Patent Publication Number: US-2022233257-A1

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

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. 16/840,534, entitled METHOD FOR DETERMINING THE POSITION OF A ROTATABLE JAW OF A SURGICAL INSTRUMENT ATTACHMENT ASSEMBLY, filed Apr. 6, 2020, now U.S. Patent Application Publication No. 2020/0297438, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 15/847,306, entitled METHOD FOR DETERMINING THE POSITION OF A ROTATABLE JAW OF A SURGICAL INSTRUMENT ATTACHMENT ASSEMBLY, filed Dec. 19, 2017, which issued on Nov. 17, 2020 as U.S. Pat. No. 10,835,330, the entire disclosures of which are hereby incorporated by reference herein. 
    
    
     BACKGROUND 
     The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows: 
         FIG. 1  is a perspective view of an example of one form of robotic controller according to one aspect of this disclosure; 
         FIG. 2  is a perspective view of an example of one form of robotic surgical arm cart/manipulator of a robotic surgical system operably supporting a plurality of surgical tool according to one aspect of this disclosure; 
         FIG. 3  is a side view of the robotic surgical arm cart/manipulator depicted in  FIG. 2  according to one aspect of this disclosure; 
         FIG. 4  is a rear perspective view of a surgical tool embodiment according to one aspect of this disclosure; 
         FIG. 5  is a perspective view of a distal portion of the surgical tool of  FIG. 4  in an articulated position with the anvil thereof in an open position; 
         FIG. 6  is an exploded assembly perspective view of a distal portion of the surgical tool of  FIGS. 4 and 5 ; 
         FIG. 7  is a cross-sectional perspective view of a portion of an elongate shaft assembly of the surgical tool of  FIGS. 4-6 ; 
         FIG. 8  is a rear perspective view of a portion of a surgical end effector and articulation joint of the surgical tool of  FIGS. 4-7 ; 
         FIG. 9  is a cross-sectional top view of portions of the surgical end effector and elongate shaft assembly of the surgical tool of  FIGS. 4-8 ; 
         FIG. 10  is a top view of portions of an articulation system and the surgical end effector of the surgical tool of  FIGS. 4-9  wherein the surgical end effector is in an articulated configuration; 
         FIG. 11  is another top view of portions of the articulation system and the surgical end effector of the surgical tool of  FIGS. 4-10  wherein the surgical end effector is in an unarticulated configuration; 
         FIG. 12  is another top view of portions of the articulation system and the surgical end effector of the surgical tool of  FIGS. 4-11  wherein the surgical end effector is in an unarticulated configuration; 
         FIG. 13  is another top view of portions of the articulation system and the surgical end effector of the surgical tool of  FIGS. 4-12  wherein the surgical end effector has been articulated to the left; 
         FIG. 14  is another top view of portions of the articulation system and the surgical end effector of the surgical tool of  FIGS. 4-13  wherein the surgical end effector has been articulated to the right; 
         FIG. 15  is another top view of portions of the articulation system and the surgical end effector of the surgical tool of  FIGS. 4-14  wherein the surgical end effector has been articulated to the left; 
         FIG. 16  is a perspective view of a portion of the elongate shaft assembly of the surgical tool of  FIGS. 4-15  with the proximal coupler portions thereof in their respective neutral coupling positions; 
         FIG. 17  is a cross-sectional side view of a portion of the elongate shaft assembly of  FIG. 16 ; 
         FIG. 18  is a perspective view of a proximal end portion of the surgical tool of  FIGS. 4-15 ; 
         FIG. 19  is a cross-sectional side view of the proximal portion of the surgical tool of  FIG. 18 ; 
         FIG. 20  is a side elevational view of a proximal end of the elongate shaft assembly of  FIGS. 16 and 17  and a spacing lock embodiment shown in cross-section and in a locked position; 
         FIG. 21  is a cross-sectional end view of the elongate shaft assembly and spacing lock of  FIG. 20  taken along line  21 - 21  in  FIG. 20 ; 
         FIG. 22  is an exploded side assembly view of a portion of a surgical tool and a controller interface comprising a handheld surgical system; 
         FIG. 23  is an exploded perspective assembly view of the surgical tool and handheld surgical system of  FIG. 22 ; 
         FIG. 24  is a cross-sectional view of a proximal portion of the surgical tool attached to the handheld surgical system of  FIGS. 22 and 23 ; 
         FIG. 25  is another cross-sectional view of a portion of the surgical tool and handheld surgical system of  FIG. 24 ; 
         FIG. 26  is a side elevational view of a proximal end of the elongate shaft assembly and spacing lock of  FIG. 20  with the spacing lock shown in cross-section and in an unlocked position; 
         FIG. 27  is a cross-sectional end view of the elongate shaft assembly and spacing lock of  FIG. 26  taken along line  27 - 27  in  FIG. 26 ; 
         FIG. 28  is an exploded perspective assembly view of a portion of the surgical tool of  FIGS. 4-15  and a second controller interface comprising a tool holder portion of a robotically-controlled system according to one aspect of this disclosure; 
         FIG. 29  is a cross-sectional view of a portion of the surgical tool of  FIG. 28  attached to the tool holder portion of  FIG. 28 ; 
         FIG. 30  is a perspective view of a surgical instrument assembly comprising a sterile adapter, a control assembly, and a shaft assembly; 
         FIG. 31  is a bottom perspective view of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 32  is a bottom plan view of the sterile adapter of the surgical instrument assembly of  FIG. 30 , wherein the sterile adapter comprises a plurality of drive inputs; 
         FIG. 33  is a partially exploded view of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 34  is perspective view of the sterile adapter and the control assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 35  is a partial cross-sectional view of the control assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 36  is a cross-sectional view of the control assembly and the sterile adapter of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 37  is a perspective view of the control assembly of the surgical instrument assembly of  FIG. 30  with various components removed for the purpose of illustration; 
         FIG. 38  is a perspective view of the shaft assembly and various components of the control assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 39  is a detailed view of the shaft assembly and articulation drive components of the control assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 40  is a partially exploded view of the control assembly and the sterile adapter of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 41  is a partial, cross-sectional perspective view of a portion of the shaft assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 42  is a detailed view of articulation drivers of the control assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 43  is a perspective view of the shaft assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 44  is a partial perspective view of the shaft assembly of the surgical instrument assembly of  FIG. 30  and various components of an articulation drive system of the control assembly illustrated with some components removed for the purpose of illustration; 
         FIG. 45  is a partial plan view of the surgical instrument assembly of  FIG. 30  highlighting various components within the surgical instrument assembly of  FIG. 30 ; 
         FIG. 46  is a partial plan view of the surgical instrument assembly of  FIG. 30  highlighting various components within the surgical instrument assembly of  FIG. 30 ; 
         FIG. 47  is a plan view of the shaft assembly of the surgical instrument assembly of  FIG. 30  illustrated in an unarticulated configuration; 
         FIG. 48  is a plan view of the shaft assembly of the surgical instrument assembly of  FIG. 30  illustrated in a first articulated configuration; 
         FIG. 49  is a plan view of the shaft assembly of the surgical instrument assembly of  FIG. 30  illustrated in a second unarticulated configuration; 
         FIG. 50  is a partial perspective view of the surgical instrument assembly of  FIG. 30  illustrated with some components removed for the purpose of illustration; 
         FIG. 51  is a detailed view of the shaft assembly and articulation drive components of the control assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 52  is a partial perspective view of the surgical instrument assembly of  FIG. 30  illustrated with some components removed for the purpose of illustration; 
         FIG. 53  is a plan view of the bottom of a closure drive system of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 54  is a perspective view of the bottom of the closure drive system of  FIG. 53 ; 
         FIG. 55  is a partial cross-sectional view of a spiral cam gear and a closure body pin of the closure drive system of  FIG. 53  illustrated in a fully unclamped configuration; 
         FIG. 56  is a partial cross-sectional view of the spiral cam gear and the closure body pin of the closure drive system of  FIG. 55  illustrated in a partially clamped configuration; 
         FIG. 57  is a partial cross-sectional view of the spiral cam gear and the closure body pin of the closure drive system of  FIG. 55  illustrated in a fully clamped configuration; 
         FIG. 58  is an elevational view of the closure drive system of  FIG. 53  illustrated in the fully unclamped configuration of  FIG. 55 ; 
         FIG. 59  is an elevational view of the closure drive system of  FIG. 53  illustrated in the fully clamped configuration of  FIG. 57 ; 
         FIG. 60  is a perspective view of a firing drive lock system of the surgical instrument assembly of  FIG. 30  illustrated in a locked state; 
         FIG. 61  is a perspective view of the firing drive lock system of  FIG. 60  illustrated in an unlocked state; 
         FIG. 62  is a top view of the firing drive lock system of  FIG. 60  illustrated in the locked state; 
         FIG. 63  is a top view of the firing drive lock system of  FIG. 60  illustrated in the unlocked state; 
         FIG. 64  is a partial cross-sectional view of the control assembly, the firing drive lock of  FIG. 60 , and the firing drive system of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 65  is a partial perspective view of a closure and firing lock system of the shaft assembly of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 66  is an exploded view of the dual closure and firing lock system of  FIG. 65 ; 
         FIG. 67  is a partial cross-sectional view of the dual closure and firing lock system of  FIG. 65  illustrated in configuration where a firing rod of the shaft assembly is locked; 
         FIG. 68  is a partial cross-sectional view of the dual closure and firing lock system of  FIG. 65  illustrated in a configuration where the firing rod of  FIG. 67  is unlocked; 
         FIG. 69  is a partial cross-sectional view of the dual closure and firing lock system of  FIG. 65  illustrated in a configuration where the firing rod of  FIG. 67  is unlocked and partially advanced and a closure tube of the shaft assembly is locked; 
         FIG. 70  is a perspective view of the control assembly and the sterile adapter of the surgical instrument assembly of  FIG. 30 , wherein the control assembly comprises a manually-operated closure drive actuator; 
         FIG. 71  is a perspective view of a firing bailout of the surgical instrument assembly of  FIG. 30  illustrated with some components removed for the purpose of illustration; 
         FIG. 72  is a perspective view of the closure drive system of the  FIG. 53 , wherein the closure drive system comprises a closure drive bailout; 
         FIG. 73  is an elevational view of the closure drive system of  FIG. 53 , wherein the closure drive bailout is illustrated in a partially bailed out configuration; 
         FIG. 74  is an elevational view of the closure drive system of  FIG. 53 , wherein the closure drive bailout is illustrated in a fully bailed out configuration; 
         FIG. 75  is a partial elevational view of the surgical instrument assembly of  FIG. 30  illustrated with some components removed for the purpose of illustration; 
         FIG. 76  is a cross-sectional view of the surgical instrument assembly of  FIG. 30  taken along line  76 - 76  in  FIG. 75 ; 
         FIG. 77  is a cross-sectional view of the surgical instrument assembly of  FIG. 30 , wherein the closure drive bailout of  FIG. 72  is illustrated in the fully bailed out configuration; 
         FIG. 78  is a plan view of a closure drive system comprising two different drive input arrangements and a spiral cam gear; 
         FIG. 79  is a perspective view of the closure drive system of  FIG. 78 ; 
         FIG. 80  is a plan view of a closure drive system comprising two different drive input arrangements and a spiral cam gear; 
         FIG. 81  is a perspective view of the closure drive system of  FIG. 80 ; 
         FIG. 82  is a graph representing a cam-gear-output-based closure drive system utilizing dissimilar drive input arrangements; 
         FIG. 83  is a graph representing a relationship between an angle of a cam gear output and a difference in angles of the dissimilar drive input arrangements of  FIG. 82 ; 
         FIG. 84  is a perspective view of a closure drive system utilizing various components of the closure drive system of the surgical instrument assembly of  FIG. 30 ; 
         FIG. 85  is a perspective view of the closure drive system of  FIG. 84 ; and 
         FIG. 86  is a plan view of the bottom of the closure drive system of  FIG. 84 . 
     
    
    
     Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner. 
     DETAILED DESCRIPTION 
     Applicant of the present application owns the following U.S. patent applications that were filed on Dec. 19, 2017 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/847,297, entitled SURGICAL INSTRUMENTS WITH DUAL ARTICULATION DRIVERS, now U.S. Patent Application Publication No. 2019/0183504; 
     U.S. patent application Ser. No. 15/847,325, entitled SURGICAL TOOLS CONFIGURED FOR INTERCHANGEABLE USE WITH DIFFERENT CONTROLLER INTERFACES, now U.S. Patent Application Publication No. 2019/0183491; 
     U.S. patent application Ser. No. 15/847,293, entitled SURGICAL INSTRUMENT COMPRISING CLOSURE AND FIRING LOCKING MECHANISM; now U.S. Patent Application Publication No. 2019/0183597; 
     U.S. patent application Ser. No. 15/847,315, entitled ROBOTIC ATTACHMENT COMPRISING EXTERIOR DRIVE ACTUATOR, now U.S. Patent Application Publication No. 2019/0183594; and 
     U.S. Design patent application Ser. No. 29/630,115, entitled SURGICAL INSTRUMENT ASSEMBLY. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Dec. 15, 2017 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/843,485, entitled SEALED ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2019/0183492; 
     U.S. patent application Ser. No. 15/843,518, entitled END EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR USE WITH ADAPTERS FOR ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2019/0183496; 
     U.S. patent application Ser. No. 15/843,535, entitled SURGICAL END EFFECTORS WITH CLAMPING ASSEMBLIES CONFIGURED TO INCREASE JAW APERTURE RANGES, now U.S. Patent Application Publication No. 2019/0183498; 
     U.S. patent application Ser. No. 15/843,558, entitled SURGICAL END EFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCH AT THEIR RESPECTIVE DISTAL ENDS WHEN FULLY CLOSED, now U.S. Patent Application Publication No. 2019/0183499; 
     U.S. patent application Ser. No. 15/843,528, entitled SURGICAL END EFFECTORS WITH JAW STIFFENER ARRANGEMENTS CONFIGURED TO PERMIT MONITORING OF FIRING MEMBER, now U.S. Patent Application Publication No. 2019/0183497; 
     U.S. patent application Ser. No. 15/843,567, entitled ADAPTERS WITH END EFFECTOR POSITION SENSING AND CONTROL ARRANGEMENTS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2019/0183500; 
     U.S. patent application Ser. No. 15/843,556, entitled DYNAMIC CLAMPING ASSEMBLIES WITH IMPROVED WEAR CHARACTERISTICS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2019/0183490; 
     U.S. patent application Ser. No. 15/843,514, entitled ADAPTERS WITH FIRING STROKE SENSING ARRANGEMENTS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2019/0183495; 
     U.S. patent application Ser. No. 15/843,501, entitled ADAPTERS WITH CONTROL SYSTEMS FOR CONTROLLING MULTIPLE MOTORS OF AN ELECTROMECHANICAL SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0183493; 
     U.S. patent application Ser. No. 15/843,508, entitled HANDHELD ELECTROMECHANICAL SURGICAL INSTRUMENTS WITH IMPROVED MOTOR CONTROL ARRANGEMENTS FOR POSITIONING COMPONENTS OF AN ADAPTER COUPLED THERETO, now U.S. Patent Application Publication No. 2019/0183494; 
     U.S. patent application Ser. No. 15/843,682, entitled SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER FIRING RATE OF A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0183501; 
     U.S. patent application Ser. No. 15/843,689, entitled SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER, now U.S. Patent Application Publication No. 2019/0183502; and 
     U.S. patent application Ser. No. 15/843,704, entitled METHODS OF OPERATING SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2019/0183503. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 29, 2017 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0000446; 
     U.S. patent application Ser. No. 15/636,837, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0000565; 
     U.S. patent application Ser. No. 15/636,844, entitled CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT, now U.S. Pat. No. 10,398,434; 
     U.S. patent application Ser. No. 15/636,854, entitled ROBOTIC SURGICAL INSTRUMENT WITH CLOSED LOOP FEEDBACK TECHNIQUES FOR ADVANCEMENT OF CLOSURE MEMBER DURING FIRING, now U.S. Patent Application Publication No. 2019/0000448; and 
     U.S. patent application Ser. No. 15/636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES, now U.S. Pat. No. 10,258,418. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 28, 2017 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/635,693, entitled SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT, now U.S. Patent Application Publication No. 2019/0000466; 
     U.S. patent application Ser. No. 15/635,729, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO, now U.S. Patent Application Publication No. 2019/0000467; 
     U.S. patent application Ser. No. 15/635,785, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO, now U.S. Patent Application Publication No. 2019/0000469; 
     U.S. patent application Ser. No. 15/635,808, entitled SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS, now U.S. Patent Application Publication No. 2019/0000471; 
     U.S. patent application Ser. No. 15/635,837, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME, now U.S. Patent Application Publication No. 2019/0000472; 
     U.S. patent application Ser. No. 15/635,941, entitled SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM, now U.S. Patent Application Publication No. 2019/0000473; 
     U.S. patent application Ser. No. 15/636,029, entitled SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT, now U.S. Patent Application Publication No. 2019/0000477; 
     U.S. patent application Ser. No. 15/635,958, entitled SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS, now U.S. Patent Application Publication No. 2019/0000474; 
     U.S. patent application Ser. No. 15/635,981, entitled SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES, now U.S. Patent Application Publication No. 2019/0000475; 
     U.S. patent application Ser. No. 15/636,009, entitled SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE, now U.S. Patent Application Publication No. 2019/0000476; 
     U.S. patent application Ser. No. 15/635,663, entitled METHOD FOR ARTICULATING A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0000465; 
     U.S. patent application Ser. No. 15/635,530, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS, now U.S. Patent Application Publication No. 2019/0000457; 
     U.S. patent application Ser. No. 15/635,549, entitled SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING, now U.S. Pat. No. 10,588,633; 
     U.S. patent application Ser. No. 15/635,559, entitled SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOT AXIS, now U.S. Patent Application Publication No. 2019/0000459; 
     U.S. patent application Ser. No. 15/635,578, entitled SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS, now U.S. Patent Application Publication No. 2019/0000460; 
     U.S. patent application Ser. No. 15/635,594, entitled SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT, now U.S. Patent Application Publication No. 2019/0000461; 
     U.S. patent application Ser. No. 15/635,612, entitled JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW, now U.S. Patent Application Publication No. 2019/0000462; 
     U.S. patent application Ser. No. 15/635,621, entitled SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES, now U.S. Patent Application Publication No. 2019/0000463; 
     U.S. patent application Ser. No. 15/635,631, entitled SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, now U.S. Patent Application Publication No. 2019/0000464; 
     U.S. patent application Ser. No. 15/635,521, entitled SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT, now U.S. Patent Application Publication No. 2019/0000456; 
     U.S. Design patent application Ser. No. 29/609,087, entitled STAPLE FORMING ANVIL, now U.S. Design Pat. No. D851,087; 
     U.S. Design patent application Ser. No. 29/609,083, entitled SURGICAL INSTRUMENT SHAFT, now U.S. Design Pat. No. D854,151; and 
     U.S. Design patent application Ser. No. 29/609,093, entitled SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D869,655. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 27, 2017 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/634,024, entitled SURGICAL ANVIL MANUFACTURING METHODS, now U.S. Patent Application Publication No. 2018/0368839; 
     U.S. patent application Ser. No. 15/634,035, entitled SURGICAL ANVIL ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0368840; 
     U.S. patent application Ser. No. 15/634,046, entitled SURGICAL ANVIL ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0368841; 
     U.S. patent application Ser. No. 15/634,054, entitled SURGICAL ANVIL ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0368842; 
     U.S. patent application Ser. No. 15/634,068, entitled SURGICAL FIRING MEMBER ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0368843; 
     U.S. patent application Ser. No. 15/634,076, entitled STAPLE FORMING POCKET ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0368844; 
     U.S. patent application Ser. No. 15/634,090, entitled STAPLE FORMING POCKET ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0368845; 
     U.S. patent application Ser. No. 15/634,099, entitled SURGICAL END EFFECTORS AND ANVILS, now U.S. Patent Application Publication No. 2018/0368846; and 
     U.S. patent application Ser. No. 15/634,117, entitled ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0368847. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Dec. 21, 2016 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/386,185, entitled SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF, now U.S. Patent Application Publication No. 2018/0168642; 
     U.S. patent application Ser. No. 15/386,230, entitled ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168649; 
     U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2018/0168646; 
     U.S. patent application Ser. No. 15/386,209, entitled SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF, now U.S. Pat. No. 10,588,632; 
     U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES, now U.S. Pat. No. 10,610,224; 
     U.S. patent application Ser. No. 15/386,240, entitled SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, now U.S. Patent Application Publication No. 2018/0168651; 
     U.S. patent application Ser. No. 15/385,939, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018/0168629; 
     U.S. patent application Ser. No. 15/385,941, entitled SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168630; 
     U.S. patent application Ser. No. 15/385,943, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018/0168631; 
     U.S. patent application Ser. No. 15/385,950, entitled SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now U.S. Pat. No. 10,588,630; 
     U.S. patent application Ser. No. 15/385,945, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Patent Application Publication No. 2018/0168632; 
     U.S. patent application Ser. No. 15/385,946, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018/0168633; 
     U.S. patent application Ser. No. 15/385,951, entitled SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE, now U.S. Pat. No. 10,568,626; 
     U.S. patent application Ser. No. 15/385,953, entitled METHODS OF STAPLING TISSUE, now U.S. Patent Application Publication No. 2018/0168637; 
     U.S. patent application Ser. No. 15/385,954, entitled FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2018/0168638; 
     U.S. patent application Ser. No. 15/385,955, entitled SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now U.S. Patent Application Publication No. 2018/0168639; 
     U.S. patent application Ser. No. 15/385,948, entitled SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent Application Publication No. 2018/0168584; 
     U.S. patent application Ser. No. 15/385,956, entitled SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now U.S. Pat. No. 10,588,631; 
     U.S. patent application Ser. No. 15/385,958, entitled SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT, now U.S. Patent Application Publication No. 2018/0168641; 
     U.S. patent application Ser. No. 15/385,947, entitled STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN, now U.S. Pat. No. 10,568,625; 
     U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now U.S. Patent Application Publication No. 2018/0168597; 
     U.S. patent application Ser. No. 15/385,898, entitled STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES, now U.S. Pat. No. 10,537,325; 
     U.S. patent application Ser. No. 15/385,899, entitled SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now U.S. Patent Application Publication No. 2018/0168600; 
     U.S. patent application Ser. No. 15/385,901, entitled STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN, now U.S. Patent Application Publication No. 2018/0168602; 
     U.S. patent application Ser. No. 15/385,902, entitled SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER, now U.S. Patent Application Publication No. 2018/0168603; 
     U.S. patent application Ser. No. 15/385,904, entitled STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No. 2018/0168605; 
     U.S. patent application Ser. No. 15/385,905, entitled FIRING ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application Publication No. 2018/0168606; 
     U.S. patent application Ser. No. 15/385,907, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication No. 2018/0168608; 
     U.S. patent application Ser. No. 15/385,908, entitled FIRING ASSEMBLY COMPRISING A FUSE, now U.S. Patent Application Publication No. 2018/0168609; 
     U.S. patent application Ser. No. 15/385,909, entitled FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now U.S. Patent Application Publication No. 2018/0168610; 
     U.S. patent application Ser. No. 15/385,920, entitled STAPLE FORMING POCKET ARRANGEMENTS, now U.S. Pat. No. 10,499,914; 
     U.S. patent application Ser. No. 15/385,913, entitled ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS, now U.S. Patent Application Publication No. 2018/0168614; 
     U.S. patent application Ser. No. 15/385,914, entitled METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT, now U.S. Patent Application Publication No. 2018/0168615; 
     U.S. patent application Ser. No. 15/385,893, entitled BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS, now U.S. Patent Application Publication No. 2018/0168594; 
     U.S. patent application Ser. No. 15/385,929, entitled CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168626; 
     U.S. patent application Ser. No. 15/385,911, entitled SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No. 10,448,950; 
     U.S. patent application Ser. No. 15/385,927, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, now U.S. Patent Application Publication No. 2018/0168625; 
