articulation cable  6152 . The left upper articulation cable  6150  and the left lower articulation cable  6152  extend through passages  6153 ,  6154 , respectively in the proximal spine portion  6110 . 
     As can be seen in  FIG. 130 , the right upper cable  6144  extends around an upper pivot joint  6123  and is attached to a left upper side of the elongated channel  6022  at a left pivot joint  6125 . The right lower cable  6146  extends around a lower pivot joint  6126  and is attached to a left lower side of the elongated channel  6022  at left pivot joint  6125 . The left upper cable  6150  extends around the upper pivot joint  6123  and is attached to a right upper side of the elongated channel  6022  at a right pivot joint  6127 . The left lower cable  6152  extends around the lower pivot joint  6126  and is attached to a right lower side of the elongated channel  6022  at right pivot joint  6127 . Thus, to pivot the surgical end effector  6012  about the first tool articulation axis TA 1 -TA 1  to the left (arrow “L”), the right upper cable  6144  and the right lower cable  6146  must be pulled in the proximal direction “PD”. To articulate the surgical end effector  6012  to the right (arrow “R”) about the first tool articulation axis TA 1 -TA 1 , the left upper cable  6150  and the left lower cable  6152  must be pulled in the proximal direction “PD”. To articulate the surgical end effector  6012  about the second tool articulation axis TA 2 -TA 2 , in an upward direction (arrow “U”), the right upper cable  6144  and the left upper cable  6150  must be pulled in the proximal direction “PD”. To articulate the surgical end effector  6012  in the downward direction (arrow “DW”) about the second tool articulation axis TA 2 -TA 2 , the right lower cable  6146  and the left lower cable  6152  must be pulled in the proximal direction “PD”. 
     The proximal ends of the articulation cables  6144 ,  6146 ,  6150 ,  6152  are coupled to the articulation control arrangement  6160  which comprises a ball joint assembly that is a part of the articulation transmission  6142 . More specifically and with reference to  FIG. 134 , the ball joint assembly  6160  includes a ball-shaped member  6162  that is formed on a proximal portion of the proximal spine  6110 . Movably supported on the ball-shaped member  6162  is an articulation control ring  6164 . As can be further seen in  FIG. 134 , the proximal ends of the articulation cables  6144 ,  6146 ,  6150 ,  6152  are coupled to the articulation control ring  6164  by corresponding ball joint arrangements  6166 . The articulation control ring  6164  is controlled by an articulation drive assembly  6170 . As can be most particularly seen in  FIG. 134 , the proximal ends of the first articulation cables  6144 ,  6146  are attached to the articulation control ring  6164  at corresponding spaced first points  6149 ,  6151  that are located on plane  6159 . Likewise, the proximal ends of the second articulation cables  6150 ,  6152  are attached to the articulation control ring  6164  at corresponding spaced second points  6153 ,  6155  that are also located along plane  6159 . As the present Detailed Description proceeds, those of ordinary skill in the art will appreciate that such cable attachment configuration on the articulation control ring  6164  facilitates the desired range of articulation motions as the articulation control ring  6164  is manipulated by the articulation drive assembly  6170 . 
     In various forms, the articulation drive assembly  6170  comprises a horizontal articulation assembly generally designated as  6171 . In at least one form, the horizontal articulation assembly  6171  comprises a horizontal push cable  6172  that is attached to a horizontal gear arrangement  6180 . The articulation drive assembly  6170  further comprises a vertically articulation assembly generally designated as  6173 . In at least one form, the vertical articulation assembly  6173  comprises a vertical push cable  6174  that is attached to a vertical gear arrangement  6190 . As can be seen in  FIGS. 133 and 134 , the horizontal push cable  6172  extends through a support plate  6167  that is attached to the proximal spine portion  6110 . The distal end of the horizontal push cable  6174  is attached to the articulation control ring  6164  by a corresponding ball/pivot joint  6168 . The vertical push cable  6174  extends through the support plate  6167  and the distal end thereof is attached to the articulation control ring  6164  by a corresponding ball/pivot joint  6169 . 