     U.S. patent application Ser. No. 15/385,917, entitled STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS, now U.S. Patent Application Publication No. 2018/0168617; 
     U.S. patent application Ser. No. 15/385,900, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS, now U.S. Patent Application Publication No. 2018/0168601; 
     U.S. patent application Ser. No. 15/385,931, entitled NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS, now U.S. Patent Application Publication No. 2018/0168627; 
     U.S. patent application Ser. No. 15/385,915, entitled FIRING MEMBER PIN ANGLE, now U.S. Patent Application Publication No. 2018/0168616; 
     U.S. patent application Ser. No. 15/385,897, entitled STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES, now U.S. Patent Application Publication No. 2018/0168598; 
     U.S. patent application Ser. No. 15/385,922, entitled SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now U.S. Pat. No. 10,426,471; 
     U.S. patent application Ser. No. 15/385,924, entitled SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now U.S. Patent Application Publication No. 2018/0168624; 
     U.S. patent application Ser. No. 15/385,912, entitled SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S. Pat. No. 10,568,624; 
     U.S. patent application Ser. No. 15/385,910, entitled ANVIL HAVING A KNIFE SLOT WIDTH, now U.S. Pat. No. 10,485,543; 
     U.S. patent application Ser. No. 15/385,906, entitled FIRING MEMBER PIN CONFIGURATIONS, now U.S. Patent Application Publication No. 2018/0168607; 
     U.S. patent application Ser. No. 15/386,188, entitled STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Pat. No. 10,537,324; 
     U.S. patent application Ser. No. 15/386,192, entitled STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES, now U.S. Patent Application Publication No. 2018/0168643; 
     U.S. patent application Ser. No. 15/386,206, entitled STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now U.S. Patent Application Publication No. 2018/0168586; 
     U.S. patent application Ser. No. 15/386,226, entitled DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168648; 
     U.S. patent application Ser. No. 15/386,222, entitled SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES, now U.S. Patent Application Publication No. 2018/0168647; 
     U.S. patent application Ser. No. 15/386,236, entitled CONNECTION PORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168650; 
     U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT, now U.S. Patent Application Publication No. 2018/0168589; 
     U.S. patent application Ser. No. 15/385,889, entitled SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2018/0168590; 
     U.S. patent application Ser. No. 15/385,890, entitled SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS, now U.S. Patent Application Publication No. 2018/0168591; 
     U.S. patent application Ser. No. 15/385,891, entitled SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, now U.S. Patent Application Publication No. 2018/0168592; 
     U.S. patent application Ser. No. 15/385,892, entitled SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now U.S. Patent Application Publication No. 2018/0168593; 
     U.S. patent application Ser. No. 15/385,894, entitled SHAFT ASSEMBLY COMPRISING A LOCKOUT, now U.S. Pat. No. 10,492,785; 
     U.S. patent application Ser. No. 15/385,895, entitled SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now U.S. Pat. No. 10,542,982; 
     U.S. patent application Ser. No. 15/385,916, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168575; 
     U.S. patent application Ser. No. 15/385,918, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168618; 
     U.S. patent application Ser. No. 15/385,919, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168619; 
     U.S. patent application Ser. No. 15/385,921, entitled SURGICAL STAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES; 
     U.S. patent application Ser. No. 15/385,923, entitled SURGICAL STAPLING SYSTEMS, now U.S. Patent Application Publication No. 2018/0168621; 
     U.S. patent application Ser. No. 15/385,925, entitled JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now U.S. Pat. No. 10,517,595; 
     U.S. patent application Ser. No. 15/385,926, entitled AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2018/0168577; 
     U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2018/0168578; 
     U.S. patent application Ser. No. 15/385,930, entitled SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS, now U.S. Patent Application Publication No. 2018/0168579; 
     U.S. patent application Ser. No. 15/385,932, entitled ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT, now U.S. Patent Application Publication No. 2018/0168628; 
     U.S. patent application Ser. No. 15/385,933, entitled ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK, now U.S. Pat. No. 10,603,036; 
     U.S. patent application Ser. No. 15/385,934, entitled ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM, now U.S. Pat. No. 10,582,928; 
     U.S. patent application Ser. No. 15/385,935, entitled LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION, now U.S. Pat. No. 10,524,789; and 
     U.S. patent application Ser. No. 15/385,936, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES, now U.S. Pat. No. 10,517,596. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 24, 2016 and which are each herein incorporated by reference in their respective entireties: 
     U.S. patent application Ser. No. 15/191,775, entitled STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S. Patent Application Publication No. 2017/0367695; 
     U.S. patent application Ser. No. 15/191,807, entitled STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now U.S. Patent Application Publication No. 2017/0367696; 
     U.S. patent application Ser. No. 15/191,834, entitled STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME; 
     U.S. patent application Ser. No. 15/191,788, entitled STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now U.S. Patent Application Publication No. 2017/0367698; and 
     U.S. patent application Ser. No. 15/191,818, entitled STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now U.S. Patent Application Publication No. 2017/0367697. 
     Applicant of the present application owns the following U.S. patent applications that were filed on Jun. 24, 2016 and which are each herein incorporated by reference in their respective entireties: 
     U.S. Design patent application Ser. No. 29/569,218, entitled SURGICAL FASTENER, now U.S. Design Pat. No. D826,405; 
     U.S. Design patent application Ser. No. 29/569,227, entitled SURGICAL FASTENER, now U.S. Design Pat. No. D822,206; 
     U.S. Design patent application Ser. No. 29/569,259, entitled SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D847,989; and 
     U.S. Design patent application Ser. No. 29/569,264, entitled SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D850,617. 
     Applicant of the present application owns the following patent applications that were filed on Apr. 1, 2016 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent Application Publication No. 2017/0281171, now U.S. Patent Application Publication No. 2017/0281171; 
     U.S. patent application Ser. No. 15/089,321, entitled MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Pat. No. 10,271,851; 
     U.S. patent application Ser. No. 15/089,326, entitled SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD, now U.S. Pat. No. 10,433,849; 
     U.S. patent application Ser. No. 15/089,263, entitled SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now U.S. Pat. No. 10,307,159; 
     U.S. patent application Ser. No. 15/089,262, entitled ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM, now U.S. Pat. No. 10,357,246; 
     U.S. patent application Ser. No. 15/089,277, entitled SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER, now U.S. Pat. No. 10,531,874; 
     U.S. patent application Ser. No. 15/089,296, entitled INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS, now U.S. Pat. No. 10,413,293; 
     U.S. patent application Ser. No. 15/089,258, entitled SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S. Pat. No. 10,342,543; 
     U.S. patent application Ser. No. 15/089,278, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE, now U.S. Pat. No. 10,420,552; 
     U.S. patent application Ser. No. 15/089,284, entitled SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent Application Publication No. 2017/0281186; 
     U.S. patent application Ser. No. 15/089,295, entitled SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now U.S. Patent Application Publication No. 2017/0281187; 
     U.S. patent application Ser. No. 15/089,300, entitled SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S. Pat. No. 10,456,140; 
     U.S. patent application Ser. No. 15/089,196, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Pat. No. 10,568,632; 
     U.S. patent application Ser. No. 15/089,203, entitled SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S. Pat. No. 10,542,991; 
     U.S. patent application Ser. No. 15/089,210, entitled SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S. Pat. No. 10,478,190; 
     U.S. patent application Ser. No. 15/089,324, entitled SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Pat. No. 10,314,582; 
     U.S. patent application Ser. No. 15/089,335, entitled SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S. Pat. No. 10,485,542; 
     U.S. patent application Ser. No. 15/089,339, entitled SURGICAL STAPLING INSTRUMENT, now U.S. Patent Application Publication No. 2017/0281173; 
     U.S. patent application Ser. No. 15/089,253, entitled SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS, now U.S. Pat. No. 10,413,297; 
     U.S. patent application Ser. No. 15/089,304, entitled SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S. Pat. No. 10,285,705; 
     U.S. patent application Ser. No. 15/089,331, entitled ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS, now U.S. Pat. No. 10,376,263; 
     U.S. patent application Ser. No. 15/089,336, entitled STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES, now U.S. Patent Application Publication No. 2017/0281164; 
     U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S. Patent Application Publication No. 2017/0281189; 
     U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Patent Application Publication No. 2017/0281169; and 
     U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL, now U.S. Patent Application Publication No. 2017/0281174. 
     Applicant of the present application also owns the U.S. patent applications identified below which were filed on Dec. 30, 2015 which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,292,704; 
     U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,368,865; and 
     U.S. patent application Ser. No. 14/984,552, entitled SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS, now U.S. Pat. No. 10,265,068. 
     Applicant of the present application also owns the U.S. patent applications identified below which were filed on Feb. 9, 2016 which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 15/019,220, entitled SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR, now U.S. Pat. No. 10,245,029; 
     U.S. patent application Ser. No. 15/019,228, entitled SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now U.S. Pat. No. 10,433,837; 
     U.S. patent application Ser. No. 15/019,196, entitled SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Pat. No. 10,413,291; 
     U.S. patent application Ser. No. 15/019,206, entitled SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Patent Application Publication No. 2017/0224331; 
     U.S. patent application Ser. No. 15/019,215, entitled SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224332; 
     U.S. patent application Ser. No. 15/019,227, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS, now U.S. Patent Application Publication No. 2017/0224334; 
     U.S. patent application Ser. No. 15/019,235, entitled SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS, now U.S. Pat. No. 10,245,030; 
     U.S. patent application Ser. No. 15/019,230, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS, now U.S. Pat. No. 10,588,625; and 
     U.S. patent application Ser. No. 15/019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Pat. No. 10,470,764. 
     Applicant of the present application also owns the U.S. patent applications identified below which were filed on Feb. 12, 2016 which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,258,331; 
     U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,448,948; 
     U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0231627; and 
     U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2017/0231628. 
     Applicant of the present application owns the following patent applications that were filed on Jun. 18, 2015 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/742,925, entitled SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S. Pat. No. 10,182,818; 
     U.S. patent application Ser. No. 14/742,941, entitled SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now U.S. Pat. No. 10,052,102; 
     U.S. patent application Ser. No. 14/742,914, entitled MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,405,863; 
     U.S. patent application Ser. No. 14/742,900, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT, now U.S. Pat. No. 10,335,149; 
     U.S. patent application Ser. No. 14/742,885, entitled DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,368,861; and 
     U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,178,992. 
     Applicant of the present application owns the following patent applications that were filed on Mar. 6, 2015 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/640,746, entitled POWERED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246; 
     U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,441,279; 
     U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication No. 2016/0256154; 
     U.S. patent application Ser. No. 14/640,935, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now U.S. Pat. No. 10,548,504; 
     U.S. patent application Ser. No. 14/640,831, entitled MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148; 
     U.S. patent application Ser. No. 14/640,859, entitled TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No. 10,052,044; 
     U.S. patent application Ser. No. 14/640,817, entitled INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,924,961; 
     U.S. patent application Ser. No. 14/640,844, entitled CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No. 10,045,776; 
     U.S. patent application Ser. No. 14/640,837, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No. 10,993,248; 
     U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLE/FASTENER, now U.S. Pat. No. 10,617,412; 
     U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now U.S. Pat. No. 9,901,342; and 
     U.S. patent application Ser. No. 14/640,780, entitled SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat. No. 10,245,033. 
     Applicant of the present application owns the following patent applications that were filed on Feb. 27, 2015, and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/633,576, entitled SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S. Pat. No. 10,045,779; 
     U.S. patent application Ser. No. 14/633,546, entitled SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND, now U.S. Pat. No. 10,180,463; 
     U.S. patent application Ser. No. 14/633,560, entitled SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES, now U.S. Patent Application Publication No. 2016/0249910; 
     U.S. patent application Ser. No. 14/633,566, entitled CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY, now U.S. Pat. No. 10,182,816; 
     U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED, now U.S. Pat. No. 10,321,907; 
     U.S. patent application Ser. No. 14/633,542, entitled REINFORCED BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118; 
     U.S. patent application Ser. No. 14/633,548, entitled POWER ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028; 
     U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258; 
     U.S. patent application Ser. No. 14/633,541, entitled MODULAR STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250; and 
     U.S. patent application Ser. No. 14/633,562, entitled SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S. Pat. No. 10,159,483. 
     Applicant of the present application owns the following patent applications that were filed on Dec. 18, 2014 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. Pat. No. 9,844,374; 
     U.S. patent application Ser. No. 14/574,483, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat. No. 10,188,385; 
     U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,844,375; 
     U.S. patent application Ser. No. 14/575,148, entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748; 
     U.S. patent application Ser. No. 14/575,130, entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. Pat. No. 10,245,027; 
     U.S. patent application Ser. No. 14/575,143, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat. No. 10,004,501; 
     U.S. patent application Ser. No. 14/575,117, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309; 
     U.S. patent application Ser. No. 14/575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355; 
     U.S. patent application Ser. No. 14/574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S. Pat. No. 9,987,000; and 
     U.S. patent application Ser. No. 14/574,500, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM, now U.S. Pat. No. 10,117,649. 
     Applicant of the present application owns the following patent applications that were filed on Mar. 1, 2013 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309; 
     U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,782,169; 
     U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0249557; 
     U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Pat. No. 9,358,003; 
     U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,554,794; 
     U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,326,767; 
     U.S. patent application Ser. No. 13/782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Pat. No. 9,468,438; 
     U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S. Patent Application Publication No. 2014/0246475; 
     U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Pat. No. 9,398,911; and 
     U.S. patent application Ser. No. 13/782,536, entitled SURGICAL INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986. 
     Applicant of the present application also owns the following patent applications that were filed on Mar. 14, 2013 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Pat. No. 9,687,230; 
     U.S. patent application Ser. No. 13/803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,332,987; 
     U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0263564; 
     U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent Application Publication No. 2014/0263541; 
     U.S. patent application Ser. No. 13/803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,808,244; 
     U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0263554; 
     U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,623; 
     U.S. patent application Ser. No. 13/803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,351,726; 
     U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,351,727; and 
     U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0277017. 
     Applicant of the present application also owns the following patent application that was filed on Mar. 7, 2014 and is herein incorporated by reference in its entirety: 
     U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629. 
     Applicant of the present application also owns the following patent applications that were filed on Mar. 26, 2014 and are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2015/0272582; 
     U.S. patent application Ser. No. 14/226,099, entitled STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977; 
     U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now U.S. Patent Application Publication No. 2015/0272580; 
     U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL, now U.S. Patent Application Publication No. 2015/0272574; 
     U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES, now U.S. Pat. No. 9,743,929; 
     U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,028,761; 
     U.S. patent application Ser. No. 14/226,116, entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent Application Publication No. 2015/0272571; 
     U.S. patent application Ser. No. 14/226,071, entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S. Pat. No. 9,690,362; 
     U.S. patent application Ser. No. 14/226,097, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No. 9,820,738; 
     U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,004,497; 
     U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application Publication No. 2015/0272557; 
     U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat. No. 9,804,618; 
     U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION, now U.S. Pat. No. 9,733,663; 
     U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and 
     U.S. patent application Ser. No. 14/226,125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No. 10,201,364. 
     Applicant of the present application also owns the following patent applications that were filed on Sep. 5, 2014 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 10,111,679; 
     U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S. Pat. No. 9,724,094; 
     U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat. No. 9,737,301; 
     U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR&#39;S OUTPUT OR INTERPRETATION, now U.S. Pat. No. 9,757,128; 
     U.S. patent application Ser. No. 14/479,110, entitled POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Pat. No. 10,016,199; 
     U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat. No. 10,135,242; 
     U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No. 9,788,836; and 
     U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent Application Publication No. 2016/0066913. 
     Applicant of the present application also owns the following patent applications that were filed on Apr. 9, 2014 and which are each herein incorporated by reference in their respective entirety: 
     U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat. No. 9,826,976; 
     U.S. patent application Ser. No. 14/248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No. 9,649,110; 
     U.S. patent application Ser. No. 14/248,595, entitled SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Pat. No. 9,844,368; 
     U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEAR SURGICAL STAPLE/FASTENER, now U.S. Pat. No. 10,405,857; 
     U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,149,680; 
     U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Pat. No. 9,801,626; 
     U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICAL STAPLE/FASTENER, now U.S. Pat. No. 9,867,612; 
     U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,136,887; and 
     U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now U.S. Pat. No. 9,814,460. 
     Applicant of the present application also owns the following patent applications that were filed on Apr. 16, 2013 and which are each herein incorporated by reference in their respective entirety: 
     U.S. Provisional Patent Application Ser. No. 61/812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR; 
     U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEAR CUTTER WITH POWER; 
     U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP; 
     U.S. Provisional Patent Application Ser. No. 61/812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and 
     U.S. Provisional Patent Application Ser. No. 61/812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR. 
     Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims. 
     The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features. 
     The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute. 
     Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient&#39;s body or can be inserted through an access device that has a working channel through which the end effector and elongate shaft of a surgical instrument can be advanced. 
     A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint. 
     The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible. 
     The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil. 
     Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife. 
     The embodiments disclosed herein can be used with the embodiments disclosed in the following patent applications: U.S. patent application Ser. No. 15/636,829, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0000466; U.S. patent application Ser. No. 15/636,837, entitled CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2019/0000565; U.S. patent application Ser. No. 15/636,844, entitled CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT, now U.S. Pat. No. 10,398,434; U.S. patent application Ser. No. 15/636,854, entitled ROBOTIC SURGICAL INSTRUMENT WITH CLOSED LOOP FEEDBACK TECHNIQUES FOR ADVANCEMENT OF CLOSURE MEMBER DURING FIRING; and U.S. patent application Ser. No. 15/636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES, now U.S. Pat. No. 10,258,418, which are each herein incorporated by reference in their respective entireties. 
     Various embodiments disclosed herein may be employed in connection with a robotic system  1000  of the type depicted in  FIGS. 1-3 , for example.  FIG. 1  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. 2 . 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, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, as well as U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which are each hereby incorporated by reference herein in their respective entireties. 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 disclosure. As is known, the master controller  1001  generally includes master controllers (generally represented as  1003  in  FIG. 1 ) 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 jaws, applying an electrical potential to an electrode, or the like). 
     As can be seen in  FIG. 2 , in one form, the robotic arm cart  1100  may be configured to actuate one ore more surgical tools, generally designated as  2000 . 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 entire disclosure of which is hereby incorporated by reference herein. In various forms, the robotic arm cart  1100  includes a base  1002  from which, in the illustrated embodiment, surgical tools may be supported. In various forms, the surgical tool(s) may be supported by a series of manually articulatable linkages, generally referred to as set-up joints  1104 , and a robotic manipulator  1106 . In various embodiments, the linkage and joint arrangement may facilitate rotation of a surgical tool around a point in space, as more fully described in issued U.S. Pat. No. 5,817,084, entitled REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE, the entire disclosure of which is hereby incorporated by reference herein. 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. 2 ) so that the surgical tool 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 an elongate shaft of a surgical tool. The surgical tool may have further degrees of driven freedom as supported by manipulator  1106 , including sliding motion of the surgical tool along the longitudinal axis “LT-LT”. As the surgical tool 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  may be driven by a series of motors  1120 . These motors actively move linkage  1108  in response to commands from a processor of a control system. The motors  1120  may also be employed to manipulate the surgical tool. Alternative joint structures and set up arrangements are also contemplated. Examples of other joint and set up arrangements, for example, are disclosed in U.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the entire disclosure of which is hereby incorporated by reference herein. 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 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. In accordance with at least one aspect, various surgical instruments disclosed herein may be used in connection with other robotically-controlled or automated surgical systems and are not necessarily limited to use with the specific robotic system components shown in  FIGS. 1-3  and described in the aforementioned references. 
     In one aspect, a surgical tool generally designated as  2000  is configured to be selectively interchangeably employed with a first controller interface  3000  ( FIGS. 22-25 ) and a second controller interface  3500  ( FIGS. 28 and 29 ), for example. In the example illustrated in  FIGS. 4-14 , one form of surgical tool  2000  comprises a surgical end effector  2100  that is configured to cut and staple or fasten tissue. The surgical end effector  2100  comprises a first “cartridge” jaw  2110  and a second “anvil” jaw  2200 . In one arrangement, the cartridge jaw comprises a frame  2112  that is configured to operably support a surgical staple/fastener cartridge  2150  therein. The second jaw  2200  comprises an anvil  2202  that is pivotally supported relative to the frame  2112  and is configured to form staples or fasteners that are ejected from the staple/fastener cartridge  2150 . In use, the anvil  2202  is rotatable between an open, unclamped position and a closed, clamped position; however, embodiments are envisioned in which the cartridge jaw  2110  is movable relative to the anvil  2202 . 
     As can be seen in  FIGS. 6 and 8 , in one aspect, the anvil  2202  is pivotally supported on the frame  2112  for selective pivotal travel relative thereto. In one arrangement, for example, the anvil  2202  comprises an anvil body  2204  and an anvil mounting portion  2210 . See  FIG. 6 . An anvil trunnion  2212  extends laterally from each side of the anvil mounting portion  2210  and is adapted to be received in corresponding trunnion cradles  2116  in a proximal end portion  2114  of the frame  2112 . The anvil trunnions  2212  are pivotally retained in their corresponding trunnion cradle  2116  by a channel cap or anvil retainer  2120 . The channel cap or anvil retainer  2120  includes a pair of attachment lugs  2122  that are configured to be retainingly received within corresponding lug grooves or notches  2118  formed in upstanding walls  2115  of the proximal end portion  2114  of the frame  2112 . The surgical tool  2000  further comprises an elongate shaft assembly  2300  wherein the surgical end effector  2100  is rotatably connected to the shaft assembly  2300  about an articulation joint  2350 . As will be discussed in further detail below, the articulation joint  2350  facilitates articulation of the surgical end effector  2100  relative to the elongate shaft assembly  2300  about a fixed pivot axis PA. See  FIG. 8 . 
     Referring to  FIG. 6 , in accordance with one example, the shaft assembly  2300  of the surgical tool  2000  comprises an outer closure tube that, in at least one form, comprises an outer housing  2410  that has a coupler portion  2412  attached thereto. In one arrangement, for example, the coupler portion  2412  may be welded to the outer housing  2410  or attached thereto by an appropriate adhesive for example. The shaft assembly  2300  further comprises a distal housing  2420  that is pivotally connected to the coupler portion  2412  by two connector plates  2430  positioned on opposite sides of the articulation joint  2350 . The distal housing  2420  is movable distally to engage the anvil  2202  and move the anvil  2202  toward the staple cartridge  2150 . Each connector plate  2430  is connected to the coupler portion  2412  at a pivot  2414  and, similarly, to the distal housing  2420  at a pivot  2422 . Similar to the above, the connector plates  2430  permit the coupler portion  2412  and distal housing  2420  to slide relative to the articulation joint  2350  when the surgical end effector  2100  is in an articulated position wherein, as a result, the anvil  2202  can be opened and closed while the surgical end effector  2100  is in an articulated position. Further to the above, the distal housing  2420  comprises distal jaw opening feature  2424  and a proximal jaw opening feature  2426  that serve to apply jaw opening motions to the anvil mounting portion  2210  when the distal housing  2420  is retracted in a proximal direction PD. When the distal housing  2420  is driven in a distal direction DD, it is configured to cammingly contact a corresponding portion of the anvil mounting portion  2210  to transfer a closing motion to the anvil  2202 . Further details regarding the distal and proximal jaw opening features  2424 ,  2426  may be found in U.S. patent application Ser. No. 15/635,621, entitled SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES, now U.S. Patent Application Publication No. 2019/0000463, the entire disclosure of which is hereby incorporated by reference herein. 
     In the illustrated arrangement, the surgical end effector  2100  is rotatably mounted to a tool frame assembly  2320  about a fixed pivot  2550  of the articulation joint  2350 . In various circumstances, for ease of assembly, the tool frame assembly  2320  may comprise a proximal tool frame portion  2322  and a distal tool frame portion  2330  that are interconnected together by snap features, adhesive, welding, etc. See  FIG. 6 . The shaft assembly  2300  further comprises distal mounting tabs  2340  which extend from and are fixedly mounted to the distal tool frame portion  2330 . A first distal mounting tab  2340  is mounted to the first cartridge jaw  2110 , which comprises the frame  2112 , and a second distal mounting tab  2340  is mounted to the anvil retainer  2120 . The interconnection between the mounting tabs  2340  and the first cartridge jaw  2110  and the anvil retainer  2120  defines the fixed pivot  2550 . The fixed pivot axis PA defined by the fixed pivot  2550  is laterally offset with respect to a central longitudinal axis LA of the shaft assembly  2300  by an offset distance OD. See  FIG. 9 . The longitudinal axis LA extends between a proximal end  2302  and a distal end  2304 . See  FIG. 4 . In various instances, the offset distance OD is between 0.0250 inches and 0.045 inches, for example. In various instances, the offset distance OD is between 0.0300 inches and 0.0400 inches, for example. In various instances, the offset distance OD is between 0.0325 inches and 0.0375 inches, for example. In various instances, the offset distance OD is about 0.0355 inches, for example. For instance, the offset distance OD is 0.0355 inches, for example. Other offset distances OD are envisioned and may be employed. 
     Referring again to  FIG. 6 , the surgical tool  2000  further comprises an articulation system  2500  including a first or right articulation driver  2510  and a second or left articulation driver  2530  extending through an interior aperture  2415  defined within the proximal closure tube or outer housing  2410  of the shaft assembly  2300 . The articulation system  2500  further comprises a first or right articulation link  2520  that is rotatably coupled to a distal end of the right articulation driver  2510  at a first link attachment location  2525  about a proximal right pin  2522 . The articulation system  2500  also comprises a second or left articulation link  2540  that is rotatably coupled to the end of the left articulation driver  2530  at a second link attachment location  2545  about a proximal left pin  2542 . Turning to  FIG. 12 , in at least one arrangement for example, the proximal right pin  2522  is laterally offset from the longitudinal axis LA a first lateral distance X R  and the proximal left pin  2542  is laterally offset from the longitudinal axis LA a second lateral distance X L . In at least one example, X L &lt;X R . In various instances, X L  is between 0.0500 inches and 0.1500 inches, for example. In various instances, X L  is between 0.0750 inches and 0.1250 inches, for example. In various instances, X L  is about 0.1000 inches, for example. For instance, X L  is 0.1000 inches, for example. In various instances, X R  is between 0.0500 inches and 0.1500 inches, for example. In various instances, X R  is between 0.0750 inches and 0.1250 inches, for example. In various instances, X R  is about 0.1100 inches, for example. For instance, X R  is 0.1100 inches, for example. Other lateral distances X L ,X R  are envisioned and may be employed. Similarly, the right articulation link  2520  is rotatably coupled to the cartridge jaw  2110  or frame  2112  at a first attachment location  2135  about a distal left drive pin  2130  which extends through an aperture defined in the right articulation link  2520 . Likewise, the left articulation link  2540  is rotatably coupled to the cartridge jaw  2110  or frame  2112  at a second attachment location  2137  about a distal right drive pin  2132  which extends through an aperture defined in the left articulation link  2540 . As can be seen in  FIG. 12 , the left articulation link  2540  extends transversely relative to stated another way crosses over the central longitudinal axis LA defined by the elongate shaft assembly  2300 . In the illustrated arrangement, the left articulation link  2540  also extends transversely to or crosses over the right articulation link  2520 . Other alternative arrangements are contemplated wherein the right articulation link crosses over the left articulation link. 
     Turning again to  FIG. 9 , the distal right pin  2130  and the distal left pin  2132  are longitudinally offset with respect to the pivot axis PA which may create longitudinal, or axial, torque arms (ATA). In various instances, the torque arms ATA are between 0.0500 inches and 0.1500 inches, for example. In various instances, torque arms ATA are between 0.0750 inches and 0.1250 inches, for example. In various instances, torque arms ATA are about 0.0917 inches, for example. For instance, torque arms ATA are 0.0917 inches, for example. Other torque arms ATA are envisioned and may be employed. In addition, the distal right pin  2130  may be laterally offset from the central longitudinal axis LA a right lateral distance X 1  and distal left pin  2132  may be laterally offset from the central longitudinal axis LA a left lateral distance X 2 . In the illustrated arrangement for example, X 1 &gt;X 2 . In various instances, X 1  is between 0.1000 inches and 0.2000 inches, for example. In various instances, X 1  is between 0.1250 inches and 0.1750 inches, for example. In various instances, X 1  is about 0.1455 inches, for example. For instance, X 1  is 0.1455 inches, for example. In various instances, X 2  is between 0.0500 inches and 0.1500 inches, for example. In various instances, X 2  is between 0.0750 inches and 0.1250 inches, for example. In various instances, X 2  is about 0.1137 inches, for example. For instance, X 2  is 0.1137 inches, for example. Other lateral distances X 1 , X 2  are envisioned and may be employed. 
     The asymmetry of this design may have several purposes. For example, the asymmetric design may create a more stable configuration when the articulation links are oriented one on top of the other. The effects of gravity create a need for greater stability over the top of the end effector, suggesting an imbalance of forces need to be applied to the articulation links. Second, the asymmetric design also creates a control algorithm with asymmetric properties. This creates a set of force ratios between the two articulation links that is unique at every point, in that the ratio of forces between the two articulation links is always going to be different. This design may help to diagnose problems and debug issues between the interplay of the two articulation links because it is known that the force ratio profile is unique at every point. 
     Referring to  FIGS. 12-14 , examples are shown of how movements of the articulation drivers  2510 ,  2530  cause the surgical end effector  2100  to articulate, according to some aspects. In  FIG. 12 , the surgical end effector  2100  is in a neutral or straight position relative to the articulation drivers  2510 ,  2530  as well as the longitudinal axis LA. Such arrangement may, for example, facilitate insertion of the surgical tool  2000  through a cannula of a trocar or similar arrangement. In  FIG. 13 , the left articulation driver  2530  is moved distally (distal direction DD), while simultaneously the right articulation driver  2510  is moved proximally (proximal direction PD). Because the hinges (links  2520 ,  2540 ) of the articulation drivers  2510 ,  2530  that connect to the cartridge jaw  2110  of the surgical end effector  2100  are positioned on opposite sides of the fixed articulation pivot  2550 , these described motions cause the surgical end effector  2100  to articulate in the counterclockwise left direction L, as shown. Similarly, because the right articulation link  2520  connecting the right articulation driver  2510  is attached to the left of the fixed pivot  2550 , movement of right articulation driver  2510  in a proximal direction PD is consistent with causing a counterclockwise motion. In contrast, as shown in  FIG. 14 , reverse movements by the articulation drivers  2510 ,  2530  cause the surgical end effector  2100  to move in the reverse, i.e., clockwise, direction R. That is, a movement by the right articulation driver  2510  in the distal direction DD, and any simultaneous movement by the left articulation driver  2530  in the proximal direction PD, create a clockwise motion of the surgical end effector  2100  about the fixed pivot  2550 . 
     As can be seen in  FIG. 12 , the center of the proximal right pin  2522  lies on the unarticulated axis UA R  when the surgical end effector  2100  is in the unarticulated position and the right and left articulation drivers  2510 ,  2530  are in their respective neutral positions. Similarly, the center of the proximal left pin  2542  lies on an unarticulated axis UA L . In the illustrated arrangement, the unarticulated axis UA R  is slightly proximal to the unarticulated axis UA L  when the surgical end effector  2100  is in the unarticulated position. Stated another way, the UA R  is axially offset from UA L . Stated still another way, when the first articulation driver  2510  is in a first neutral position ( FIG. 12 ), and the second articulation driver  2530  is in a second neutral position ( FIG. 12 ), the first link attachment location  2525  is axially offset from the second link attachment location  2545 . 
     As indicated above,  FIG. 12  illustrates the neutral positions  2527 ,  2547  of the first and second articulation drivers  2510 ,  2530 , respectively. When in that position, the surgical end effector  2100  is axially aligned with the longitudinal axis LA or stated another way, the surgical end effector  2100  is in an unarticulated position. Turning to  FIG. 13 , to cause the surgical end effector  2100  to pivot or articulate in a counterclockwise direction (arrow L), the left articulation driver  2530  is moved axially a second distal articulation stroke length LS 1  (measured from the second neutral position  2547  to a second distal position  2560 ) and the right articulation driver  2510  is moved axially a first proximal articulation stroke length RS 1  (measured from the first neutral position  2527  to a first proximal position  2562 ). The movement of the right articulation driver  2510  through the first proximal articulation stroke length RS 1  may occur simultaneously with the movement of the left articulation driver  2530  through the second distal articulation stroke length. In the illustrated example, LS 1 &gt;RS 1 . In use, the surgical end effector  2100  is rotatable about the articulation joint  2350  between a fully articulated left position ( FIG. 13 ), indicated by angle α L , and a fully-articulated right position ( FIG. 14 ), indicated by angle α R —and/or any suitable position there between. In at least one arrangement, the left articulation driver  2530  axially moves through a second distal articulation stroke length LS 1  and the right articulation driver  2510  axially moves through a first proximal articulation stroke length RS 1  in order to articulate the surgical end effector  2100  to its maximum left articulated position (α L =approximately sixty-five degrees (65°)). In various instances, LS 1  is between 0.1200 inches and 0.2200 inches, for example. In various instances, LS 1  is between 0.1450 inches and 0.1950 inches, for example. In various instances, LS 1  is about 0.1727 inches, for example. For instance, LS 1  is 0.1727 inches, for example. In various instances, RS 1  is between 0.0500 inches and 0.1500 inches, for example. In various instances, RS 1  is between 0.0750 inches and 0.1250 inches, for example. In various instances, RS 1  is about 0.1164 inches, for example. For instance, RS 1  is 0.1164 inches, for example. Other stroke lengths LS 1 , RS 1  are envisioned and may be employed. Likewise, for example, the right articulation driver  2510  axially moves through a first distal articulation stroke length RS 2  (measured from the first neutral position  2527  to a first distal position  2564 ) and the left articulation driver  2530  axially moves through a second proximal articulation stroke length LS 2  (measured from the second neutral position  2547  to a second proximal position  2566 ) in order to articulate the surgical end effector  2100  to its maximum right articulated position (α R =approximately forty-three degrees (43°)). In various instances, LS 2  is between 0.0250 inches and 0.1250 inches, for example. In various instances, LS 2  is between 0.0500 inches and 0.1000 inches, for example. In various instances, LS 2  is about 0.0760 inches, for example. For instance, LS 2  is 0.0760 inches, for example. In various instances, RS 2  is between 0.1200 inches and 0.2200 inches, for example. In various instances, RS 2  is between 0.1450 inches and 0.1950 inches, for example. In various instances, RS 2  is about 0.1731 inches, for example. For instance, RS 2  is 0.1731 inches, for example. Other stroke lengths LS 2 , RS 2  are envisioned and may be employed. See  FIG. 14 . In at least one arrangement for example, UA L ≠UA R ; LS 1 &gt;RS 1 ; LS 2 &lt;RS 2 ; LS 1 &gt;RS 2 ; LS 2 &lt;RS 1 . 
     In some aspects, causing articulation of the surgical end effector  2100  involves applying forces to both of the articulation links  2520 ,  2540  in an antagonistic relationship. For example, each source of articulation motions (e.g., motor) that operably interfaces with the right and left articulation drivers  2510 ,  2530  may exert pulling/pushing forces on both of the articulation links at the same time. The ratio of the amount of pulling (or pushing) force between the two articulation links may determine the angle at which the surgical end effector  2100  is articulated. Referring to  FIG. 10 , shown is another example of how forces may be applied to the two articulation links  2520 ,  2540  in order to cause the surgical end effector  2100  to articulate 30° from the centerline or longitudinal axis LA, according to some aspects. Here, a motor or other source of articulation motion that is coupled to the right articulation driver  2510  may apply an actuation force that is greater than the actuation force being applied to the left articulation driver  2530  by a second motor or other second source of articulation motion. The difference in the forces may not be as substantial as the ones required, for example, to articulate the surgical end effector  2100  through its maximum left articulation angle α L . As an example, the exact ratio of forces between the two articulation arms may be determined, for example, by a control algorithm graph such as the ones disclosed in U.S. patent application Ser. No. 15/636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES, now U.S. Pat. No. 10,258,418, the entire disclosure of which is hereby incorporated by reference herein. For example,  FIG. 15  illustrates the surgical end effector  2100  in a left articulated position wherein the left articulation angle α L  is approximately sixty degrees (60°). Starting from the position of articulation in the illustration of  FIG. 15 , the change in forces applied to the two articulation drivers  2510 ,  2530  results in an effective force F E  applied to the surgical end effector in  FIG. 10 . The arrows  2560  and  2562  represent the changes in force applied to their respective articulation drivers relative to the forces illustrated in  FIG. 15 . 
     Referring to  FIG. 11 , shown is a third example of how forces may be applied to the two articulation drivers  2510 ,  2530  to cause the surgical end effector  2100  to articulate back to the center or neutral position, according to some aspects. Here, the motor or other actuator that operably interfaces with the right articulation driver  2510  may apply an actuation force that is less than an actuation force that is applied to the left articulation driver  2530  by a second motor or other actuator. For example, the antagonistic actuation force of the left articulation driver  2530  may be actually greater than the actuation force that is applied to the right articulation driver  2510  at the 0° point (no articulation). This makes sense when considering that the articulation pivot  2550  is off-center and closer to the hinge (left articulation link  2540 ) of the left articulation driver  2530 . This requires the left articulation driver  2530  to deliver more torque relative to the right articulation driver  2510  in order to balance the forces. In this example, the change in the amount of forces applied to both of the articulation drivers in  FIG. 10  results in an effective force F E  being applied to the center of mass of the surgical end effector  2100 . 
     The right articulation link  2520  has a link length LL R  and the left articulation link  2540  has a left link LL L . In the illustrated example, LL R  is approximately equal to LL L . However, other embodiments are contemplated wherein LL R ≠LL L . 
     In addition to the shaft assembly  2300 , a surgical end effector  2100 , and an articulation joint  2350 , the surgical tool  2000  further comprises a staple firing system  2600 , for example, that includes a firing bar  2610  that extends through the articulation joint  2350 . See  FIGS. 6 and 7 . In use, the firing bar  2610  is translatable distally to perform a staple firing stroke and retractable proximally after at least a portion of the staple firing stroke has been completed. The firing bar  2610  extends through a channel or slot  2324  defined in the proximal tool frame portion  2322  and a slot  2332  in the distal tool frame portion  2330  of the shaft assembly  2300  which are configured to closely receive and/or guide the firing bar  2610  as the firing bar  2610  moves relative to the shaft assembly  2300 . See  FIG. 6 . 
     Further to the above, the channels  2324  and  2332  do not extend into the articulation joint  2350  and, without more, the firing bar  2610  may be unsupported within the articulation joint  2350 . When the surgical end effector  2100  is in an unarticulated configuration ( FIG. 7 ), the firing bar  2610  is unlikely to buckle within the articulation joint  2350  during the staple firing stroke—however, the likelihood of the firing bar  2610  buckling laterally during the staple firing stroke increases when the surgical end effector  2100  is in an articulated configuration ( FIGS. 13-15 ). To reduce the possibility of such buckling, the surgical tool  2000  further comprises a firing bar support  2650  configured to support the firing bar  2610 . The firing bar support  2650  comprises a proximal portion  2652  connected to the distal tool frame portion  2330 , a distal portion  2654  connected to the frame  2112 , and an intermediate portion  2656  extending between the proximal portion  2652  and the distal portion  2654 . The portions  2652 ,  2654 ,  2656  of the firing bar support  2650  are integrally formed; however, other embodiments are envisioned in which the portions  2652 ,  2654 ,  2656  are assembled to one another and/or comprise separate components. See  FIG. 6 . 
     Further to the above, the distal portion  2652  of the firing bar support  2650  is fixedly mounted to the frame  2112  and does not move, or at least substantially move, relative to the frame  2112 . An intermediate portion  2654  of the firing bar support  2650  comprises one or more portions having a reduced cross-section which, among other things, allows the firing bar support  2650  to flex within the articulation joint  2350  when the surgical end effector  2100  is articulated. A proximal portion  2656  of the firing bar support  2650  is slidably mounted to the distal tool frame portion  2330  such that the firing bar support  2650  can translate relative to the distal tool frame portion  2330  when the surgical end effector  2100  is articulated. That said, the proximal portion  2656  of the firing bar support  2650  comprises a proximal head  2658  that is slidable within a chamber, or cavity,  2331  defined within the distal tool frame portion  2330  which can limit the travel of the firing bar support  2650 . Embodiments are envisioned, however, without such a travel constraint. In any event, the distal portion  2652 , the intermediate portion  2654 , and proximal portion  2656  of the firing bar support  2650  co-operatively define a channel, or slot,  2659  which is configured to support the firing bar  2610 —especially within the articulation joint  2350 —and reduce the possibility of the firing bar  2610  buckling during the staple firing stroke, for instance. 