     The horizontal gear arrangement  6180  includes a horizontal driven gear  6182  that is pivotally mounted on a horizontal shaft  6181  that is attached to a proximal portion of the proximal spine portion  6110 . The proximal end of the horizontal push cable  6172  is pivotally attached to the horizontal driven gear  6182  such that, as the horizontal driven gear  6172  is rotated about horizontal pivot axis HA, the horizontal push cable  6172  applies a first pivot motion to the articulation control ring  6164 . Likewise, the vertical gear arrangement  6190  includes a vertical driven gear  6192  that is pivotally supported on a vertical shaft  6191  attached to the proximal portion of the proximal spine portion  6110  for pivotal travel about a vertical pivot axis VA. The proximal end of the vertical push cable  6174  is pivotally attached to the vertical driven gear  6192  such that as the vertical driven gear  6192  is rotated about vertical pivot axis VA, the vertical push cable  6174  applies a second pivot motion to the articulation control ring  6164 . 
     The horizontal driven gear  6182  and the vertical driven gear  6192  are driven by an articulation gear train  6300  that operably interfaces with an articulation shifter assembly  6320 . In at least one form, the articulation shifter assembly comprises an articulation drive gear  6322  that is coupled to a corresponding one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  6202 . See  FIG. 28 . Thus, application of a rotary input motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding driven element  1304  will cause rotation of the articulation drive gear  6322  when the interface  1230  is coupled to the tool holder  1270 . An articulation driven gear  6324  is attached to a splined shifter shaft  6330  that is rotatably supported on the tool mounting plate  6202 . The articulation driven gear  6324  is in meshing engagement with the articulation drive gear  6322  as shown. Thus, rotation of the articulation drive gear  6322  will result in the rotation of the shaft  6330 . In various forms, a shifter driven gear assembly  6340  is movably supported on the splined portion  6332  of the shifter shaft  6330 . 
     In various embodiments, the shifter driven gear assembly  6340  includes a driven shifter gear  6342  that is attached to a shifter plate  6344 . The shifter plate  6344  operably interfaces with a shifter solenoid assembly  6350 . The shifter solenoid assembly  6350  is coupled to corresponding pins  6352  by conductors  6352 . See  FIG. 133 . Pins  6352  are oriented to electrically communicate with slots  1258  ( FIG. 27 ) on the tool side  1244  of the adaptor  1240 . Such arrangement serves to electrically couple the shifter solenoid assembly  6350  to the robotic controller  1001 . Thus, activation of the shifter solenoid  6350  will shift the shifter driven gear assembly  6340  on the splined portion  6332  of the shifter shaft  6330  as represented by arrow “S” in  FIGS. 133 and 134 . Various embodiments of the articulation gear train  6300  further include a horizontal gear assembly  6360  that includes a first horizontal drive gear  6362  that is mounted on a shaft  6361  that is rotatably attached to the tool mounting plate  6202 . The first horizontal drive gear  6362  is supported in meshing engagement with a second horizontal drive gear  6364 . As can be seen in  FIG. 134 , the horizontal driven gear  6182  is in meshing engagement with the distal face portion  6365  of the second horizontal driven gear  6364 . 
     Various embodiments of the articulation gear train  6300  further include a vertical gear assembly  6370  that includes a first vertical drive gear  6372  that is mounted on a shaft  6371  that is rotatably supported on the tool mounting plate  6202 . The first vertical drive gear  6372  is supported in meshing engagement with a second vertical drive gear  6374  that is concentrically supported with the second horizontal drive gear  6364 . The second vertical drive gear  6374  is rotatably supported on the proximal spine portion  6110  for travel therearound. The second horizontal drive gear  6364  is rotatably supported on a portion of said second vertical drive gear  6374  for independent rotatable travel thereon. As can be seen in  FIG. 134 , the vertical driven gear  6192  is in meshing engagement with the distal face portion  6375  of the second vertical driven gear  6374 . 