     In various instances, the firing bar  2610  is comprised of a plurality of parallel, or at least substantially parallel, layers  2612 . See  FIG. 7 . The layers are affixed to a distal firing or cutting member  2620  and can partially translate or slide longitudinally relative to one another—especially within the articulation joint  2350 . Each such layer is configured to transmit a load in the same direction, i.e., proximally or distally, even though such layers can move, or slide, relative to one another. Further to the above, such layers may splay laterally relative to one another—especially within the articulation joint  2350 —when the surgical end effector  2100  has been articulated. The intermediate portion  2654  of the firing bar support  2650  comprises a plurality of connected control elements which can at least reduce, if not prevent, the relative lateral splay of the firing bar layers. Alternatively, as mentioned above, one or more of the control elements can be unconnected to one another. Examples of various firing bar and firing bar support arrangements are disclosed in U.S. patent application Ser. No. 15/635,808, entitled SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS, now U.S. Patent Application Publication No. 2019/0000471, the entire disclosure of which is hereby incorporated by reference herein. 
     As can also be seen in  FIG. 6 , a firing member or knife member  2620  is attached to the distal end of the firing bar  2610 . In one exemplary form, the firing member  2620  comprises a body portion  2622  that supports a knife or tissue cutting portion  2624 . The body portion  2622  protrudes through an elongate slot or channel  2113  in the frame  2112  and terminates in a foot member  2626  that extends laterally on each side of the body portion  2622 . As the firing member  2620  is driven distally through the surgical staple/fastener cartridge  2150 , the foot member  2626  rides within a passage in the frame  2112  that is located under the surgical staple/fastener cartridge  2150 . The tissue cutting portion  2624  is disposed between a distally protruding top nose portion and the foot member  2626 . As can be further seen in  FIG. 6 , the firing member  2620  may further include two laterally extending top tabs, pins or anvil engagement features  2628 . As the firing member  2620  is driven distally, a top portion of the body portion  2622  extends through a centrally disposed anvil slot  2206  and the anvil engagement features  2634  ride on corresponding anvil ledges  2208  formed on each side of the anvil slot  2206 . See  FIG. 7 . The firing member  2620  is configured to operably interface with a sled assembly that is operably supported within a body  2152  of the surgical staple/fastener cartridge  2150 . The sled assembly is slidably displaceable within the surgical staple/fastener cartridge body  2152  from a proximal starting position adjacent the proximal end of the cartridge body  2152  to an ending position adjacent a distal end of the cartridge body  2152 . The cartridge body  2152  operably supports therein a plurality of staple drivers that are aligned in rows on each side of the centrally disposed slot  2154 . As indicated above, the centrally disposed slot  2154  enables the firing member  2620  to pass therethrough and cut the tissue that is clamped between the anvil  2202  and the surgical staple/fastener cartridge  2150 . The staple drivers are associated with corresponding staple/fastener pockets  2156  that open through an upper deck surface of the cartridge body  2152 . Each of the staple drivers supports one or more surgical staples or fasteners thereon. The sled assembly includes a plurality of sloped or wedge-shaped cams wherein each cam corresponds to a particular line of fasteners or drivers located on a side of the slot. In addition, a firing member lockout system  2630  may be employed to prevent inadvertent actuation or stated another way distal advancement of the firing member  2620  from a starting position unless an unfired “fresh” surgical staple cartridge  2150  has been properly supported in the frame. For example, the firing member body  2622  is provided with a tippable element  2632  that is movable between a locked and unlocked position. A lockout spring  2633  is provided to bias the tippable element  2632  into the locked position unless the tippable element  2632  is moved to the unlocked position when engaged with a sled assembly in the surgical staple cartridge  2150 . Further details regarding the firing member lockout system  2660  may be found in U.S. patent application Ser. No. 15/635,521, entitled SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT, now U.S. Patent Application Publication No. 2019/0000456, the entire disclosure of which is hereby incorporated by reference herein. 
     In accordance with at least one general aspect, the firing bar  2610  is configured to be attached to a firing rod  3230  that is movably supported within the tool frame assembly  2320  of the elongate shaft assembly  2300 . In particular, a firing bar attachment tab  2614  is formed on a proximal end  2616  of the firing bar  2610  ( FIG. 6 ) and is configured to be received within an attachment slot that is provided in a distal end portion of the firing rod  3230 . 
       FIGS. 16 and 17  illustrate the various above described components of the shaft assembly  2300  in respective neutral coupling positions that facilitate their operable interface with corresponding portions of drive systems and support structures of a controller interface to which the surgical tool is attached. As can be seen in those Figures, the outer housing or proximal closure tube  2410  includes a proximal end or proximal coupler portion  2416  that includes an annular attachment groove  2418 .  FIGS. 16 and 17  illustrate the proximal coupler portion  2416  in its corresponding neutral coupling position generally designated as  2417 . As described above, the outer housing or proximal closure tube  2410  is supported for axial movable travel on the tool frame assembly  2320  and more particularly on the proximal tool frame portion  2322  thereof. As shown in  FIGS. 16 and 17 , the tool frame assembly  2320  includes a proximal coupler portion  2326  that includes two frame attachment grooves  2328 .  FIGS. 16 and 17  illustrate the proximal coupler portion  2326  in its corresponding neutral coupling position, generally designated as  2327 . 
     As discussed above, the right articulation driver  2510  is supported for selective axial movable travel relative to the tool frame assembly  2320 .  FIGS. 16 and 17 , further illustrate that in at least one form, the right articulation driver  2510  includes a tubular proximal end portion or proximal coupler portion  2514  that includes a right attachment collar  2516 .  FIGS. 16 and 17  illustrate the proximal coupler portion  2514  in its corresponding neutral coupling position, generally designated as  2517 . Similarly, the left articulation driver  2530  is supported for selective axial movable travel relative to the tool frame assembly  2320 .  FIGS. 16 and 17 , further illustrate that in at least one form, the left articulation driver  2530  includes a tubular proximal end portion or proximal coupler portion  2534  that includes a left attachment collar  2536 .  FIGS. 16 and 17  illustrate the proximal coupler portion  2534  in its corresponding neutral coupling position, generally designated as  2537 . 
     As mentioned above, the firing rod  3230  is movably supported within the tool frame assembly  2320 . More particularly, the firing rod  3230  is supported for axial travel within the tool fame assembly  2320 . The firing rod  3230  includes a proximal end or proximal coupler portion  3232  that has an attachment lug  3234  formed thereon.  FIGS. 16 and 17  illustrate the proximal coupler portion  3232  in its corresponding neutral coupling position, generally designated as  3237 . 
     In accordance with one aspect, when the proximal coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  are each in their respective neutral coupling positions, they are in a predetermined serial axial alignment to facilitate interfacing with corresponding drive systems or components of a controller interface. In the example depicted in  FIGS. 16 and 17 , the neutral coupling position  3237  is proximal to the neutral coupling position  2517 , which is proximal to neutral coupling position  2537 , which is proximal to neutral coupling position  2527 , which is proximal to neutral coupling position  2417 . These neutral coupling positions may also be referred to as starting positions. Other serial axial arrangements of neutral coupling positions are contemplated. 
     In accordance with another general aspect, a spacing lock  2710  is operably supported in a docking housing  2700  of the surgical tool  2000  to retain the proximal coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  in their respective neutral coupling positions. More specifically and with reference to  FIGS. 18-21 , the docking housing  2700  is attached to a proximal end  2301  of the elongate shaft assembly  2300  and movably supports the spacing lock  2710  therein. As will be further discussed below, the docking housing  2700  may serve to facilitate operable attachment of the surgical tool to an appropriate controller interface. As can be seen in  FIGS. 18-21 , in at least one example, the spacing lock  2710  is supported for movable travel between a locked position and an unlocked position represented by arrows  2712  and  2714 . The spacing lock  2710  is configured to releasably engage each of the proximal coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  and retain them in their respective neutral coupling positions when the tool assembly is not coupled to a controller interface. In at least one arrangement, to keep the spacing lock  2710  in an axially aligned position, at least one slider support  2711  extends laterally from the spacing lock  2710  to be slidably received in a slot that is formed in the docking housing  2700 . 
     As can be seen in  FIGS. 18-21 , in the illustrated example, the spacing lock  2710  includes a closure lock or key  2720  that is configured to be received within the annular groove  2418  in the proximal coupler portion  2416  of the outer housing or proximal closure tube  2410  to prevent axial movement thereof. The spacing lock  2710  further comprises a frame lock arrangement that comprises a pair of frame keys  2722  that are configured to be received within the annular grooves  2328  in the proximal coupler portion  2326  of the tool frame assembly  2320 . In addition, the spacing lock  2710  comprises a left articulation groove or locking detent  2726  that is configured to retainingly engage the left attachment collar  2536  of the proximal coupler portion  2534  of the left articulation driver  2530 . Likewise, spacing lock  2710  comprises a right articulation groove or locking detent  2728  that is configured to retainingly engage the right attachment collar  2516  on the proximal coupler portion  2514  of the right articulation driver  2510 . As can also be seen in  FIGS. 18-21 , the spacing lock  2710  further comprises a firing key  2729  that is configured to retainingly engage a reduced neck portion  3236  on the proximal coupler portion  3237  of the firing rod  3230 .  FIGS. 18-21  illustrate the spacing lock  2710  in a locked position. In at least one arrangement, the spacing lock  2710  is biased into the locked configuration by biasers or springs  2730 . 
     In one aspect of the disclosure, the surgical tool  2000  may be interchangeably employed with a first controller interface that supports a plurality of corresponding control systems that are configured to apply appropriate control motions to the various driver components of the surgical tool  2000  and at least a second controller interface that is not identical to or is different from the first controller interface, yet possesses similar (at least from a functional standpoint) control systems that are configured to apply the appropriate control motions to the various driver arrangements of the surgical tool  2000 . In one aspect, for example, a first controller interface may comprise a handheld controller and a second controller interface may comprise a tool mounting portion of a robotic system or other automated system designed to support and manipulate surgical tool(s). In this context, for example, a “handheld” controller may be configured to be supported in the clinician&#39;s hand and manually manipulated. While such handheld controllers may in some cases include onboard motors and power sources and/or microprocessor(s), etc. to provide and/or monitor or control the respective control systems needed to power the various driver and other elements of the surgical tool  2000 , such devices may also, or in the alternative, include power cords or tethers that are designed to facilitate transport of power and/or electrical signals to the device. In any event, such handheld controllers are designed to be held in the hand and manually manipulated. 
     One example of a first controller interface  3000  that comprises a handheld controller  3002  that is configured to operably interface with a surgical tool  2000  is depicted in  FIGS. 23-25 . One example of a second controller interface  3500  that comprises a tool mounting portion  3502  that is operably attachable to a tool holder of a robotic system  1000  is depicted in  FIGS. 28 and 29 . Other forms of first controller interfaces and second controller interfaces including other forms handheld controllers and robotically controlled tool holders/systems are contemplated. 
     As can be seen in  FIGS. 22 and 23 , the handheld controller  3002  comprises a handle assembly  3010  that comprises a handle housing  3012  that includes a pistol grip portion  3014 . A nozzle assembly  3030  is rotatably mounted to the handle housing  3012  for selective rotation about a handle axis HA. In the illustrated arrangement, a docking cavity  3032  is provided in the nozzle assembly  3030  to facilitate mounting of the docking housing  2700  of a surgical tool  2000  therein. The docking housing  2700  may be removably retained in engagement with the nozzle assembly  3030  by friction, releasable latch arrangements, etc. To operably couple the surgical tool  2000  to the handle assembly  3010 , the docking housing  2700  is positioned for insertion into the docking cavity  3032  in an installation direction ID that is orthogonal to a handle axis HA. As can be seen in  FIG. 18 , the docking housing  2700  may include electrical connectors  2705  that are configured to interface with corresponding electrical connectors that are supported in the controller interface to which the surgical tool  2000  is attached. Such arrangement serves to facilitate transfer of power and electrical signals between various components of the controller interface and onboard electrical components (switches, microprocessors, etc.) that are included in the surgical tool  2000 . 
     In at least one example, a frame mount  3016  is fixedly coupled to the nozzle assembly  3030  and includes two frame attachment features or lugs  3017  thereon that are adapted to be received in the frame attachment grooves  2328  in the proximal coupler portion  2326  of the tool frame assembly  2320  when the surgical tool  2000  is attached to the handheld controller  3002 . See  FIG. 24 . The frame attachment lugs  3017  may be sized or otherwise shaped to be releasably frictionally received within their respective frame attachment grooves  2328 . Once the frame attachment lugs  3017  are snapped into the frame grooves  2328  or otherwise retained therein, rotation of the nozzle assembly  3030  relative to the handle housing  3012  will result in rotation of the surgical end effector  2100  relative to the longitudinal axis LA and handle axis HA. 
     As indicated above, the handle housing  3012  may operably support a plurality of drive systems therein. For example, the handle housing  3012  can operably support a closure drive system, generally designated as  3100 , which may be employed to apply closing and opening motions to the surgical tool  2000  that is operably attached or coupled to the handle assembly  3010 . In at least one form, the closure drive system  3100  may include an actuator in the form of a closure trigger  3104  is pivotally supported by the handle housing  3012 . Such arrangement enables the closure trigger  3104  to be manipulated by a clinician such that, when the clinician grips the pistol grip portion  3014  of the handle assembly  3010 , the closure trigger  3104  may be easily pivoted from a starting or “unactuated” position to an “actuated” position and more particularly to a fully compressed or fully actuated position. In various forms, the closure drive system  3100  further includes a closure linkage assembly  3108  that movably interfaces with the closure trigger  3104  or is otherwise operably attached thereto. See  FIG. 24 . In the illustrated example, the closure linkage assembly  3108  includes a mounting lug or feature  3110  that is configured to be operably received within the attachment groove  2418  in the proximal coupler portion  2416  of the proximal closure tube or outer housing  2410  that facilitates operable attachment to the closure drive system  3100 . In use, to actuate the closure drive system  3100 , the clinician depresses the closure trigger  3104  towards the pistol grip portion  3014 . As described in further detail in U.S. patent application Ser. No. 14/226,142, entitled SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM, now U.S. Pat. No. 9,913,642, which is hereby incorporated by reference in its entirety herein, the closure drive system  3100  may be configured to lock the closure trigger  3104  into the fully depressed or fully actuated position when the clinician fully depresses the closure trigger  3104  to attain the full closure stroke. When the clinician desires to unlock the closure trigger  3104  to permit the closure trigger  3104  to be biased to the unactuated position, the clinician activates a closure release button assembly  3112  which enables the closure trigger  3104  to return to its unactuated position. The closure release button assembly  3112  may also be configured to interact with various sensors that communicate with a microprocessor in the handle assembly  3010  for tracking the position of the closure trigger  3014 . Further details concerning the configuration and operation of the closure release button assembly  3112  may be found in U.S. patent application Ser. No. 14/226,142, entitled SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM, now U.S. Pat. No. 9,913,642, which is hereby incorporated by reference in its entirety herein. 
     In at least one form, the handle housing  3012  may operably support another drive system referred to herein as a firing drive system  3200  that is configured to apply firing motions to corresponding portions of the interchangeable surgical tool  2000  that is attached thereto. As was described in further detail in U.S. Pat. No. 9,913,642, the firing drive system  3200  may employ an electric motor  3210  that is located in the pistol grip portion  3014  of the handle assembly  3010 . In various forms, the motor  3210  may be a DC brushed driving motor having a maximum speed of approximately 25,000 RPM, for example. In other arrangements, the motor  3210  may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor  3210  may be powered by a power source  3212  that in one form may comprise a removable power pack. The power pack may support a plurality of Lithium Ion (“LI”) or other suitable batteries therein. A number of batteries connected in series may be used as the power source  3212  for the surgical controller  3000 . In addition, the power source  3212  may be replaceable and/or rechargeable. 
     Turning to  FIGS. 24 and 25 , the electric motor  3210  is configured to axially drive a longitudinally movable drive member  3220  in a distal and proximal directions depending upon the polarity of the voltage applied to the motor. For example, when the motor is driven in one rotary direction, the longitudinally movable drive member  3220  will be axially driven in a distal direction DD. When the motor  3210  is driven in the opposite rotary direction, the longitudinally movable drive member will be axially driven in a proximal direction PD. The handle assembly  3010  can include a switch  3214  which can be configured to reverse the polarity applied to the electric motor  3210  by the power source  3212  or otherwise control the motor  3210 . The handle assembly  3010  can also include a sensor or sensors that are configured to detect the position of the drive member and/or the direction in which the drive member is being moved. Actuation of the motor  3210  can be controlled by a firing trigger  3216  ( FIG. 22 ) that is pivotally supported on the handle assembly  3010 . The firing trigger  3216  may be pivoted between an unactuated position and an actuated position. The firing trigger  3216  may be biased into the unactuated position by a spring or other biasing arrangement such that, when the clinician releases the firing trigger  3216 , the firing trigger  3216  may be pivoted or otherwise returned to the unactuated position by the spring or biasing arrangement. In at least one form, the firing trigger  3216  can be positioned “outboard” of the closure trigger  3104  as was discussed above. As discussed in U.S. Pat. No. 9,913,642, the handle assembly  3010  may be equipped with a firing trigger safety button to prevent the inadvertent actuation of the firing trigger  3216 . When the closure trigger  3104  is in the unactuated position, the safety button is contained in the handle assembly  3010  where the clinician cannot readily access it and move it between a safety position preventing actuation of the firing trigger  3216  and a firing position wherein the firing trigger  3216  may be fired. As the clinician depresses the closure trigger  3216 , the safety button and the firing trigger  3216  pivot downwardly where they can then be manipulated by the clinician. 
     In at least one form, the longitudinally movable drive member  3220  may have a rack of teeth formed thereon for meshing engagement with a corresponding drive gear arrangement that interfaces with the motor  3210 . Further details regarding those features may be found in U.S. Pat. No. 9,913,642. In at least one form, the handle assembly  3010  also includes a manually-actuatable “bailout” assembly that is configured to enable the clinician to manually retract the longitudinally movable drive member should the motor  3210  become disabled. The bailout assembly may include a lever or bailout handle assembly that is stored within the handle assembly  3010  under a releasable door  3018 . See  FIG. 23 . The lever may be configured to be manually pivoted into ratcheting engagement with the teeth in the drive member. Thus, the clinician can manually retract the drive member  3220  by using the bailout handle assembly to ratchet the drive member in the proximal direction PD. U.S. Pat. No. 8,608,045, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, the entire disclosure of which is hereby incorporated by reference herein, discloses bailout arrangements and other components, arrangements and systems that may also be employed with any one of the various surgical tools disclosed herein. 
     When the surgical tool  2000  is attached to the first controller interface  3002 , the attachment lug  3234  on the proximal coupler portion  3232  of the firing rod  3230  is operably received within an attachment cradle  3226  that is formed on a distal end  3224  of the longitudinally movable drive member  3220 . When the attachment lug  3234  is received within the attachment cradle  3226 , the firing rod  3230  is operably coupled to the firing drive system  3200 . Actuation of the firing drive system  3200  will cause the longitudinally movable drive member  3220  as well as the firing rod  3230  to move axially. Movement of the firing rod  3230  in the distal direction DD, will cause the firing bar  2610  as well as the cutting member  2620  attached thereto to also move distally. When tissue is clamped between the cartridge jaw and the anvil jaw, distal movement of the firing bar  2610  will cause the tissue clamped therein to be severed and the staples stored in the cartridge to be attached to the cut tissue on each side of the tissue cut line. 
     The handle housing  3012  may operably support another drive system referred to herein as an articulation drive system  3300  that is configured to apply articulation motions to the corresponding portions of the interchangeable surgical tool  2000  that is attached thereto. For example, the articulation drive system  3300  may apply articulation motions to the right articulation driver  2510  and the left articulation driver  2530  to selectively articulate the surgical end effector  2100  about the pivot axis PA defined by the articulation joint  2350 . See  FIG. 8 . In the illustrated arrangement, for example, the articulation drive system  3300  may comprise an articulation motor  3310  that is operably supported by the handle housing  3012 . See  FIG. 25 . In at least one arrangement, an articulation drive gear  3312  is attached to the articulation motor  3310 . The articulation drive gear  3312  is in meshing engagement with a right articulation drive rack  3320  that is supported for axial travel in the handle assembly  3010 . As can be seen in  FIG. 25 , for example, a proximal end portion  2514  of the right articulation driver  2510  is tubular in nature. In the illustrated arrangement for example, the firing rod  3230  extends therethrough and is movably supported therein. The right articulation drive rack  3320  includes a right engagement cradle  3322  that is configured to receive the right attachment collar  2516  of the proximal coupler portion  2514  of the right articulation driver  2510 . Similarly, the articulation drive gear  3312  is in meshing engagement with a left articulation drive rack  3330  that is supported for axial travel in the handle assembly  3010 . The left articulation drive rack  3330  includes a left engagement cradle  3332  that is configured to receive the left attachment collar  2536  of the proximal coupler portion  2534  of the left articulation driver  2530 . The articulation motor  3310  may be controlled by a switch  3314  (or switches) on the handle assembly  3010 . Thus, rotation of the articulation drive gear  3312  in a first rotary direction will drive the right articulation drive rack  3320  as well as the right articulation driver  2510  in the distal direction and the left articulation drive rack  3330  and the left articulation driver  2530  in the proximal direction which will result in the articulation of the surgical end effector  2100  to the left about the pivot axis. Likewise, rotation of the articulation drive gear  3312  in a second rotary direction will drive the right articulation drive rack  3320  as well as the right articulation driver  2510  in the proximal direction and the left articulation drive rack  3330  and the left articulation driver  2530  in the distal direction which will result in the articulation of the surgical end effector  2100  to the right about the pivot axis. In certain embodiments, different gear arrangements may be employed to attain different articulation stroke lengths. For example, in at least one arrangement, the right and left articulation stroke lengths are equal. In other arrangements, the right and left articulation stroke lengths are not equal. In still other arrangements, the right articulation driver  2510  is axially moved by a dedicated right articulation motor and the left articulation driver  2530  is axially moved by a dedicated left articulation motor. The onboard microprocessor in the handle assembly may control the right and left articulation motors to attain the desired right and left articulation strokes. 
     When the surgical tool  2000  is detached from the handle assembly  3010  or the tool mounting portion of a robotic system, the outer housing or proximal closure tube  2410 , the right articulation driver  2510 , the left articulation driver  2530  as well as firing rod  3230  are retained in a serial docking alignment relative to each other in their respective neutral coupling positions by the spacing lock  2710  ( FIGS. 18-21 ). The spacing lock  2710  serves to maintain the proximal coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  in serial docking alignment so they may operably engage the drive portions of the corresponding drive systems in the handle assembly  3010  or other controller interface. When the clinician properly inserts a portion of the docking housing  2700  into the docking cavity  3032  in the nozzle assembly  3030  of the handle assembly  3010 , an unlocking portion  2740  of the spacing lock  2710  is brought into engagement with the longitudinally movable drive member  3220  to thereby bias the spacing lock  2710  out of retaining engagement to enable the outer housing or proximal closure tube  2410 , the firing rod  3230 , the right articulation driver  2510  and the left articulation driver  2530  to move axially in response to corresponding control motions applied thereto. See  FIGS. 26-28 . However, once the surgical tool  2000  is detached from the housing assembly  3010  (moved in the direction  2714 ), the springs  2730  will bias the spacing lock  2710  back into the locked orientation shown in  FIGS. 18-21 . Such locked arrangement enables the surgical tool  2000  to be reattached to the handle assembly  3010  or tool holder portion of a robotic system (second control interface) as desired. 
     As noted above, the surgical tool  2000  is configured to be interchangeably operably attachable to a first controller interface that supports a plurality of corresponding control systems that are configured to apply appropriate control motions to the various components of the surgical tool  2000  and at least a second controller interface that is not identical to or is different from the first controller interface, yet possesses similar (at least from a functional standpoint) control systems that are configured to apply the appropriate control motions to the various driver arrangements of the surgical tool  2000 . For example, in addition to being interchangeably operably couplable to a first controller interface  3000  which may comprise a handheld controller  3002 , the surgical tool  2000  may be operably couplable to a second controller interface that may, for example, comprise a portion of a robotically-controlled system. 
     Turning to  FIGS. 28 and 29 , the surgical tool  2000  may be configured to operably interface with a second controller interface  3500  that comprises a tool mounting portion  3502  that is operably attachable to a tool holder of a robotic system  1000 , for example. In at least one arrangement, the tool mounting portion  3502  comprises a housing  3510  that operably supports a plurality of robotically-controlled drive systems. For example, the tool mounting portion  3500  supports a closure drive system, generally designated as  3600 , which may be employed to apply closing and opening motions to the surgical tool  2000  that is operably attached or coupled to the tool mounting portion  3502 . As can be seen in  FIG. 29 , the closure drive system  3600  comprises an axially movable closure coupler  3610  that is configured to move distally and proximally in response to closure motions applied thereto by the robotically-controlled closure drive system  3600 . The closure coupler  3610  comprises a mounting lug or mounting feature  3612  that is configured to be operably received within the attachment groove  2418  of the proximal coupler portion  2416  of the proximal closure tube or outer housing  2410  that facilitates operable attachment to the closure drive system  3600 . When the surgical tool  2000  is attached to the tool mounting portion  35020  as shown in  FIG. 29 , actuation of the closure drive system  3600  will result in the axial movement of the outer housing or proximal closure tube  2410  of the shaft assembly  2300 . 
     Still referring to  FIG. 29 , in the illustrated arrangement, the tool mounting portion  3502  comprises a channel retainer mount  3520  that has frame attachment lugs  3522  that are configured to be retainingly received within the corresponding frame attachment grooves  2328  of the proximal coupler portion  2326  of the tool frame assembly  2320 . Such arrangement serves to removably couple the proximal coupler portion  2326  of the tool frame assembly  2320  to the tool mounting portion  3502 . In at least one form, the tool mounting portion  3502  operably supports a firing drive system  3700  that is configured to apply firing motions to the firing rod  3230  of the surgical tool  2000 . As can be seen in  FIG. 29 , a firing drive shaft  3702  is supported for axial travel in response to firing control motions generated by the robotically-controlled firing drive system  3700 . The attachment lug  3234  on the firing rod  3230  is adapted to be operably received within an attachment cradle  3706  formed on a distal end  3704  of the longitudinally movable firing drive shaft  3702 . When the attachment lug  3234  is received within the attachment cradle  3706 , the firing rod  3230  is operably coupled to the robotically controlled firing drive system  3700 . Actuation of the firing drive system  3700  will cause the longitudinally movable firing drive shaft  3702  as well as the firing rod  3230  to move axially. Movement of the firing rod  3230  in the distal direction DD, will cause the firing bar  2610  as well as the cutting member  2620  attached thereto to also move distally. When tissue is clamped between the cartridge jaw and the anvil jaw, distal movement of the firing bar  2610  will cause the tissue clamped therein to be severed and the staples stored in the cartridge to be attached to the cut tissue on each side of the tissue cut line. 
     The tool mounting portion  3500  may operably support another drive system referred to herein as a robotically-controlled articulation drive system  3800  that is configured to apply articulation motions to the corresponding portions of the surgical tool  2000  that is attached thereto. For example, the robotically-controlled articulation drive system  3800  may apply articulation motions to the right articulation driver  2510  and the left articulation driver  2530  to selectively articulate the surgical end effector  2100  about the pivot axis PA defined by the articulation joint  2350 . In the illustrated arrangement, for example, a right articulation drive member  3820  is supported for axial travel on the tool mounting portion  3500  in response to control motions generated by the robotically-controlled articulation drive system  3800 . The right articulation drive member  3820  includes a right engagement cradle  3822  that is configured to receive the right attachment collar  2516  of the proximal coupler portion  2514  of the right articulation driver  2510 . In addition, a left articulation drive member rack  3830  is supported for axial travel in the tool mounting portion  3500  in response to control motions generated by the robotically-controlled articulation drive system  3800 . The left articulation drive member  3830  includes a left engagement cradle  3832  that is configured to receive the left attachment collar  2536  of the proximal coupler portion  2534  of the left articulation driver  2530 . Actuation of the right and left articulation drive members  3820 ,  3830  may be controlled by the control system controlling the articulation drive system  3800  such that as the right articulation drive member  3820  is moved distally, the left articulation member  3830  is moved proximally and vice versa to achieve the desired amount of articulation of the surgical end effector  2100 . Various control arrangements are further described in U.S. patent application Ser. No. 15/636,858, entitled SYSTEM FOR CONTROLLING ARTICULATION FORCES, now U.S. Pat. No. 10,258,418, the entire disclosure of which has been incorporated by reference herein. 
     As can be seen in  FIG. 28 , an open docking cavity  3512  sized to receive the docking housing  2700  therein is provided in the housing  3510  of the tool mounting portion  3502 . To operably couple the surgical tool  2000  to the tool mounting portion  3502 , the docking housing  2700  is positioned for insertion into the docking cavity  3512  and is moved in an installation direction ID that is orthogonal to a longitudinal mount axis MA until the modular shaft nozzle portion  2700  retainingly engages the housing  3512 . The modular docking housing  2700  may be removably retained in engagement with the housing by friction, releasable latch arrangements, snap features, etc. When the clinician properly docks the docking housing  2700  within the docking cavity  3512  in the housing  3510 , the unlocking member  2740  on the spacing lock  2710  is brought into engagement with the longitudinally movable firing drive shaft  3702  to bias the spacing lock  2710  out of retaining engagement with the coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  in the manner described above. See  FIG. 29 . However, once the surgical tool  2000  is detached from the tool mounting portion  3502  (moved in the direction  2714 ), the springs  2730  will bias the spacing lock  2710  back into the locked orientation. Such locked arrangement enables the surgical tool  2000  to be reattached to the handheld housing or robotic system as desired. 
     Thus, in accordance with at least one aspect, the surgical tool may be interchangeably employed with a plurality of controller interfaces that may not be identical to each other. For example, the surgical tool  2000  may be operably coupled to one of the first controller interface  3000  and the second controller interface  3500 , used thereon, and then detached therefrom to be operably attached to the second controller interface  3500  or vice versa. This may occur during a single operation wherein both of the controller interfaces  3000 ,  3500  are located within a single surgical suite. In other arrangements, the surgical tool  2000  may be used in connection with one of the controller interfaces  3000 ,  3500  and then re-sterilized for use in connection with another one of the first and second controller interfaces. Regardless of which controller interface with which the surgical tool  2000  is initially employed, after use of the surgical tool has been completed, the drive systems should be actuated to return each of the coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  to their respective neutral coupling position before the surgical tool  2000  is detached from the controller interface. Once the proximal coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232  have been brought into their respective neutral coupling position, the surgical tool  2000  may be detached from the controller interface by moving the docking housing  2700  in a detachment direction that is opposite to the installation direction ID. Once the unlocking member  2740  on the spacing lock  2710  is disengaged from the longitudinally movable firing drive shaft  3702 , the spacing lock will be biased into locking engagement with each of the proximal coupler portions  2416 ,  2326 ,  2534 ,  2514 ,  3232 . 
       FIGS. 30-77  depict a surgical instrument assembly  4000  configured to be used with a surgical robot. The surgical instrument assembly  4000  is configured to staple and cut tissue, although the surgical instrument assembly  4000  could be adapted to treat tissue in any suitable way, such as by applying heat energy, electrical energy, and/or vibrations to the tissue, for example. Moreover, the surgical instrument assembly  4000  is modular and is configured to be interchangeable with other surgical instrument assemblies having the same and/or different functionalities. Referring to  FIG. 30 , the surgical instrument assembly  4000  comprises, one, a sterile barrier  4100  configured to receive drive motions from a surgical robot interface of the surgical robot to which the sterile barrier  4100  is attached and, two, a control assembly  5000  configured to receive the drive motions from the sterile barrier  4100 . As discussed in greater detail below, the surgical instrument assembly further comprises a shaft assembly  6000  configured to receive the drive motions from the control assembly  5000 . 
     As discussed above, the sterile barrier  4100  is configured to be operably attached to a surgical robot interface and the control assembly  5000  is configured to be operably coupled with the sterile barrier  4100 . When the sterile barrier  4100  is attached to the surgical robot interface, the sterile barrier  4100  is configured to transmit drive motions from the surgical robot interface to the control assembly  5000  by way of a plurality of drive discs. The control assembly  5000  and the surgical robot interface are physically separated by the sterile barrier  4100  and, as a result, can be handled by different clinicians in different sterile fields. The drive discs of the surgical robot interface are configured to drive five primary drive systems of the control assembly  5000  which are discussed below. 
     The control assembly  5000  is configured to be attached to the sterile barrier  4100  after the sterile barrier  4100  is already coupled to the surgical robot. Alternatively, the control assembly  5000  and the sterile barrier  4100  can be assembled prior to being attached to the surgical robot. Referring primarily to  FIG. 31 , the sterile barrier  4100  comprises a frame portion  4101  and a floating plate assembly  4108  comprising a plurality of drive discs nested therein. The floating plate assembly  4108  is configured to move vertically within the frame portion  4101  to permit the disengagement between the drive discs of the sterile barrier  4100  and the drive discs of the control assembly  5000  so that the control assembly  5000  may be attached to and detached from the sterile barrier  4100 . The surgical robot interface may comprise corresponding vertically-movable drive outputs to permit the vertical movement of the floating plate assembly  4108  while maintaining driving engagement between the drive outputs and the drive discs of the surgical robot interface. 
     Referring primarily to  FIGS. 32, 36, and 40 , the floating assembly  4108  of the sterile barrier  4100  comprises a robot-facing plate  4110 , an instrument-facing plate  4120 , and a plurality of drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  nested between the robot-facing plate  4110  and the instrument-facing plate  4120 . The robot-facing plate  4110  faces the surgical robot interface and comprises spring members  4112  configured to bias the robot-facing plate  4110  and, thus, the instrument-facing plate  4120  and the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  toward the control assembly  5000 . The floating plate assembly  4108  is biased toward the control assembly  5000  to maintain driving engagement between the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  and the drive discs of the control assembly  5000 . The spring members  4112  permit the floating plate assembly  4108  to be pushed away from the control assembly to disengage the drive discs of the control assembly  5000  from the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100 . The robot-facing plate  4110  also comprises alignment features  4114  configured to align with corresponding alignment features of the surgical robot interface and, as a result, align the sterile barrier  4100  with the surgical robot interface when the sterile barrier  4100  is assembled to the surgical robot interface. 
     To couple the sterile barrier  4100  and the control assembly  5000 , the sterile barrier  4100  and the control assembly  5000  comprise various cooperating alignment elements which assist in the assembly of the sterile barrier  4100  and the control assembly  5000 . As seen in  FIG. 36 , the control assembly  5000  comprises a lower housing  5100  and an upper housing  5200 . The lower housing  5100  comprises alignment features  5120  configured to be received by corresponding alignment apertures  4122  of the instrument-facing plate  4120 . The control assembly  5000  also comprises a tab  5130  extending from the lower housing  5100 . The tab  5130  is configured to be received by an alignment notch  4102  defined in the sterile barrier  4100  when the control assembly  5000  is attached to the sterile barrier  4100 . Similarly, referring to  FIG. 40 , the shaft assembly  6000  is configured to be received within a shaft-receiving notch  4104  of the sterile barrier  4100  in a snap-fit fashion, for example, when the control assembly  5000  is attached to the sterile barrier  4100 . 
     Referring now to  FIG. 36 , the sterile barrier  4100  also comprises a notch  4106  defined therein configured to house the floating plate assembly  4108 . The notch  4106  permits the robot-facing plate  4110 , the instrument-facing plate  4120 , and the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  to move relative to the frame portion  4101  of the sterile barrier  4100 . This relative movement allows for space between the robot-facing plate  4110  and the surgical robot interface so that the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  and the corresponding drive discs of the surgical robot interface may be properly aligned before engaging each other. This relative movement also allows for a decoupling mechanism  5400  to disengage the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  from the control assembly  5000  so that the control assembly  5000  may be decoupled from the sterile barrier  4100 . 
     Referring primarily to  FIG. 40 , the decoupling mechanism  5400  comprises two levers  5410  configured to disengage the control assembly  5000  and the sterile barrier  4100 . Each lever  5410  is mounted to a bar  5420  comprising a plurality of pushing members  5430 . Each lever  5410  is spring loaded against the lower housing  5100  with springs  5412  such that, when the levers  5410  are squeezed, the bars  5420  rotate downwardly and, thus, the pushing members  5430  rotate downwardly. Upon releasing the levers  5410 , the levers  5410  are configured to be biased outwardly into their unengaged configuration by the springs  5412 . The pushing members  5430  extend through apertures  5150  defined in the lower housing  5100  so that the pushing members  5430  can push the instrument-facing plate  4120  downwardly to disengage the alignment features  5120  from the apertures  4122  and to disengage the drive discs  7100 ,  8100 ,  9100 ,  10100 , and  11100  from the control assembly  5000  such that the control assembly  5000  may be decoupled from the sterile barrier  4100 . 
     Referring primarily to  FIGS. 31 and 32 , the surgical instrument assembly  4000  comprises a shaft rotation drive system  7000 , a first articulation drive system  8000 , a second articulation drive system  9000 , a closure drive system  10000 , and a firing drive system  11000 . The drive disc  7100  is configured to drive the shaft rotation drive system  7000 , the drive disc  8100  is configured to drive the first articulation drive system  8000 , the drive disc  9100  is configured to drive the second articulation drive system  9000 , the drive discs  10100  are configured to drive the closure drive system  10000 , and the drive disc  11100  is configured to drive the firing drive system  11000 . 
     Referring to  FIG. 31 , the shaft rotation drive system  7000  is configured to rotate the shaft assembly  6000  about a longitudinal axis LA. Referring now to  FIG. 38 , the shaft rotation drive system  7000  comprises an input drive disc  7110  operably coupled with the drive disc  7100  ( FIG. 32 ) of the sterile barrier  4100 . The input drive disc  7110  is fixedly attached to a drive shaft  7120  and is configured to rotate the drive shaft  7120  when the input drive disc  7110  is rotated. The drive shaft  7120  is configured to rotate a spur gear  7130  which is fixedly attached to the drive shaft  7120 . The spur gear  7130  is operably meshed with a spur gear  7150 . The spur gear  7150  is fixedly attached to a transfer shaft  7160  which, when rotated by the spur gear  7150 , is configured to rotate a helical gear  7170  which is also attached to the drive shaft  7160 . The helical gear  7170  is operably meshed with another helical gear  7180 , which, referring to  FIG. 31 , is operably coupled with a proximal end  6702  ( FIG. 33 ) of a spine  6700  of the shaft assembly  6000  such that the rotation of the helical gear  7180  rotates the spine  6700  and, thus, the shaft assembly  6000  about its longitudinal axis LA. 
     As seen in  FIG. 31 , the first articulation drive system  8000  and the second articulation drive system  9000  are configured to cooperatively articulate the end effector  2100  of the shaft assembly  6000 . The first articulation drive system  8000  and the second articulation drive system  9000  are configured to cooperatively actuate the articulation drivers  2510 ,  2530  ( FIG. 43 ). The articulation drive systems  8000  and  9000  are configured to be antagonistically operated such that one of the articulation drive systems  8000 ,  9000  pulls one of the articulation drivers  2510 ,  2530  proximally and the other of the articulation drive systems  8000 ,  9000  pushes the other of the articulation drivers  2510 ,  2530  distally. That said, the drive systems  8000  and  9000  can be operated independently without the other being operated. 
     Referring again to  FIG. 38 , the first articulation drive system  8000  comprises an input drive disc  8110  operably coupled with the drive disc  8100  ( FIG. 32 ) of the sterile barrier  4100 . The input drive disc  8110  is fixedly attached to a drive shaft  8120  and is configured to rotate the drive shaft  8120  when the input drive disc  8110  is rotated. The drive shaft  8120  is configured to rotate a pinion gear  8130  which is fixedly attached to the drive shaft  8120 . The pinion gear  8130  is operably meshed with a rack gear portion  8142  of an articulation drive member  8140  such that, as the pinion gear  8130  is rotated in a first rotational direction, the articulation drive member  8140  is configured to translate in a first translational direction. As the pinion gear  8130  is rotated in a second rotational direction, the articulation drive member  8140  is configured to translate in a second translational direction. The second rotational direction is opposite the first rotational direction. 
     Referring still to  FIG. 38 , the articulation drive member  8140  further comprises an actuator tab  8144  configured to translate an actuation yoke  8150 . Specifically, the actuator tab  8144  is configured to be received within an annular slot  8152  of the actuation yoke  8150  such that the actuation yoke  8150  can rotate about the longitudinal axis LA ( FIG. 31 ) relative to the actuator tab  8144 . Such rotation will occur when the shaft rotation drive system  7000 , discussed above, is actuated. As shown in  FIG. 51 , the actuation yoke  8150  comprises an aperture  8154  defined therein. The aperture  8154  is configured to receive a proximal end  2511  of the articulation driver  2510  therein. The proximal end  2511  of the articulation driver  2510  is attached to the actuation yoke  8150  such that, as the actuation yoke  8150  is translated by the articulation drive member  8140 , the articulation driver  2510  is translated. As the articulation driver  2510  is translated, the end effector  2100  ( FIG. 31 ) articulates as described above. 
     Referring to  FIG. 50 , the second articulation drive system  9000  comprises an input drive disc  9110  operably coupled with the drive disc  9100  ( FIG. 32 ) of the sterile barrier  4100 . The input drive disc  9110  is fixedly attached to a drive shaft  9120  and is configured to rotate the drive shaft  9120  when the input drive disc  9110  is rotated. The drive shaft  9120  is configured to rotate a pinion gear  9130  which is fixedly attached to the drive shaft  9120 . The pinion gear  9130  is operably meshed with a rack gear portion  9142  of an articulation drive member  9140  such that, as the pinion gear  9130  is rotated in a first rotational direction, the articulation drive member  9140  is configured to translate in a first translational direction. As the pinon gear  9130  is rotated in a second rotational direction, the articulation drive member  9140  is configured to translate in a second translational direction. The second rotational direction is opposite the first rotational direction. 
     Referring still to  FIG. 50 , the articulation drive member  9140  further comprises an actuator tab  9144  configured to translate an actuation yoke  9150 . Specifically, the actuator tab  9144  is configured to be received within an annular slot  9152  of the actuation yoke  9150  such that the actuation yoke  9150  can rotate about the longitudinal axis LA ( FIG. 31 ) relative to the actuator tab  9144 . Such rotation will occur when the shaft rotation drive system  7000 , discussed above, is actuated. As shown in  FIG. 38 , the actuation yoke  9150  comprises an aperture  9154  defined therein. The aperture  9154  is configured to receive a proximal end  2531  of the articulation driver  2530  therein. The proximal end  2531  of the articulation driver  2530  is attached to the actuation yoke  8150  such that, as the actuation yoke  9150  is translated by the articulation drive member  9140 , the articulation driver  2530  is translated. As the articulation driver  2530  is translated, the end effector  2100  ( FIG. 31 ) articulates as described above. 
     Referring to  FIG. 41 , the actuation yoke  8150  comprises a pair of shaft protrusion sections  8156  and the actuation yoke  9150  comprises a shaft protrusion sections  9156 . The shaft protrusion sections  8156  are configured to be received within slots  9158  of the actuation yoke  9150 . Similarly, the shaft protrusion sections  9156  are configured to be received within slots  8158  of the actuation yoke  8150 . The shaft protrusion sections  8156 ,  9156  are configured to provide a nested support system for the actuation yokes  8150 ,  9150 . The actuation yokes  8150 ,  9150  are configured to rotate together in the same direction and translate longitudinally relative to each other in different directions. 