     In various forms, the first horizontal drive gear  6362  has a first diameter and the first vertical drive gear  6372  has a second diameter. As can be seen in  FIGS. 133 and 134 , the shaft  6361  is not on a common axis with shaft  6371 . That is, the first horizontal driven gear  6362  and the first vertical driven gear  6372  do not rotate about a common axis. Thus, when the shifter gear  6342  is positioned in a center “locking” position such that the shifter gear  6342  is in meshing engagement with both the first horizontal driven gear  6362  and the first vertical drive gear  6372 , the components of the articulation system  6140  are locked in position. Thus, the shiftable shifter gear  6342  and the arrangement of first horizontal and vertical drive gears  6362 ,  6372  as well as the articulation shifter assembly  6320  collectively may be referred to as an articulation locking system, generally designated as  6380 . 
     In use, the robotic controller  1001  of the robotic system  1000  may control the articulation system  6140  as follows. To articulate the end effector  6012  to the left about the first tool articulation axis TA 1 -TA 1 , the robotic controller  1001  activates the shifter solenoid assembly  6350  to bring the shifter gear  6342  into meshing engagement with the first horizontal drive gear  6362 . Thereafter, the controller  1001  causes a first rotary output motion to be applied to the articulation drive gear  6322  to drive the shifter gear in a first direction to ultimately drive the horizontal driven gear  6182  in another first direction. The horizontal driven gear  6182  is driven to pivot the articulation ring  6164  on the ball-shaped portion  6162  to thereby pull right upper cable  6144  and the right lower cable  6146  in the proximal direction “PD”. To articulate the end effector  6012  to the right about the first tool articulation axis TA 1 -TA 1 , the robotic controller  1001  activates the shifter solenoid assembly  6350  to bring the shifter gear  6342  into meshing engagement with the first horizontal drive gear  6362 . Thereafter, the controller  1001  causes the first rotary output motion in an opposite direction to be applied to the articulation drive gear  6322  to drive the shifter gear  6342  in a second direction to ultimately drive the horizontal driven gear  6182  in another second direction. Such actions result in the articulation control ring  6164  moving in such a manner as to pull the left upper cable  6150  and the left lower cable  6152  in the proximal direction “PD”. In various embodiments the gear ratios and frictional forces generated between the gears of the vertical gear assembly  6370  serve to prevent rotation of the vertical driven gear  6192  as the horizontal gear assembly  6360  is actuated. 
     To articulate the end effector  6012  in the upper direction about the second tool articulation axis TA 2 -TA 2 , the robotic controller  1001  activates the shifter solenoid assembly  6350  to bring the shifter gear  6342  into meshing engagement with the first vertical drive gear  6372 . Thereafter, the controller  1001  causes the first rotary output motion to be applied to the articulation drive gear  6322  to drive the shifter gear  6342  in a first direction to ultimately drive the vertical driven gear  6192  in another first direction. The vertical driven gear  6192  is driven to pivot the articulation ring  6164  on the ball-shaped portion  6162  of the proximal spine portion  6110  to thereby pull right upper cable  6144  and the left upper cable  6150  in the proximal direction “PD”. To articulate the end effector  6012  in the downward direction about the second tool articulation axis TA 2 -TA 2 , the robotic controller  1001  activates the shifter solenoid assembly  6350  to bring the shifter gear  6342  into meshing engagement with the first vertical drive gear  6372 . Thereafter, the controller  1001  causes the first rotary output motion to be applied in an opposite direction to the articulation drive gear  6322  to drive the shifter gear  6342  in a second direction to ultimately drive the vertical driven gear  6192  in another second direction. Such actions thereby cause the articulation control ring  6164  to pull the right lower cable  6146  and the left lower cable  6152  in the proximal direction “PD”. In various embodiments, the gear ratios and frictional forces generated between the gears of the horizontal gear assembly  6360  serve to prevent rotation of the horizontal driven gear  6182  as the vertical gear assembly  6370  is actuated. 
     In various embodiments, a variety of sensors may communicate with the robotic controller  1001  to determine the articulated position of the end effector  6012 . Such sensors may interface with, for example, the articulation joint  6100  or be located within the tool mounting portion  6200 . For example, sensors may be employed to detect the position of the articulation control ring  6164  on the ball-shaped portion  6162  of the proximal spine portion  6110 . Such feedback from the sensors to the controller  1001  permits the controller  1001  to adjust the amount of rotation and the direction of the rotary output to the articulation drive gear  6322 . Further, as indicated above, when the shifter drive gear  6342  is centrally positioned in meshing engagement with the first horizontal drive gear  6362  and the first vertical drive gear  6372 , the end effector  6012  is locked in the articulated position. Thus, after the desired amount of articulation has been attained, the controller  1001  may activate the shifter solenoid assembly  6350  to bring the shifter gear  6342  into meshing engagement with the first horizontal drive gear  6362  and the first vertical drive gear  6372 . In alternative embodiments, the shifter solenoid assembly  6350  may be spring activated to the central locked position. 
     In use, it may be desirable to rotate the surgical end effector  6012  about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement  6204  on the tool mounting portion includes a rotational transmission assembly  6400  that is configured to receive a corresponding rotary output motion from the tool drive assembly  1010  of the robotic system  1000  and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly  6008  (and surgical end effector  6012 ) about the longitudinal tool axis LT-LT. In various embodiments, for example, a proximal end portion  6041  of the proximal closure tube  6040  is rotatably supported on the tool mounting plate  6202  of the tool mounting portion  6200  by a forward support cradle  6205  and a closure sled  6510  that is also movably supported on the tool mounting plate  6202 . In at least one form, the rotational transmission assembly  6400  includes a tube gear segment  6402  that is formed on (or attached to) the proximal end  6041  of the proximal closure tube  6040  for operable engagement by a rotational gear assembly  6410  that is operably supported on the tool mounting plate  6202 . As can be seen in  FIG. 133 , the rotational gear assembly  6410 , in at least one embodiment, comprises a rotation drive gear  6412  that is coupled to a corresponding second one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  6202  when the tool mounting portion  6200  is coupled to the tool drive assembly  1010 . See  FIG. 28 . The rotational gear assembly  6410  further comprises a first rotary driven gear  6414  that is rotatably supported on the tool mounting plate  6202  in meshing engagement with the rotation drive gear  6412 . The first rotary driven gear  6414  is attached to a drive shaft  6416  that is rotatably supported on the tool mounting plate  6202 . A second rotary driven gear  6418  is attached to the drive shaft  6416  and is in meshing engagement with tube gear segment  6402  on the proximal closure tube  6040 . Application of a second rotary output motion from the tool drive assembly  1010  of the robotic system  1000  to the corresponding driven element  1304  will thereby cause rotation of the rotation drive gear  6412 . Rotation of the rotation drive gear  6412  ultimately results in the rotation of the elongated shaft assembly  6008  (and the surgical end effector  6012 ) about the longitudinal tool axis LT-LT. It will be appreciated that the application of a rotary output motion from the tool drive assembly  1010  in one direction will result in the rotation of the elongated shaft assembly  6008  and surgical end effector  6012  about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly  6008  and surgical end effector  6012  in a second direction that is opposite to the first direction. 
     In at least one embodiment, the closure of the anvil  2024  relative to the staple cartridge  2034  is accomplished by axially moving a closure portion of the elongated shaft assembly  2008  in the distal direction “DD” on the spine assembly  2049 . As indicated above, in various embodiments, the proximal end portion  6041  of the proximal closure tube  6040  is supported by the closure sled  6510  which comprises a portion of a closure transmission, generally depicted as  6512 . As can be seen in  FIG. 133 , the proximal end portion  6041  of the proximal closure tube portion  6040  has a collar  6048  formed thereon. The closure sled  6510  is coupled to the collar  6048  by a yoke  6514  that engages an annular groove  6049  in the collar  6048 . Such arrangement serves to enable the collar  6048  to rotate about the longitudinal tool axis LT-LT while still being coupled to the closure transmission  6512 . In various embodiments, the closure sled  6510  has an upstanding portion  6516  that has a closure rack gear  6518  formed thereon. The closure rack gear  6518  is configured for driving engagement with a closure gear assembly  6520 . See  FIG. 133 . 