     The actuation of the articulation drive systems  8000 ,  9000  will now be discussed in connection with  FIGS. 45-49 . To articulate the end effector  2100 , the drive discs  8100 ,  9100  are actuated in the same rotational direction. Actuation of both drive discs  8100 ,  9100  in the same rotational direction provides the antagonistic actuation of the articulation drivers  2530 ,  2510  as discussed above. As shown in  FIG. 48 , the articulation driver  2510  is pushed in a distal direction DD and the articulation driver  2530  is pulled in a proximal direction PD to articulate the end effector  2100  in a first direction. To achieve this motion, the articulation drive disc  8100  and the articulation drive disc  9100  are rotated in the CW direction ( FIG. 45 ). As shown in  FIG. 49 , the articulation driver  2510  is pulled in a proximal direction PD and the articulation driver  2530  is pushed in a distal direction DD to articulate the end effector  2100  in a second direction. The second direction is opposite the first direction. To achieve this motion, the articulation drive disc  8100  and the articulation drive disc  9100  are rotated in the CCW direction ( FIG. 46 ). 
     Referring again to  FIG. 31 , the closure drive system  10000  is configured to clamp and unclamp tissue with the end effector  2100 . The closure drive system  10000  is configured to translate a closure tube  6100  relative to the spine  6700  ( FIG. 36 ) to move the anvil jaw  2200  ( FIG. 52 ) between open and closed positions. Referring primarily to  FIGS. 38 and 50 , the closure drive system  10000  comprises two input drive discs  10110 . Each input drive disc  10110  is operably coupled with one of the drive discs  10100  ( FIG. 32 ) of the sterile barrier  4100 . Each input drive disc  10110  is attached to and configured to rotate a drive shaft  10120 . Each drive shaft  10120  comprises a spur gear  10130  fixedly attached thereto, wherein both spur gears  10130  are operably meshed with a primary drive gear  10140 . As a result, the closure drive system  10000  is driven by two input drive discs  10100 . Referring to  FIG. 40 , the primary drive gear  10140  is mounted to a shaft projection  5140  of a lower housing  5100  such that the primary drive gear  10140  is rotatable about the shaft projection  5140 . Although two input drives are used in this instance, embodiments are envisioned where only one input drive is used. 
     As shown in  FIGS. 53-59 , the primary drive gear  10140  comprises a central recess  10142  configured to receive the shaft projection  5140  therein. The shaft projection  5140  and the central recess  10142  define a shaft axis about which the primary drive gear  10140  can rotate. The primary drive gear  10140  further comprises a spiral cam slot  10144  ( FIG. 54 ) configured to cam and translate a pin  10152  ( FIGS. 55-57 ) extending from a closure body  10150 .  FIG. 55  illustrates the pin  10152  abutting a first end wall  10145  of the spiral cam slot  10144 . In this position, the end effector  2100  ( FIG. 2 ) is in a fully open configuration. As the primary drive gear  10140  is rotated in the direction  10147 , the pin  10152  is cammed by the primary drive gear  10140  and translated longitudinally relative to the primary drive gear  10140 . The pin  10152  and, thus, the closure body  10150  ( FIG. 54 ), is configured to translate a full closure stroke distance  10148 . After a full rotation of the drive gear  10140 ,  FIG. 57  illustrates the pin  10152  abutting a second end  10146  of the spiral cam slot  10144  at the end of the closure stroke. In this position, the end effector  2100  ( FIG. 31 ) is in a fully clamped configuration. 
     To translate the closure tube  6100  ( FIG. 31 ), the closure drive system  10000  comprises a first yoke  10160  pivotably coupled to the closure body  10150  by a pin  10191 , a second yoke  10170  ( FIG. 36 ) pivotably coupled to the first yoke  10160  by a pin  10192 , and a closure tube shuttle  10180  comprising a tab  10182  which is pivotably coupled to the second yoke  10170  by a pin  10193 . The closure tube shuttle  10180  is coupled to the closure tube  6100  via a shaft coupler  10190  ( FIG. 36 ). The shaft coupler  10190  is positioned within a slot  6102  ( FIG. 44 ) defined in the closure tube  6100  and a slot  10184  ( FIG. 76 ) defined in the closure tube shuttle  10180  ( FIG. 76 ). Thus, when the closure body  10150  translates proximally, the closure tube shuttle  10180  translates the closure tube  6100  proximally to open the end effector  2100 . When the closure body  10150  is translated distally, the closure tube shuttle  10180  translates the closure tube  6100  distally to close the end effector  2100 . 
     Referring again to  FIG. 31 , the firing drive system  11000  is configured to advance and retract the firing bar  2610  ( FIG. 41 ) of the shaft assembly  6000 . Referring to  FIG. 50 , the firing drive system  11000  comprises an input drive disc  11110  operably coupled with the drive disc  11100  ( FIG. 32 ). The input drive disc  11110  is attached to and configured to rotate a drive shaft  11120 . The drive shaft  11120  is configured to rotate a spur gear  11130  which is attached to the drive shaft  11120 . The spur gear  11130  is operably meshed with a spur gear  11140  which is attached to another drive shaft  11142 . The spur gear  11140  is operably meshed with a spur gear  11150  which is attached to another drive shaft  11152 . Finally, the spur gear  11150  is operably meshed with an output pinion gear  11160  which is attached to another drive shaft  11162 . The output pinion gear  11160  is operably meshed with a rack gear portion  11210  of a firing member  11200 . Referring now to  FIG. 35 , a distal end  11202  of the firing member  11200  is coupled with a proximal end  6202  of a firing bar  6200  such that the firing bar  6200  can be rotated relative to the firing member  11200 . Such rotation of the firing bar  6200  accommodates the rotation needed by the shaft rotation drive system  7000 . The firing member  11200  is configured to translate the firing bar  6200  in a first translation direction when the drive disc  11100  is rotated in a first rotational direction. Similarly, the firing member  11200  is configured to translate the firing bar  6200  in a second translational direction when the drive disc  11100  is rotated in a second rotational direction. The second translational direction is opposite the first translational direction. Referring now to  FIG. 41 , the firing bar  6200  comprises a distal end  6204  defining an aperture  6205  therein. The attachment tab  2614  of the proximal end  2616  of the firing bar  2610  is positioned within the aperture  6205  such that the firing bar  6200  can push and/or pull the firing bar  6210 . 
     Referring now primarily to  FIGS. 60-63 , the control assembly  5000  further comprises a firing drive lock system  10400  configured to prevent the firing bar  6200  ( FIG. 35 ) from being actuated when the end effector  2100  ( FIG. 31 ) is in its unclamped configuration. More specifically, the firing drive lock system  10400  prevents the drive shaft  11120  ( FIG. 50 ) from rotating when the closure body  10150  is in an unclamped position. The firing drive lock system  10400  comprises a firing rod lock link  10410  and a lock  10420 . A distal end  10412  of the firing rod lock link  10410  is pivotably coupled to a laterally-extending tab  10158  of the closure body  10150 . The firing rod lock link  10410  extends proximally toward the firing drive system  11000 . The lock  10420  is pivotably coupled to a proximal end  10414  of the firing rod lock link  10410  by a pin  10424  and also to any one or more of the housings  5100 ,  5200 , and  5300  of the control assembly  5000  by a pin  10422 . Such an arrangement allows the firing rod lock link  10410  to pivot the lock  10420  about the pin  10422  as the closure body  10150  translates. 
     The lock  10420  further comprises a lock tooth  10426  configured to engage a gear  11340 . Referring back to  FIG. 50 , the gear  11340  is fixedly attached to a shaft  11330 . Another gear  11320  is also fixedly attached to the shaft  11330 . Referring to  FIG. 64 , the gear  11320  is operably meshed with a gear  11310  which is fixedly attached to the drive shaft  11120 . The gear  11340  is operably meshed with a gear  11350  which is also fixedly attached to the drive shaft  11120 . As a result, preventing the gear  11340  from rotating prevents the rotation of the drive shaft  11120  and the actuation of the firing rod  6200  ( FIG. 35 ). 
       FIGS. 60 and 62  illustrate the closure body  10150  in a position where the end effector  2100  ( FIG. 31 ) is in an unclamped configuration. In this position, the closure body  10150  has pivoted the lock tooth  10426  into locking engagement with the gear  11340  to prevent the firing drive shaft  11120  from rotating. Preventing the firing drive shaft  11120  from rotating while the instrument is unclamped prevents premature movement of the firing rod  6200  ( FIG. 35 ). Moving the end effector  2100  into a clamped configuration unlocks the firing drive.  FIGS. 61 and 63  illustrate the closure body  10150  in a position where the end effector  2100  is in a clamped configuration. The closure body  10150  moves distally from its position in  FIGS. 60 and 62  when the end effector  2100  is clamped. Distal movement of the closure body  10150  causes the firing rod lock link  10410  to pivot the lock  10420  away from the gear  11340  to disengage the lock tooth  10426  from the gear  11340  thereby permitting rotation of the gear  11340 . In this position, the gears  11320 ,  11340  are permitted to rotate freely and, as a result, the firing drive shaft  11120  may rotate to actuate the firing rod  6200 . 
     Referring now primarily to  FIGS. 65-69 , the control assembly  5000  ( FIG. 30 ) further comprises a dual closure and firing lock system  10500  configured to prevent the firing member  2610  ( FIG. 41 ) from being advanced before the end effector  2100  (FIG.  31 ) is in a fully clamped configuration. More specifically, the dual closure and firing lock system  10500  is configured to prevent the firing bar  6200  ( FIG. 35 ) from being advanced before the closure tube  6100  ( FIG. 35 ) is in its fully distal position, or sufficiently distal position. Moreover, once the firing bar  6200  is advanced, the dual closure and firing lock system  10500  is configured to prevent the closure tube  6100  from being actuated before the firing bar  6200  is fully retracted back to its unfired position. 
     As shown in  FIG. 65 , the dual lock system  10500  comprises a lock pawl  10510  pivotably coupled to the spine  6700 . The lock pawl  10510  is positioned within a spine cavity  6750  defined in the spine  6700 . The lock pawl  10510  comprises a distal portion  10516  which is pivotably coupled to the spine  6700  by a pin  10520 . As shown in  FIG. 66 , the lock pawl  10510  further comprises a closure tube lock protrusion  10512 , a firing rod lock protrusion  10514 , and a key portion  10517 .  FIG. 67  illustrates the closure tube  6100  in an unclamped position and the lock pawl  10510  in a configuration that prevents the firing rod  6200  from being advanced prior to the closure tube  6100  being moved distally to fully clamp the end effector  2100  ( FIG. 31 ) as described above. In this position, a distal edge  6152  of an aperture  6150  defined in the closure tube  6100  abuts the key portion  10517 . Also, in this position, the firing rod lock protrusion  10514  abuts a ledge  6212  defined in the firing rod  6200 . This abutment prevents the firing rod  6200  from being advanced distally. 
     To lift the firing rod lock protrusion  10514  away from the ledge  6212  so that the ledge  6212  may clear the firing rod lock protrusion  10514 , the closure tube  6100  is distally advanced to fully clamp the end effector  2100 . This distal movement of the closure tube  6100  causes a proximal edge  6151  of the aperture  6150  to engage the key portion  10517 . In such instances, the proximal edge  6151  rotates the lock pawl  10510  into the position illustrated in  FIG. 68 . When the lock pawl  10510  is rotated into this position, the closure tube lock protrusion  10512  is received within another aperture  6153  defined in the closure tube  6100 . As can be seen in  FIGS. 67-69 , the aperture  6153  is proximal to the aperture  6150 . Once the lock pawl  10510  rotates into the position illustrated in  FIG. 68 , the firing rod lock protrusion  10514  is clear of the ledge  6212  and the firing rod  6200  can be advanced through a staple-firing stroke. 
       FIG. 69  illustrates the firing rod  6200  in a partially advanced state. Once the ledge  6212  advances past the firing rod lock protrusion  10514 , the lock pawl  10510  is unable to be rotated as it is held in position by the firing rod  6200 . Moreover, as a result, the closure tube lock protrusion  10512  resides within the aperture  6153  for the duration of the firing stroke. As a result, the closure tube  6100  is unable to be actuated during the staple-firing stroke of the firing rod  6200 . Once the firing rod  6200  is fully retracted back into the position illustrated in  FIG. 67 , the lock pawl  10510  can rotate back into locking engagement with the firing bar  6200  to prevent the firing bar  6200  from being actuated again. In various instances, a spring can be used to bias the lock pawl  10510  back into this position. In other instances, the lock pawl  10510  may require a preliminary proximal motion of the closure tube  6100  to rotate the lock pawl  10510  into engagement with the firing rod  6200 . In either event, the closure tube  6100  can then be retracted to open the end effector  2100 . 
     The surgical instrument assembly  4000  ( FIG. 31 ) further comprises a manually-operated firing bailout system  11400 . Referring primarily to  FIGS. 50 and 71 , the firing bailout system  11400  is configured to retract the firing member  2610  in the event that the firing drive system  11000  becomes inoperable. For example, when the load on the firing member  2610  and the firing drive system  11000  exceeds a threshold load, the surgical robot to which the surgical instrument assembly  4000  is attached may not be able to provide enough torque to the input drive disc  11110  to overcome the load. In such an instance, the clinician can use the firing bailout system  11400  to manually retract the firing member  2610 . Such manual retraction of the firing member  2610  also permits the jaws of the end effector  2100  to be opened, especially in instances where the firing member  2610  comprises an I-beam configuration which locks the jaws of the end effector  2100  together. 
     Referring to  FIGS. 50, 51, and 71 , the firing bailout system  11400  comprises a retraction lever  11410 , a cam lobe  11420 , a pin  11430 , and a ratchet portion  11440 . The retraction lever  11410  is accessible through a user-removable window  5420  of the upper housing  5200  ( FIG. 40 ). The retraction lever  11410  and the cam lobe  11420  are pivotably coupled to the inner housing  5300  by way of the pin  11430 . The retraction lever  11410  is configured to rotate the cam lobe  11420  about the pin  11430  to push on a cam plate  11432 . The cam plate  11432  is positioned on top of the pinion gear  11160  of the firing drive system  11000 , which is discussed above. When the cam plate  11432  is pushed downwardly, the pinion gear  11160  is pushed out of engagement with the rack gear portion  11210  such that the pinion gear  11160  can not translate the firing member  11200 . Notably, the pinion gear  11160 , absent the firing bailout system  11400 , is biased into engagement with the firing member  11200  by a spring  11164 . 
     During a retraction stroke of the retraction lever  11410 , the retraction lever  11410  is configured to position the ratchet portion  11440  in engagement with an array of teeth  11220  defined in the top of the firing member  11200 . The ratchet portion  11440  is pivotably coupled to the retraction lever  11410  about an axis  11441  which is off-center with respect to the pin  11430 . A distal end  11445  of the ratchet portion  11440  is connected to the retraction lever  11410  via a spring  11450 . The spring  11450  encourages a proximal end  11443  of the ratchet portion  11440  to rotate downwardly toward the teeth  11220 . To prevent premature engagement between the teeth  11444  of the ratchet portion  11440  and the teeth  11220  of the firing member  11200 , a ledge  5340  is positioned in the housing  5300  above the firing member  11200 . The proximal end  11443  of the ratchet portion  11440  sits on top of and pushes down on the ledge  5340  until the proximal end  11443  is moved distally by the rotation of the lever  11410  enough to clear the ledge  5340 . Once the proximal end  11443  clears the ledge  5340 , the spring  11450  encourages the ratchet portion  11440  to rotate relative to the ratchet lever  11410  about the axis  11441 . Such rotation causes the teeth  11444  to meshingly engage to with teeth  11220 . 
     Further actuation of the retraction lever  11410  drives the ratchet portion  11440  proximally which, in turn, pulls the firing member  11200  proximally. In various instances, a single stroke of the lever  11410  is sufficient to fully retract the firing member  11200 . In some instances, more than one stroke of the lever  11410  is needed to fully retract the firing member  11200 . In such instances, the retraction lever  11410  is pushed downwardly to reset the lever  11410  such that the lever  11410  can be activated once again. As the lever  11410  is reset, the teeth  11444  slide distally across the top of the teeth  11220  without driving the firing member  11200 . At this point, the ratchet portion  11440  re-engages the teeth  11220  of the firing member  11200  and performing an additional retraction stroke of the retraction lever  11410  will pull the firing member  11200  further proximally. The user is able to perform as many retraction strokes as necessary to fully retract the firing member  2610 . 
     Referring to  FIGS. 72-77 , the surgical instrument assembly  4000  further comprises a manually-actuatable closure override system  10300 . As discussed further below, the closure override system  10300  can open the jaws of the end effector  2100 . The closure override system  10300  can be used when the surgical instrument assembly  4000  is operably coupled with a surgical robot and/or when the surgical instrument assembly  4000  is not coupled with a surgical robot. Referring to  FIGS. 37 and 50 , the closure override system  10300  comprises, among other things, a lever  10301  and a lock  10310 . To use the closure override system  10300 , the clinician must unlock the lock  10310  by sliding the lock  10310  laterally outward with respect to the override lever  10301 . The lock  10310  comprises a pin  10311  extending therefrom which is received within a recess  10303  defined in the lever  10301 . Once the pin  10311  is pulled out of the recess  10303 , the lever  10301  can be rotated out of its unactuated position. 
     Referring primarily to  FIG. 73 , the override lever  10301  is pivotably coupled to the upper housing  5200  ( FIG. 40 ) by a pin  10195  and is configured to utilize components of the closure drive system  10000  to, independent of the closure body  10150 , actuate the closure tube  6100 . The override lever  10301  comprises pin projections  10194  extending therefrom. The pin projections  10194  are positioned within a pair of slots  10162  defined in the first yoke  10160  of the closure drive system  10000 . When the lever  10301  is pulled upwardly into the position illustrated in  FIG. 73 , the pin projections  10194  move from the proximal ends  10163  of the slots  10162  toward the distal ends  10164  of the slots  10162 . When the pins  10194  contact the sidewalls of the slots  10162 , the lever  10301  can pull the first yoke  10160  upwardly and cause the first yoke  10160  to rotate about the pin  10191 . Such rotation of the first yoke  10160  causes the first yoke  10160  to pull the second yoke  10170  upwardly causing the second yoke  10170  to rotate about the pin  10193 . Collectively, this rotation of the first yoke  10160  and the second yoke  10170  pulls the closure tube shuttle  10180  and the closure tube  6100  ( FIG. 35 ) proximally. In this instance, the closure tube shuttle  10180  is moved independently of the closure body  10150 . As discussed above, the proximal movement of the closure tube shuttle  10180  and the closure tube  6100  allows the jaws of the end effector  2100  to be opened.  FIG. 74  illustrates the lever  10301  in a fully actuated position where the pin projections  10194  abut the distal ends  10164  of the slots  10162  and the closure tube shuttle  10180  and, thus, the closure tube  6100 , are retracted into their proximal-most positions. 
     Turning now to  FIGS. 75-77 , the closure tube  6100  and the closure tube shuttle  10180  are configured to be actuated by either the closure drive system  10000  or the closure override system  10300 .  FIG. 76  is a cross-sectional view of  FIG. 75  and illustrates the closure tube  6100  and the closure tube shuttle  10180  in a retracted position caused by the closure override system  10300 . As can be seen from  FIG. 76 , the shaft coupler  10190  couples the closure tube  6100  and the closure tube shuttle  10180  such that the movement of the closure tube shuttle  10180 , either proximally or distally, is transferred to the closure tube  6100 . 
     As illustrated in  FIG. 36 , the spine  6700  of the shaft assembly  6000  is nested within the housings  5100 ,  5200 , and  5300 . The spine  6700  of the shaft assembly  6000 , which is rotatably supported within the housings  5100 ,  5200 , and  5300  ( FIG. 40 ), extends through the closure tube  6100 . The firing rod  6200 , which is translatable relative to the spine  6700 , extends through the spine  6700 . 
       FIG. 77  is a cross-sectional view of  FIG. 75  and illustrates the closure tube  6100  and the closure tube shuttle  10180  in an unactuated position. As discussed above, the rotation of the gears  10130 , in opposite directions, rotates the primary drive gear  10140 . The rotation of the primary drive gear  10140  translates the closure body  10150  proximally or distally owing to the spiral cam slot  10144  ( FIGS. 55-57 ) defined in the primary drive gear  10140  and the pin  10152  which extends from the closure body  10150  into the spiral cam slot  10144 . As can be seen from  FIG. 77 , the translation of the closure body  10150  in the proximal direction translates the closure tube  6100  and the closure tube shuttle  10180  proximally and the translation of the closure body  10150  in the distal direction translates the closure tube  6100  and the closure tube shuttle  10180  distally. 
     Referring primarily to  FIG. 70 , the surgical instrument assembly  4000  further comprises a secondary closure drive actuator  10600  which is accessible to a user on the exterior of the control assembly  5000 . The secondary closure drive actuator  10600  allows a clinician to manually drive the closure drive system  10000  when the surgical instrument assembly  4000  is not attached to a surgical robot, for example. The secondary closure drive actuator  10600  is positioned on the upper housing  5200  and comprises a knob  10610  removably attached to the closure drive shaft  10120  ( FIG. 72 ). The knob  10610  is removably attached to the closure drive shaft  10120  by way of a driving tab extending from the knob  10610  and receiving slot  10126  defined in the closure drive shaft  10120  configured to receive the driving tab therein. The secondary closure drive actuator  10600  rotates with closure drive shaft  10120  when the closure drive system  10000  is operated by the surgical robot. In an alternative embodiment, the second closure drive actuator  10600  is configured to remain stationary relative to the closure drive shaft  10120  by way of slip joint until a clinician chooses to rotate the closure drive shaft  10120  with the secondary closure drive actuator  10600 . Such an arrangement can eliminate unnecessary motion of the knob  10610  when the closure drive system  10000  is operated by the surgical robot. The secondary closure drive actuator  10600  can be particularly useful to a clinician when the surgical instrument assembly  4000  is not attached to a surgical robot. Having the capability to open and close the jaws of an end effector via the secondary closure drive actuator  10600  may eliminate the need to place inadvertent stress on internal components when opening and closing the jaws of an end effector by grabbing the jaws themselves. A clinician is able to fully clamp and fully unclamp the jaws of an end effector with the secondary closure drive actuator  10600 . 