     In various forms, the closure gear assembly  6520  includes a closure spur gear  6522  that is coupled to a corresponding second one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  6202 . See  FIG. 28 . Thus, application of a third rotary output motion from the tool drive assembly  1010  of the robotic system  1000  to the corresponding second driven element  1304  will cause rotation of the closure spur gear  6522  when the tool mounting portion  6202  is coupled to the tool drive assembly  1010 . The closure gear assembly  6520  further includes a closure reduction gear set  6524  that is supported in meshing engagement with the closure spur gear  6522  and the closure rack gear  2106 . Thus, application of a third rotary output motion from the tool drive assembly  1010  of the robotic system  1000  to the corresponding second driven element  1304  will cause rotation of the closure spur gear  6522  and the closure transmission  6512  and ultimately drive the closure sled  6510  and the proximal closure tube  6040  axially on the proximal spine portion  6110 . The axial direction in which the proximal closure tube  6040  moves ultimately depends upon the direction in which the third driven element  1304  is rotated. For example, in response to one rotary output motion received from the tool drive assembly  1010  of the robotic system  1000 , the closure sled  6510  will be driven in the distal direction “DD” and ultimately drive the proximal closure tube  6040  in the distal direction “DD”. As the proximal closure tube  6040  is driven distally, the distal closure tube  6042  is also driven distally by virtue of it connection with the proximal closure tube  6040 . As the distal closure tube  6042  is driven distally, the end of the closure tube  6042  will engage a portion of the anvil  6024  and cause the anvil  6024  to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly  1010  of the robotic system  1000 , the closure sled  6510  and the proximal closure tube  6040  will be driven in the proximal direction “PD” on the proximal spine portion  6110 . As the proximal closure tube  6040  is driven in the proximal direction “PD”, the distal closure tube  6042  will also be driven in the proximal direction “PD”. As the distal closure tube  6042  is driven in the proximal direction “PD”, the opening  6045  therein interacts with the tab  6027  on the anvil  6024  to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil  6024  to the open position when the distal closure tube  6042  has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly  6520  are sized to generate the necessary closure forces needed to satisfactorily close the anvil  6024  onto the tissue to be cut and stapled by the surgical end effector  6012 . For example, the gears of the closure transmission  6520  may be sized to generate approximately  70 - 120  pounds of closure forces. 
     In various embodiments, the cutting instrument is driven through the surgical end effector  6012  by a knife bar  6530 . See  FIG. 133 . In at least one form, the knife bar  6530  is fabricated with a joint arrangement (not shown) and/or is fabricated from material that can accommodate the articulation of the surgical end effector  6102  about the first and second tool articulation axes while remaining sufficiently rigid so as to push the cutting instrument through tissue clamped in the surgical end effector  6012 . The knife bar  6530  extends through a hollow passage  6532  in the proximal spine portion  6110 . 