     Referring primarily to  FIG. 70 , the knob  10610  is configured to be removably couplable to the control assembly  5000 . In the event that a clinician wants to manually open the jaws when the instrument is still attached to a surgical robot, the clinician can rotate the knob  10610  in an attempt to open the end effector  2100  prior to resorting to the closure override system  10300 . In the illustrated embodiment, the lever  10301  of the closure override system  10300  is positioned beneath the knob  10610 . Thus, the knob  10610  may need to be removed prior to actuation of the closure override system  10300 . In certain instances, the lever  10301  may automatically lift and decouple the knob  10610  from the housing  5200  of the control assembly  5000 . The above being said, a clinician can also actuate the knob  10610  and/or the closure override system  10300  when the surgical instrument assembly  4000  is detached from the surgical robot. In such an instance, a clinician is able to open the end effector  2100  and install a new staple cartridge, for example. 
     As discussed above, the surgical instrument assembly  4000  comprises two closure drive inputs. These two closure drive inputs can be used to monitor the position of the rotatable jaw of the end effector by differing the gear ratios between each input drive gear  10130  and the primary drive gear  10140 . Differing the gear ratios between the input gears and the primary drive gear requires the input gears to be rotated different amounts to drive the primary drive gear a given amount of rotation. Thus, the difference in the amount of rotation between the two input gears defines the amount of rotation of the primary drive gear. The amount of rotation of the primary drive gear directly corresponds to the position of the rotatable jaw. As a result, the difference in the amount of rotation between the two input gears is monitored by the surgical robot to identify the position of the rotatable jaw. Discussed in detail below, the closure drive systems  12100 ,  12200  illustrated in  FIGS. 78-81  utilize dissimilar drive input arrangements and can be used with the surgical instrument assembly  4000  to monitor the angle at which the rotatable jaw of the end effector is rotated. The differing gear ratio systems discussed above can also be adapted for use with any of the other drive systems of the surgical instrument assembly  4000  to monitor their respective outputs. For example, a firing drive system can use two drive inputs having two different gear ratios with a common drive output to monitor the position of the firing member. 
     Further to the above, the closure drive systems  12100 ,  12200  can be used to determine the angle at which the rotatable jaw is rotated the instant the surgical instrument assembly is attached to the surgical robot. To achieve this, the surgical robot monitors its drive discs during attachment. The drive discs of the surgical robot can start at a home, or reference, position and, during the attachment of the control assembly  5000  to the robot, the robot can rotate its drive discs to align the drive discs of the surgical robot with the drive discs of the surgical instrument assembly. During this alignment phase, the surgical robot monitors the amount of rotation that its drive discs undergo to determine the position of the corresponding drive discs of the surgical instrument assembly. The surgical robot and/or surgical robot interface can contain encoders to monitor the position of its drive discs. Once the positions of the drive discs of the surgical instrument assembly are identified, the surgical robot can evaluate the difference in the amount of rotation between the drive discs and, thus, determine the angle at which the rotatable jaw of the end effector is rotated. 
       FIGS. 78 and 79  depict a closure drive system  12100 . In accordance with at least one alternative embodiment, the closure drive system  12100  comprises two different drive input arrangements which can separately or simultaneously drive a spiral cam gear  12140 . The closure drive system  12100  comprises a first input gear  12110  comprising a first number of teeth and a second input gear  12120  comprising a second number of teeth. The first number of teeth and second number of teeth are different. Both gears  12110 ,  12120  are operably meshed with the spiral cam gear  12140 . The first input gear  12110  is directly meshed with spiral cam gear  12140  while the second input gear  12120  is meshed with the spiral cam gear  12140  via a double-sided rack gear  12130 . The double-sided rack gear  12130  is provided to maintain equal center-to-center distances between the input gears  12110 ,  12120  and the spiral cam gear  12140 . The center-to-center distances are defined between the center of the input gears  12110 ,  12120  and the center of the spiral cam gear  12140 , as illustrated in  FIG. 78 . Such an arrangement allows the closure drive system  12100  to have two different gear ratios between the first input gear  12110  and the spiral cam gear  12140  and the second input gear  12120  and the spiral cam gear  12140 . The spiral cam gear  12140  comprises a spiral cam slot  12142  configured to engage a closure body, such as the closure body  10150  ( FIG. 75 ), for example, to move the closure body  10150  proximally and distally. In various instances, the rack gear  12130  is flexible to curl within the housings such as housings  5100 ,  5200 , and  5300  ( FIG. 40 ). 
       FIGS. 80 and 81  depict a closure drive system  12200  comprising two different drive input arrangements which can separately or simultaneously drive a primary drive gear  12240 . The closure drive system  12200  comprises a first input gear  12210  comprising a first number of input teeth and a second input gear  12220  comprising a second number of input teeth. The first number of input the teeth and second number of input teeth are different. The first input gear  12210  is operably meshed with a secondary drive gear  12230 . The second input gear  12220  is operably meshed with the primary drive gear  12240 . The primary drive gear  12240  comprises a first number of drive teeth and the secondary drive gear  12230  comprises a second number of drive teeth which is different than the first number of drive teeth. In some instances, the first number of drive teeth and the second number of drive teeth are the same. In either event, the first input gear  12210  and the secondary drive gear  12230  comprise a first gear ratio and the second input gear  12220  and the primary drive gear  12240  comprise a second gear ratio which is different than the first gear ratio. 
     The primary drive gear  12240  and the secondary drive gear  12230  share a common drive axis. As a result, the closure drive system  12200  comprises two separate and different gear ratios which share the common drive axis. The spiral cam gear  12240  comprises a spiral cam slot  12242  configured to engage a closure body, such as the closure body  10150  ( FIG. 75 ), for example, to move the closure body proximally and distally. 
     As discussed above, the different gear ratios between the drive inputs and the primary drive output results in different amounts of input rotation to a common output rotation. This relationship is illustrated in the graph  12300  seen in  FIG. 82 . To drive a primary drive gear, such as the primary drive gear  12140 , for example, a given amount of rotation, the amount of rotation of the first input gear is different than the amount of rotation of the second input gear. As discussed above, differing the amount of rotation required by the input gears  12110  and  12120  to rotate the primary drive gear  12140  a certain amount results in a difference in the amount of rotation between the two input gears  12110 ,  12120 . 
     The difference in the amount of rotation between the two input gears corresponds to a defined amount of rotation of the primary drive gear, such as the primary drive gear  12140 , for example. This relationship can be seen in the graph  12310  seen in  FIG. 83  and can be used to verify, or evaluate, the amount in which the primary drive gear  12140  has been rotated, as discussed in greater detail below. The amount of output rotation of the primary drive gear  12140  is then used to obtain data from a lookup table. The lookup table relates a range of calculated rotation differences corresponding to the input gears to a range of amounts of outputs of rotation. The lookup table also relates the range of calculated rotation differences corresponding to the input gears to the angle at which the rotatable jaw of the end effector is rotated. 
     The output angles of rotation of the primary drive gears  12140 ,  12240  directly correspond to the position of the closure tube  6100 . Moreover, the position of the closure tube  6100  reveals the angle at which the rotatable jaw of the end effector  2100  is rotated. This direct relationship between the output angle of rotation of the primary drive gear and the angle of the rotatable jaw is also contained within the lookup table. Thus, the instant the surgical instrument assembly is attached to the surgical robot, the surgical robot can determine whether the end effector  2100  is clamped, unclamped, partially clamped, and by how much. The surgical robot can then determine how much to adjust the position of the rotatable jaw, if necessary, for the next step in the surgical procedure. The surgical robot can determine that the end effector  2100  is not fully clamped and that the end effector  2100  needs to be fully clamped to insert the end effector  2100  through a trocar, for example. The surgical robot can also evaluate how much the rotatable jaw needs to be rotated and in what direction to move it to a fully clamped or fully unclamped position. In certain instances, the surgical robot can determine to fully unclamp the rotatable jaw to allow a clinician to insert a staple cartridge into the end effector  2100  and/or to ensure the end effector  2100  is ready for insertion into the trocar. For example, a clinician may replace a staple cartridge positioned within the end effector  2100  in such an instance. 
     Further to the above, the gear ratios between the input drive gears and the primary drive gear do not have to be significantly different. In fact, maintaining similar, but still different, ratios can prevent the input gears from creating large differences in rotation inputs which, in some instances, can confuse the robot controller, especially when the input gears make more than one full revolution during a closure stroke. In such an instance, a single difference angle of rotation may correspond to two different end effector configurations where the rotatable jaw is angled at two different angles. Maintaining similar, but different, ratios will increase the amount of unique difference angles of rotation that corresponds to a set of unique jaw angles. 
     When a surgical instrument assembly, such as the surgical instrument assembly  4000 , is not operably coupled to a surgical robot interface of a surgical robot, one of the methods for opening and closing the jaws of the end effector may comprise opening and closing the jaws manually. For example, a clinician may pinch the jaws closed to insert the end effector  2100  ( FIG. 30 ) into a trocar prior to attaching the surgical instrument assembly to a surgical robot. Closing the jaws manually in such a manner causes the closure tube and, thus, the closure tube shuttle  10180 , to move distally. A closure drive system  13000  illustrated in  FIGS. 84-86  can the back-driving of the closure drive discs when the jaws are closed manually, as discussed in greater detail below. 
     The closure drive assembly  13000  comprises various components of the closure drive system  10000  of the surgical instrument assembly  4000  of  FIG. 30 . The closure drive assembly  13000  further comprises a housing portion  13100  and a torsional spring  13110  mounted to a projection  13108  of the housing portion  13100 . Referring to  FIG. 86 , the housing portion  13100  also comprises an aperture  13102  defined therein comprising a proximal end  13104  and a distal end  13106 . The spring  13110  is configured to bias the primary drive gear  10140 ′ and, thus, the mounting projection  10141 ′ extending therefrom, toward the proximal end  13104  of the aperture  13102 . The biasing force applied by the torsional spring  13110  counteracts reaction loads applied by tissue through the closure tube  6100  urging the primary drive gear  10140 ′ distally. When the primary drive gear  10140 ′ is in the proximal position illustrated in  FIGS. 84-86 , the input drive gears  10130  driven by the input drive discs  10110 ′ and attached to the drive shafts  10120  are operably meshed with the primary drive gear  10140 ′ such that the input drive gears  10130  rotate the primary drive gear  10140 ′ when rotated by the drive discs  10110 ′. 
     When pinching the jaws closed, the closure tube shuttle  10180  will pull the closure body distally and, instead of rotating the primary drive gear  10140 ′ with the pin  10152  extending from the closure body into the cam slot  10142 ′, the closure body and the primary drive gear  10140 ′ overcome the spring force applied by the torsional spring  13110  and move distally. This distal movement causes the primary drive gear  10140 ′ to disengage from the gears  10130  and causes the pin  10141 ′ to move distally within the aperture  13102  toward the distal end  13106  of the aperture  13102 . When the surgical instrument assembly  4000  is detached from the surgical robot, the closure drive system  13000  provides sufficient flexibility to permit a clinician to pull the end effector out through a trocar in the event that an operator of the surgical robot did not clamp the jaws prior to removal. 
     Many of the surgical instrument systems described herein are motivated by an electric motor; however, the surgical instrument systems described herein can be motivated in any suitable manner. In various instances, the surgical instrument systems described herein can be motivated by a manually-operated trigger, for example. In certain instances, the motors disclosed herein may comprise a portion or portions of a robotically controlled system. Moreover, any of the end effectors and/or tool assemblies disclosed herein can be utilized with a robotic surgical instrument system. U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, discloses several examples of a robotic surgical instrument system in greater detail. 
     The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. Various embodiments are envisioned which deploy fasteners other than staples, such as clamps or tacks, for example. Moreover, various embodiments are envisioned which utilize any suitable means for sealing tissue. For instance, an end effector in accordance with various embodiments can comprise electrodes configured to heat and seal the tissue. Also, for instance, an end effector in accordance with certain embodiments can apply vibrational energy to seal the tissue. 
     EXAMPLES 
     Example 1—A surgical instrument comprising a shaft. The shaft comprises a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset with respect to the longitudinal axis, a first articulation driver selectively movable between a first neutral position, a first distal position, and a first proximal position in response to corresponding first articulation control motions applied thereto, and a first articulation link operably coupled to the first articulation driver, the first articulation link extending transverse to the longitudinal axis and coupled to the end effector frame at a first attachment location. The surgical instrument further comprises a second articulation driver selectively movable between a second neutral position, a second distal position, and a second proximal position in response to corresponding second articulation control motions applied thereto and a second articulation link operably coupled to the second articulation driver and extending transverse to the longitudinal axis and the first articulation link to be coupled to the end effector frame at a second attachment location. 
     Example 2—The surgical instrument of Example 1, wherein when the first articulation driver is moved from the first neutral position to the first distal position, the second articulation driver is moved to the second proximal position to rotate the end effector to a first fully articulated position about the articulation pivot and when the second articulation driver is moved from the second neutral position to the second distal position, the first articulation driver is moved to the first proximal position to rotate the end effector to a second fully articulated position about the articulation pivot. 
     Example 3—The surgical instrument of Examples 1 or 2, wherein when the first articulation driver is in the first neutral position and the second articulation driver is in the second neutral position, the end effector is axially aligned with the longitudinal axis in an unarticulated position. 
     Example 4—The surgical instrument of Examples 1, 2, or 3, wherein the first neutral position and the first distal position define a first distal articulation stroke of the first articulation driver, the first neutral position and the first proximal position define a first proximal articulation stroke of the first articulation driver, the second neutral position and the second distal position define a second distal articulation stroke of the second articulation driver, the second neutral position and the second proximal position define a second proximal articulation stroke of the second articulation driver, and the first distal articulation stroke is not equal to the second distal articulation stroke. 
     Example 5—The surgical instrument of Example 4, wherein the first distal articulation stroke is less than the second distal articulation stroke. 
     Example 6—The surgical instrument of Examples 4 or 5, wherein the first proximal articulation stroke is not equal to the second proximal articulation stroke. 
     Example 7—The surgical instrument of Examples 4, 5, or 6, wherein the first proximal articulation stroke is greater than the second proximal articulation stroke. 
     Example 8—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, or 7, wherein the first articulation link comprises a first link length and wherein the second articulation link comprises a second link length that differs from the first link length. 
     Example 9—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, or 8, wherein the first attachment location is offset from the longitudinal axis a first offset distance, and wherein the second attachment location is offset from the longitudinal axis a second offset distance that differs from the first offset distance. 
     Example 10—The surgical instrument of Example 9, wherein the first offset distance is greater than the second offset distance. 
     Example 11—The surgical instrument of Examples 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, wherein the first articulation link is pivotally attached to the first articulation driver at a first link attachment location, wherein the second articulation link is pivotally attached to the second articulation driver at a second link attachment location, and wherein when the first articulation driver is in the first neutral position and the second articulation driver is in the second neutral position, the first link attachment location is axially offset from the second link attachment location. 
     Example 12—The surgical instrument of Example 11, wherein the first link attachment location is laterally offset from the longitudinal axis a first lateral distance, and wherein the second link attachment location is laterally offset from the longitudinal axis a second lateral distance that differs from the first lateral distance. 
     Example 13—The surgical instrument of Example 12, wherein the second lateral distance is less than the first lateral distance. 
     Example 14—A surgical instrument comprising a controller comprising a source of first articulation control motions, a source of second articulation control motions, and a source of firing control motions. The surgical instrument further comprises a surgical tool operably couplable to the controller, wherein the surgical tool comprises a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical tool further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset with respect to the longitudinal axis, a first articulation driver selectively movable between a first neutral position, a first distal position, and a first proximal position in response to corresponding first articulation control motions applied thereto by the source of first articulation control motions, and a first articulation link operably coupled to the first articulation driver, the first articulation link extending transverse to the longitudinal axis and coupled to the end effector frame at a first attachment location. The surgical tool further comprises a second articulation driver selectively movable between a second neutral position, a second distal position, and a second proximal position in response to corresponding second articulation control motions applied thereto by the source of second articulation control motions, a second articulation link operably coupled to the second articulation driver and extending transverse to the longitudinal axis and the first articulation link to be coupled to the end effector frame at a second attachment location, and a firing member supported for selective axial travel between a starting and ending position within the end effector in response to firing control motions applied thereto by the source of firing control motions, wherein the source of the first articulation control motions applies an amount of the first articulation control motions to the first articulation driver that correspond to a desired articulated position of the end effector, and wherein the source of the second articulation control motions applies another amount of the second articulation control motions to the second articulation driver that correspond to the desired articulated position while the firing control motions are applied to the firing member. 
     Example 15—The surgical instrument of Example 14, wherein the controller comprises a handheld housing. 
     Example 16—The surgical instrument of Examples 14 or 15, wherein the controller comprises a tool mounting portion of a robotic system. 
     Example 17—The surgical instrument of Examples 14, 15, or 16, wherein the end effector further comprises a staple cartridge including staples removably stored therein. 
     Example 18—A surgical instrument comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset with respect to the longitudinal axis, a first articulation driver selectively movable through a first distal articulation stroke between a first neutral position and a first distal position and a first proximal articulation stroke between the first neutral position and a first proximal position in response to corresponding first articulation control motions applied thereto, the first articulation driver operably coupled to the end effector frame at a first attachment location located on an opposite side of the longitudinal axis from which the first articulation driver is movably supported, and a second articulation driver selectively movable through a second distal articulation stroke between a second neutral position and a second distal position and a second proximal articulation stroke between the second neutral position and a second proximal position in response to corresponding second articulation control motions applied thereto, the second articulation driver operably coupled to the end effector frame at a second attachment location located on another opposite side of the longitudinal axis from which the second articulation driver is movably supported, and wherein the first distal articulation stroke comprises a first length that differs from a second length of the second distal articulation stroke. 
     Example 19—The surgical instrument of Example 18, wherein the first proximal articulation stroke is not equal to the second proximal articulation stroke. 
     Example 20—The surgical instrument of Examples 18 or 19, wherein the first articulation driver is coupled to the end effector frame by a first articulation link comprising a first link length and extending transversely to the longitudinal axis, and wherein the second articulation driver is coupled to the end effector frame by a second articulation link comprising a second link length that differs from the first link length and extending transversely relative to the longitudinal axis and the first articulation link. 
     Example 21—A surgical tool configured to interchangeably operably interface with a handheld controller and a tool holder of a robotic system. The surgical tool comprises a shaft comprising a proximal end and a distal end, an end effector operably coupled to the distal end of the shaft, a plurality of movable drive members operably supported by the shaft and configured to apply control motions to corresponding portions of the end effector, each movable drive member comprising a proximal coupler portion, and a docking housing coupled to the proximal end of the shaft, the docking housing configured to be interchangeably attachable to either one of the handheld controller and the tool holder, the docking housing operably supporting the proximal coupler portion of each movable drive member in a corresponding neutral coupling position to enable each proximal coupler portion to operably interface with a corresponding drive system of the handheld controller and the tool holder of the robotic system when the docking housing is attached thereto. 
     Example 22—The surgical tool of Example 21, wherein the plurality of movable drive members comprises a first axially movable drive member comprising a first proximal coupler portion, a second axially movable drive member comprising a second proximal coupler portion, a third axially movable drive member comprising a third proximal coupler portion, and a fourth axially movable drive member comprising a fourth proximal coupler portion. 
     Example 23—The surgical tool of Example 22, wherein the docking housing operably supports the first proximal coupler portion in a first neutral coupling position, the second proximal coupler portion in a second neutral coupling position, the third proximal coupler portion in a third neutral coupler position, and the fourth proximal coupler portion in a fourth neutral coupler position, wherein the first neutral coupling position, the second neutral coupling position, the third neutral coupling position, and the fourth neutral coupler position are spaced in a predetermined serial axial alignment by the docking housing. 
     Example 24—The surgical tool of Example 23, wherein the docking housing comprises a lock member movable between a locked position where the lock member retains the first proximal coupler portion in the first neutral coupling position, the second proximal coupler portion in the second neutral coupler position, the third proximal coupler portion in the third neutral coupler position, and the fourth proximal coupler portion in the fourth neutral coupler position when the surgical tool is detached from either one of the handheld controller and the tool holder of the robotic system and an unlocked position when the docking housing is operably attached to either one of the handheld controller and the tool holder of the robotic system to thereby permit axial movement of the first proximal coupler portion, the second proximal coupler portion, the third proximal coupler portion, and the fourth proximal coupler portion. 
     Example 25—The surgical tool of Example 24, wherein the lock member is biased into the locked position when the docking housing is detached from either of the handheld controller and tool holder and automatically moves to the unlocked position when the docking housing is operably coupled to either of the handheld housing and the tool holder. 
     Example 26—The surgical tool of Examples 21, 22, 23, 24, or 25, wherein each of the handheld controller and the robotic system comprise a source of electrical power and wherein the docking housing is configured to facilitate transmission of the electrical power to the surgical tool when the docking housing is operably coupled to either one of the handheld controller and the tool holder of the robotic system. 
     Example 27—The surgical tool of Examples 21, 22, 23, 24, 25, or 26, wherein each of the handheld controller and the tool holder defines an actuation axis, and wherein the docking housing is interchangeably operably couplable to either of the handheld controller and the tool holder in an installation direction that is orthogonal to the actuation axis. 
     Example 28—The surgical tool of Examples 21, 22, 23, 24, 25, 26, or 27, wherein the handheld controller comprises a handle housing, wherein the tool holder comprises a tool holder housing, and wherein the docking housing is configured to be releasably interchangeably attachable to either of the handle housing and the tool holder housing. 
     Example 29—The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27, or 28, further comprising a longitudinal axis between the proximal end and the distal end, wherein the shaft and the plurality of movable drive members are supported by the docking housing to facilitate rotation of the end effector about the longitudinal axis when the docking housing is operably attached to either of the handheld controller and the tool holder. 
     Example 30—The surgical tool of Examples 21, 22, 23, 24, 25, 26, 27, 28, or 29, wherein the end effector is configured to cut and staple tissue. 
     Example 31—A surgical tool configured to operably interface with either of a handheld controller and a tool holder of a robotic system. The surgical tool comprises a shaft comprising a proximal end and a distal end, an end effector rotatably coupled to the shaft about an articulation pivot, and an articulation driver arrangement operably supported by the shaft and coupled to the end effector for articulating the end effector about the articulation pivot, the articulation driver arrangement comprising a proximal articulation coupler arrangement. The surgical tool further comprises a firing member supported for selective axial travel between a starting and ending position within the end effector, a firing driver supported by the shaft and configured to move the firing member between the starting and ending position, the firing driver comprising a proximal firing coupler, and a docking housing coupled to the proximal end of the shaft and configured to be interchangeably operably attached to either of the handheld controller and the tool holder, the docking housing supporting the proximal articulation coupler arrangement in a neutral articulation coupler position oriented to operably interface with articulation control systems of the handheld controller and the tool holder of the robotic system and the proximal firing coupler in a neutral firing coupler position oriented to operably interface with firing control systems of the handled controller and the tool holder of the robotic system when the docking housing is operably attached thereto. 
     Example 32—The surgical tool of Example 31, wherein the articulation driver arrangement further comprises a first axially movable articulation driver and a second axially movable articulation driver. The proximal articulation coupler arrangement comprises a first articulation coupler on a first proximal end of the first articulation driver and configured to operably interface with a first articulation control system of either of the handheld controller and the tool holder and a second articulation coupler on a second proximal end of the second articulation driver and configured to operably interface with a second articulation control system of either of the handheld controller and the tool holder. 
     Example 33—The surgical tool of Example 32, wherein when the first articulation driver moves in a first direction, the second articulation driver moves in a second direction that is opposite the first direction. 
     Example 34—The surgical tool of Examples 31, 32, or 33 wherein the end effector comprises a first jaw rotatably coupled to the shaft about the articulation pivot and a second jaw movably supported relative to the first jaw, wherein the surgical tool further comprises a closure assembly supported by the shaft and configured to selectively move at least one of the first and second jaws between open and closed positions, the closure assembly comprising a proximal closure coupler that is supported by the docking housing in a neutral closure coupler position oriented to operably interface with a closure control system in either of the handheld controller and the tool holder. 
     Example 35—The surgical tool of Example 34, wherein one of the first and second jaws is configured to operably support a staple cartridge including staples removably stored therein. 
     Example 36—The surgical tool of Examples 31, 32, 33, 34, or 35, further comprising a longitudinal axis between the proximal end and distal end of the shaft, wherein the shaft and the articulation driver arrangement and the firing driver are supported by the docking housing to facilitate rotation of the end effector about the longitudinal axis when the docking housing is operably attached to either of the handheld controller and the tool holder. 
     Example 37—The surgical tool of Examples 31, 32, 33, 34, 35, or 36, wherein the docking housing operably supports the proximal articulation coupler arrangement in a neutral articulation coupling position and the proximal firing coupler in a neutral firing coupling position, and wherein the neutral firing coupling position, the neutral articulation coupling position, and the neutral closure coupling position are spaced in a predetermined serial axial alignment by the docking housing. 
     Example 38—The surgical tool of Example 37, wherein the docking housing comprises a lock member movable between a locked position where the lock member retains the proximal firing coupler in the neutral firing coupling position, the proximal articulation coupler arrangement in the neutral articulation coupling position, and the proximal closure coupler in the neutral closure coupler position when the surgical tool is detached from either one of the handheld controller and the tool holder of the robotic system and an unlocked position when the docking housing is operably attached to either one of the handheld controller and the tool holder of the robotic system to thereby permit axial movement of the proximal firing coupler, the proximal articulation coupler arrangement, and the proximal closure coupler. 
     Example 39—A surgical tool configured to interchangeably operably interface with either of a handheld controller and a tool holder of a robotic system. The surgical tool comprises a shaft comprising a proximal end and a distal end, an end effector operably coupled to the distal end of the shaft, a plurality of axially movable drive members operably supported by the shaft and configured to apply axial control motions to corresponding portions of the end effector, each axially movable drive member comprising a proximal coupler portion, and a docking means coupled to the proximal end of the shaft for interchangeably coupling the surgical tool to either one of the handheld controller and the tool holder of the robotic system and operably supporting the proximal coupler portion of each movable drive member in a corresponding neutral coupling position to enable each proximal coupler portion to operably interface with a corresponding drive system of the handheld controller and the tool holder of the robotic system when the docking means is attached thereto. 
     Example 40—The surgical tool of Example 39, wherein the end effector is configured to cut and staple tissue. 
     Example 41—A surgical instrument assembly comprising an end effector, comprising a staple cartridge comprising a plurality of staples removably stored therein, an anvil, a first jaw, and a second jaw movable relative to the first jaw. The surgical instrument assembly further comprises a shaft assembly comprising a distal end, wherein the end effector extends from the distal end, a closure member configured to move the second jaw relative to the first jaw, and a firing member configured to eject the staples from the staple cartridge. The surgical instrument assembly further comprises a closure drive system configured to actuate the closure member through a closure stroke, wherein the closure stroke comprises a proximal closure stroke position where the second jaw is in an unclamped configuration and a distal closure stroke position where the second jaw is in a clamped configuration, a firing drive system configured to actuate the firing member through a firing stroke, wherein the firing stroke comprises a proximal firing stroke position where none of the staples have been ejected from the staple cartridge and a distal firing stroke position where all of the staples have been ejected from the staple cartridge and a dual lock engaged with the closure member and the firing member, wherein the dual lock is configured to prevent the firing member from being advanced distally from the proximal firing stroke position before the closure member is in the distal closure stroke position, and wherein the dual lock is configured to prevent the closure member from being retracted from the distal closure stroke position before the firing member is returned to the proximal firing stroke position after the firing stroke. 
     Example 42—The surgical instrument assembly of Example 41, further comprising a spine portion, wherein the dual lock is rotatably coupled to the spine portion. 
     Example 43—The surgical instrument assembly of Examples 41 or 42, wherein the closure member comprises a first aperture configured to receive a first portion of the dual lock and a second aperture configured to receive a second portion of the dual lock, and wherein the firing member is unlocked when the second portion of the dual lock is received within the second aperture. 
     Example 44—The surgical instrument assembly of Example 43, wherein the first aperture comprises a proximal aperture edge and a distal aperture edge, and wherein the firing member is unlocked when the first portion of the dual lock is in contact with the proximal aperture edge. 
     Example 45—The surgical instrument assembly of Examples 41, 42, 43, or 44, wherein the closure member comprises a first aperture configured to receive a first portion of the dual lock and a second aperture configured to receive a second portion of the dual lock, wherein the first aperture comprises a proximal aperture edge and a distal aperture edge, and wherein the firing member comprises a ledge configured to engage the dual lock to prevent the firing member from being advanced from the proximal firing stroke position when the first portion of the dual lock is in contact with the distal aperture edge. 
     Example 46—The surgical instrument assembly of Examples 41, 42, 43, 44, or 45, wherein the closure member is configured to concurrently unlock the firing member and lock the closure member when the closure member is moved into the distal closure stroke position. 
     Example 47—The surgical instrument assembly of Examples 41, 42, 43, 44, 45, or 46, wherein the firing drive system comprises a rotary firing input, and wherein the surgical instrument assembly further comprises a firing drive system lock configured to lock the rotary firing input when the closure drive system moves the closure member into the proximal closure stroke position. 
     Example 48—The surgical instrument assembly of Examples 41, 42, 43, 44, 45, 46, or 47, wherein the shaft assembly defines a longitudinal instrument axis, and wherein the dual lock comprises a lock pawl rotatable about a lock axis which is transverse to the longitudinal instrument axis. 
     Example 49—The surgical instrument assembly of Examples 41, 42, 43, 44, 45, 46, 47, or 48, wherein the closure member and the firing member are movable relative to the dual lock. 
     Example 50—A surgical instrument attachment configured to be attached to and detached from a surgical robot. The surgical instrument attachment comprises an end effector comprising a staple cartridge comprising a plurality of staples removably stored therein, an anvil, a first jaw, and a second jaw movable relative to the first jaw. The surgical instrument attachment further comprises a shaft assembly comprising a frame, a distal end, wherein the end effector extends from the distal end, a closure member configured to move the second jaw relative to the first jaw, and a firing member configured to eject the staples from the staple cartridge. The surgical instrument attachment further comprises a closure drive system configured to actuate the closure member through a closure stroke, wherein the closure stroke comprises a first closure stroke position where the second jaw is in an open configuration and a second closure stroke position where the second jaw is in a closed configuration, a firing drive system configured to actuate the firing member through a firing stroke, wherein the firing stroke comprises a first firing stroke position where none of the staples have been ejected from the staple cartridge and a second firing stroke position where all of the staples have been ejected from the staple cartridge and a locking mechanism coupled to the frame, wherein the locking mechanism is configured to prevent the firing member from being advanced distally from the first firing stroke position toward the second firing stroke position before the closure member is in the second closure stroke position, and wherein the locking mechanism is configured to prevent the closure member from being retracted from the second closure stroke position toward the first closure stroke position before the firing member is returned to the first firing stroke position after the firing stroke. 
     Example 51—The surgical instrument attachment of Example 50, wherein the locking mechanism is rotatably coupled to the frame. 
     Example 52—The surgical instrument attachment of Examples 50 or 51, wherein the closure member comprises a first aperture configured to receive a first portion of the locking mechanism and a second aperture configured to receive a second portion of the locking mechanism, and wherein the firing member is unlocked when the second portion of the locking mechanism is received within the second aperture. 
     Example 53—The surgical instrument attachment of Example 52, wherein the first aperture comprises a proximal aperture edge and a distal aperture edge, and wherein the firing member is unlocked when the first portion of the locking mechanism is in contact with the proximal aperture edge. 
     Example 54—The surgical instrument attachment of Examples 50, 51, 52, or 53, wherein the closure member comprises a first aperture configured to receive a first portion of the locking mechanism and a second aperture configured to receive a second portion of the locking mechanism, wherein the first aperture comprises a proximal aperture edge and a distal aperture edge, and wherein the firing member comprises a ledge configured to engage the locking mechanism to prevent the firing member from being advanced from the first firing stroke position when the first portion of the locking mechanism is in contact with the distal aperture edge. 
     Example 55—The surgical instrument attachment of Examples 50, 51, 52, 53, or 54, wherein the closure member is configured to concurrently unlock the firing member and lock the closure member when the closure member is moved into the second closure stroke position. 
     Example 56—The surgical instrument attachment of Examples 50, 51, 52, 53, 54, or 55, wherein the firing drive system comprises a rotary firing input, and wherein the surgical instrument attachment further comprises a firing drive system lock configured to lock the rotary firing input when the closure drive system moves the closure member into the first closure stroke position. 
     Example 57—The surgical instrument attachment of Examples 50, 51, 52, 53, 54, 55, or 56, wherein the shaft assembly defines a longitudinal instrument axis, and wherein the locking mechanism comprises a lock pawl rotatable about a lock axis which is transverse to the longitudinal instrument axis. 
     Example 58—The surgical instrument attachment of Examples 50, 51, 52, 53, 54, 55, 56, or 57, wherein the closure member and the firing member are movable relative to the locking mechanism. 
     Example 59—A surgical instrument assembly comprising an end effector comprising a staple cartridge comprising a plurality of staples removably stored therein, a first jaw, and a second jaw movable relative to the first jaw. The surgical instrument assembly further comprises a shaft assembly comprising a closure member configured to move the second jaw relative to the first jaw and a firing member configured to eject the staples from the staple cartridge, a closure drive system configured to actuate the closure member through a closure stroke, wherein the closure stroke comprises a proximal closure stroke position where the second jaw is in an unclamped configuration and a distal closure stroke position where the second jaw is in a clamped configuration, and a firing drive system configured to actuate the firing member through a firing stroke, wherein the firing stroke comprises a proximal firing stroke position where none of the staples have been ejected from the staple cartridge and a distal firing stroke position where all of the staples have been ejected from the staple cartridge. The surgical instrument assembly further comprises means for automatically locking the firing member in the proximal firing stroke position until the closure member is moved into the distal closure stroke position and for automatically locking the closure member in the distal closure stroke position until the firing member is returned to the proximal firing stroke position after the firing stroke. 
     Example 60—The surgical instrument assembly of Example 59, further comprising a spine portion, wherein the means comprises a lock pawl rotatably coupled to the spine portion. 
     Example 61—A surgical instrument assembly configured to be operably attached to and detached from a surgical robot interface. The surgical instrument assembly comprises a shaft assembly comprising an end effector comprising a staple cartridge, an anvil, a first jaw, and a second jaw movable relative to the first jaw between an unclamped configuration and a clamped configuration. The shaft assembly further comprises a distal end, wherein the end effector extends from the distal end of the shaft assembly, and a closure drive member configured to move the second jaw relative to the first jaw. The surgical instrument assembly further comprises a control assembly, wherein the shaft assembly is operably coupled with the control assembly. The control assembly comprises a housing, a closure drive system configured to actuate the closure drive member, wherein the closure drive system comprises a rotary input drive configured to be driven by a rotary drive member of the surgical robot interface when the surgical instrument assembly is operably attached to the surgical robot interface, and an exterior closure drive actuator operably coupled to the input drive, wherein the exterior closure drive actuator is exterior to the housing, and wherein the exterior closure drive actuator is configured to be actuated by a clinician to manually rotate the rotary input drive to move the second jaw between the unclamped configuration and the clamped configuration when the surgical instrument assembly is not operably attached to the surgical robot interface. 
     Example 62—The surgical instrument assembly of Example 61, further comprising a closure drive bailout operably coupled to the closure drive member, wherein the closure drive bailout is operable independently of the rotary input drive. 
     Example 63—The surgical instrument assembly of Examples 61 or 62, wherein the end effector further comprises a cutting member, wherein the shaft assembly further comprises a firing drive member operably attached to the cutting member, and wherein the control assembly further comprises a firing drive system configured to actuate the firing drive member. 
     Example 64—The surgical instrument assembly of Examples 61, 62, or 63, wherein the control assembly further comprises a firing bailout configured to be actuated by a clinician to manually actuate the firing drive member. 
     Example 65—The surgical instrument assembly of Examples 61, 62, 63, or 64, wherein the closure drive system further comprises a primary drive gear comprising a spiral cam slot defined therein, and wherein the spiral cam slot is engaged with the closure drive member such that rotation of the primary drive gear by the rotary input drive is configured to translate the closure drive member. 
     Example 66—The surgical instrument assembly of Example 65, wherein the rotary input drive comprises a first rotary input drive, wherein the first rotary input drive comprises a first rotary input drive gear meshed with the primary drive gear, wherein the closure drive system further comprises a second rotary input drive, wherein the second rotary input drive comprises a second rotary input drive gear meshed with the primary drive gear, and wherein both the first rotary input drive and the second rotary input drive are configured to rotate the primary drive gear simultaneously. 
     Example 67—The surgical instrument assembly of Examples 65 or 66, wherein the primary drive gear comprises a fixed axis of rotation and is mounted to the housing. 
     Example 68—The surgical instrument assembly of Examples 61, 62, 63, 64, 65, 66, or 67, further comprising a sterile adapter configured to transfer rotary drive motions from the rotary drive member of the surgical robot interface to the rotary input drive of the closure drive system. 
     Example 69—A surgical instrument assembly configured to be operably coupled to and decoupled from a surgical robot. The surgical instrument assembly comprises a shaft assembly comprising an end effector comprising a staple cartridge comprising a plurality staples removable stored therein, an anvil, a first jaw, and a second jaw movable relative to the first jaw between an unclamped configuration and a clamped configuration. The shaft assembly further comprises a distal end, wherein the end effector is operably coupled with the distal end of the shaft assembly, a firing drive member configured to eject the staples from the staple cartridge, and a closure drive member configured to move the second jaw relative to the first jaw. The surgical instrument assembly further comprises a control assembly, wherein the shaft assembly is operably coupled with the control assembly. The control assembly comprises a housing comprising an external surface, a firing drive system configured to actuate the firing drive member, a closure drive system configured to actuate the closure drive member, wherein the closure drive system comprises a primary rotary input drive configured to be driven by a rotary drive actuator of the surgical robot when the surgical instrument assembly is operably attached to the surgical robot, wherein the closure drive member translates longitudinally within the shaft assembly upon actuation of the primary rotary input drive, and a secondary closure drive actuator operably coupled to the primary rotary input drive, wherein the secondary closure drive actuator extends through the external surface of the housing, wherein the secondary closure drive actuator is configured to be actuated by a clinician to manually actuate the primary rotary input drive to move the second jaw between the unclamped configuration and the clamped configuration when the surgical instrument assembly is not coupled to the surgical robot. 
     Example 70—The surgical instrument assembly of Example 69, further comprising a closure drive bailout operably coupled to the closure drive member, wherein the closure drive bailout is operable independently of the primary rotary input drive. 
     Example 71—The surgical instrument assembly of Examples 69 or 70, wherein the end effector further comprises a cutting member, wherein the shaft assembly further comprises a firing drive member operably attached to the cutting member, and wherein the control assembly further comprises a firing drive system configured to actuate the firing drive member. 
     Example 72—The surgical instrument assembly of Examples 69, 70, or 71, wherein the control assembly further comprises a firing bailout configured to be actuated by a clinician to manually actuate the firing drive member. 
     Example 73—The surgical instrument assembly of Examples 69, 70, 71, or 72, wherein the closure drive system further comprises a primary drive gear comprising a spiral cam slot defined therein, and wherein the spiral cam slot is engaged with the closure drive member such that rotation of the primary drive gear by the primary rotary input drive is configured to translate the closure drive member. 
     Example 74—The surgical instrument assembly of Example 73, wherein the primary rotary input drive comprises a first primary rotary input drive, wherein the first primary rotary input drive comprises a first input drive gear meshed with the primary drive gear, wherein the closure drive system further comprises a second primary rotary input drive, wherein the second primary rotary input drive comprises a second input drive gear meshed with the primary drive gear, and wherein both the first primary rotary input drive and the second primary rotary input drive are configured to rotate the primary drive gear simultaneously. 
     Example 75—The surgical instrument assembly of Examples 73 or 74, wherein the primary drive gear comprises a fixed axis of rotation and is mounted to the housing. 
     Example 76—The surgical instrument assembly of Examples 69, 70, 71, 72, 73, 74, or 75, further comprising a sterile adapter configured to transfer rotary drive motions from the rotary drive actuator of the surgical robot to the primary rotary input drive of the closure drive system. 
     Example 77—A surgical robot attachment configured to be attached to and detached from a surgical robot. The surgical robot attachment comprises a shaft assembly comprising an end effector, wherein the end effector comprises a closure mechanism and a movable jaw configured to moved between an unclamped configuration and a clamped configuration by the closure mechanism, and an attachment interface. The attachment interface comprises a housing, a first closure drive system comprising a robotic input configured to be operably coupled with a corresponding drive of the surgical robot when the surgical robot attachment is attached to the surgical robot, wherein the robotic input is configured to be driven by the corresponding drive of the surgical robot to actuate the closure mechanism, and a second closure drive system comprising a user-accessible input distinct and separate from the robotic input, and wherein the user-accessible input is manually actuatable to actuate the closure mechanism when the surgical robot attachment is not attached to the surgical robot. 
     Example 78—The surgical robot attachment of Example 77, wherein the attachment interface further comprises a primary drive gear comprising a spiral cam slot defined therein, and wherein the spiral cam slot is engaged with the closure link such that rotation of the primary drive gear by the first closure drive system is configured to translate the closure link. 
     Example 79—The surgical robot attachment of Example 78, wherein the robotic input comprises a first robotic input, wherein the first robotic input comprises a first input drive gear meshed with the primary drive gear, wherein the attachment interface further comprises a second robotic input, wherein the second robotic input comprises a second input drive gear meshed with the primary drive gear, and wherein both the first robotic input and the second robotic input are configured to rotate the primary drive gear simultaneously. 
     Example 80—The surgical robot attachment of Examples 77, 78, or 79, further comprising a staple cartridge comprising a plurality of staples removably stored therein. 
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     U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013; 
     U.S. patent application Ser. No. 11/343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 7,845,537; 
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     U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, now U.S. Pat. No. 7,980,443; 
     U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411; 
     U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045; 
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     U.S. Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by reference herein. 
     Although various devices have been described herein in connection with certain embodiments, modifications and variations to those embodiments may be implemented. Particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment may be combined in whole or in part, with the features, structures or characteristics of one ore more other embodiments without limitation. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations. 
     The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, a device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps including, but not limited to, the disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, a reconditioning facility and/or surgical team can disassemble a device and, after cleaning and/or replacing particular parts of the device, the device can be reassembled for subsequent use. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application. 
     The devices disclosed herein may be processed before surgery. First, a new or used instrument may be obtained and, when necessary, cleaned. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, and/or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until it is opened in a medical facility. A device may also be sterilized using any other technique known in the art, including but not limited to beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam. 
     While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. 
     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 do 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.