     In various embodiments, a proximal end  6534  of the knife bar  6530  is rotatably affixed to a knife rack gear  6540  such that the knife bar  6530  is free to rotate relative to the knife rack gear  6540 . The distal end of the knife bar  6530  is attached to the cutting instrument in the various manners described above. As can be seen in  FIG. 133 , the knife rack gear  6540  is slidably supported within a rack housing  6542  that is attached to the tool mounting plate  6202  such that the knife rack gear  6540  is retained in meshing engagement with a knife drive transmission portion  6550  of the transmission arrangement  6204 . In various embodiments, the knife drive transmission portion  6550  comprises a knife gear assembly  6560 . More specifically and with reference to  FIG. 133 , in at least one embodiment, the knife gear assembly  6560  includes a knife spur gear  6562  that is coupled to a corresponding fourth one of the driven discs or elements  1304  on the adapter side  1307  of the tool mounting plate  6202 . See  FIG. 28 . Thus, application of another rotary output motion from the robotic system  1000  through the tool drive assembly  1010  to the corresponding fourth driven element  1304  will cause rotation of the knife spur gear  6562 . The knife gear assembly  6560  further includes a knife gear reduction set  6564  that includes a first knife driven gear  6566  and a second knife drive gear  6568 . The knife gear reduction set  6564  is rotatably mounted to the tool mounting plate  6202 such that the firs knife driven gear  6566  is in meshing engagement with the knife spur gear  6562 . Likewise, the second knife drive gear  6568  is in meshing engagement with a third knife drive gear assembly  6570 . As shown in  FIG. 133 , the second knife driven gear  6568  is in meshing engagement with a fourth knife driven gear  6572  of the third knife drive gear assembly  6570 . The fourth knife driven gear  6572  is in meshing engagement with a fifth knife driven gear assembly  6574  that is in meshing engagement with the knife rack gear  6540 . In various embodiments, the gears of the knife gear assembly  6560  are sized to generate the forces needed to drive the cutting instrument through the tissue clamped in the surgical end effector  6012  and actuate the staples therein. For example, the gears of the knife gear assembly  6560  may be sized to generate approximately 40 to 100 pounds of driving force. It will be appreciated that the application of a rotary output motion from the tool drive assembly  1010  in one direction will result in the axial movement of the cutting instrument in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument in a proximal direction. 
     As can be appreciated from the foregoing description, the surgical tool  6000  represents a vast improvement over prior robotic tool arrangements. The unique and novel transmission arrangement employed by the surgical tool  6000  enables the tool to be operably coupled to a tool holder portion  1010  of a robotic system that only has four rotary output bodies, yet obtain the rotary output motions therefrom to: (i) articulate the end effector about two different articulation axes that are substantially transverse to each other as well as the longitudinal tool axis; (ii) rotate the end effector  6012  about the longitudinal tool axis; (iii) close the anvil  6024  relative to the surgical staple cartridge  6034  to varying degrees to enable the end effector  6012  to be used to manipulate tissue and then clamp it into position for cutting and stapling; and (iv) firing the cutting instrument to cut through the tissue clamped within the end effector  6012 . The unique and novel shifter arrangements of various embodiments of the present invention described above enable two different articulation actions to be powered from a single rotatable body portion of the robotic system. 
     The various embodiments of the present invention have been described above in connection with cutting-type surgical instruments. It should be noted, however, that in other embodiments, the inventive surgical instrument disclosed herein need not be a cutting-type surgical instrument, but rather could be used in any type of surgical instrument including remote sensor transponders. For example, it could be a non-cutting endoscopic instrument, a grasper, a stapler, a clip applier, an access device, a drug/gene therapy delivery device, an energy device using ultrasound, RF, laser, etc. In addition, the present invention may be in laparoscopic instruments, for example. The present invention also has application in conventional endoscopic and open surgical instrumentation as well as robotic-assisted surgery. 
       FIG. 135  depicts use of various aspects of certain embodiments of the present invention in connection with a surgical tool  7000  that has an ultrasonically powered end effector  7012 . The end effector  7012  is operably attached to a tool mounting portion  7100  by an elongated shaft assembly  7008 . The tool mounting portion  7100  may be substantially similar to the various tool mounting portions described hereinabove. In one embodiment, the end effector  7012  includes an ultrasonically powered jaw portion  7014  that is powered by alternating current or direct current in a known manner. Such ultrasonically-powered devices are disclosed, for example, in U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, the entire disclosure of which is herein incorporated by reference. In the illustrated embodiment, a separate power cord  7020  is shown. It will be understood, however, that the power may be supplied thereto from the robotic controller  1001  through the tool mounting portion  7100 . The surgical end effector  7012  further includes a movable jaw  7016  that may be used to clamp tissue onto the ultrasonic jaw portion  7014 . The movable jaw portion  7016  may be selectively actuated by the robotic controller  1001  through the tool mounting portion  7100  in anyone of the various manners herein described. 
       FIG. 136  illustrates use of various aspects of certain embodiments of the present invention in connection with a surgical tool  8000  that has an end effector  8012  that comprises a linear stapling device. The end effector  8012  is operably attached to a tool mounting portion  8100  by an elongated shaft assembly  3700  of the type and construction describe above. However, the end effector  8012  may be attached to the tool mounting portion  8100  by a variety of other elongated shaft assemblies described herein. In one embodiment, the tool mounting portion  8100  may be substantially similar to tool mounting portion  3750 . However, various other tool mounting portions and their respective transmission arrangements describe in detail herein may also be employed. Such linear stapling head portions are also disclosed, for example, in U.S. Pat. No. 7,673,781, entitled SURGICAL STAPLING DEVICE WITH STAPLE DRIVER THAT SUPPORTS MULTIPLE-WIRE DIAMETER STAPLES, the entire disclosure of which is herein incorporated by reference. 
     Various sensor embodiments described in U.S. Patent Application Publication No. 2011/0062212, now U.S. Pat. No. 8,167,185, the disclosure of which is herein incorporated by reference in its entirety, may be employed with many of the surgical tool embodiments disclosed herein. As was indicated above, the master controller  1001  generally includes master controllers (generally represented by  1003 ) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display  1002 . See  FIG. 1 . The master controllers  1001  are manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating the surgical tools. Some of the surgical tool embodiments disclosed herein employ a motor or motors in their tool drive portion to supply various control motions to the tool&#39;s end effector. Such embodiments may also obtain additional control motion(s) from the motor arrangement employed in the robotic system components. Other embodiments disclosed herein obtain all of the control motions from motor arrangements within the robotic system. 
     Such motor powered arrangements may employ various sensor arrangements that are disclosed in the published U.S. patent application cited above to provide the surgeon with a variety of forms of feedback without departing from the spirit and scope of the present invention. For example, those master controller arrangements  1003  that employ a manually actuatable firing trigger can employ run motor sensor(s) (not shown) to provide the surgeon with feedback relating to the amount of force applied to or being experienced by the cutting member. The run motor sensor(s) may be configured for communication with the firing trigger portion to detect when the firing trigger portion has been actuated to commence the cutting/stapling operation by the end effector. The run motor sensor may be a proportional sensor such as, for example, a rheostat or variable resistor. When the firing trigger is drawn in, the sensor detects the movement, and sends an electrical signal indicative of the voltage (or power) to be supplied to the corresponding motor. When the sensor is a variable resistor or the like, the rotation of the motor may be generally proportional to the amount of movement of the firing trigger. That is, if the operator only draws or closes the firing trigger in a small amount, the rotation of the motor is relatively low. When the firing trigger is fully drawn in (or in the fully closed position), the rotation of the motor is at its maximum. In other words, the harder the surgeon pulls on the firing trigger, the more voltage is applied to the motor causing greater rates of rotation. Other arrangements may provide the surgeon with a feed back meter  1005  that may be viewed through the display  1002  and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic clamping member. Other sensor arrangements may be employed to provide the master controller  1001  with an indication as to whether a staple cartridge has been loaded into the end effector, whether the anvil has been moved to a closed position prior to firing, etc. 
     In alternative embodiments, a motor-controlled interface may be employed in connection with the controller  1001  that limit the maximum trigger pull based on the amount of loading (e.g., clamping force, cutting force, etc.) experienced by the surgical end effector. For example, the harder it is to drive the cutting instrument through the tissue clamped within the end effector, the harder it would be to pull/actuate the activation trigger. In still other embodiments, the trigger on the controller  1001  is arranged such that the trigger pull location is proportionate to the end effector-location/condition. For example, the trigger is only fully depressed when the end effector is fully fired. 
     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, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. 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. 
     Although the present invention has been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. For example, different types of end effectors may be employed. Also, where materials are disclosed for certain components, other materials may be used. The foregoing description and following claims are intended to cover all such modification and variations. 
     Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.