Patent Publication Number: US-2022218347-A1

Title: Firing system lockout arrangements for surgical instruments

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 17/020,989, entitled FIRING SYSTEM LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, filed Sep. 15, 2020, now U.S. Patent Application Publication No. 2021/0059673, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 15/470,192, entitled FIRING SYSTEM LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, filed Mar. 27, 2017, which issued on Jul. 13, 2021 as U.S. Pat. No. 11,058,423, which is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 13/536,292, entitled FIRING SYSTEM LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, filed Jun. 28, 2012, now U.S. Patent Application Publication No. 2014/0001231, the entire disclosures of which are hereby incorporated by reference herein. 
    
    
     BACKGROUND 
     Over the years a variety of minimally invasive robotic (or “telesurgical”) systems have been developed to increase surgical dexterity as well as to permit a surgeon to operate on a patient in an intuitive manner. Many of such systems are disclosed in the following U.S. patents which are each herein incorporated by reference in their respective entirety: U.S. Pat. No. 5,792,135, entitled ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY, U.S. Pat. No. 6,231,565, entitled ROBOTIC ARM DLUS FOR PERFORMING SURGICAL TASKS, U.S. Pat. No. 6,783,524, entitled ROBOTIC SURGICAL TOOL WITH ULTRASOUND CAUTERIZING AND CUTTING INSTRUMENT, U.S. Pat. No. 6,364,888, entitled ALIGNMENT OF MASTER AND SLAVE IN A MINIMALLY INVASIVE SURGICAL APPARATUS, U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, U.S. Pat. No. 7,691,098, entitled PLATFORM LINK WRIST MECHANISM, U.S. Pat. No. 7,806,891, entitled REPOSITIONING AND REORIENTATION OF MASTER/SLAVE RELATIONSHIP IN MINIMALLY INVASIVE TELESURGERY, and U.S. Pat. No. 7,824,401, entitled ROBOTIC TOOL WITH WRISTED MONOPOLAR ELECTROSURGICAL END EFFECTORS. Many of such systems, however, have in the past been unable to generate the magnitude of forces required to effectively cut and fasten tissue. In addition, existing robotic surgical systems are limited in the number of different types of surgical devices that they may operate. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention itself will be better understood by reference to the following description of exemplary embodiments of the invention taken in conjunction with the accompanying drawings, wherein: 
       Various exemplary embodiments are described herein by way of example in conjunction with the following Figures wherein: 
         FIG. 1  is a perspective view of one robotic controller embodiment; 
         FIG. 2  is a perspective view of one robotic surgical arm cart/manipulator of a robotic system operably supporting a plurality of surgical tool embodiments; 
         FIG. 3  is a side view of the robotic surgical arm cart/manipulator depicted in  FIG. 2 ; 
         FIG. 4  is a perspective view of a cart structure with positioning linkages for operably supporting robotic manipulators that may be used with surgical tool embodiments; 
         FIG. 5  is a perspective view of a surgical tool embodiment and a surgical end effector embodiment; 
         FIG. 6  is an exploded assembly view of an adapter and tool holder arrangement for attaching various surgical tool embodiments to a robotic system; 
         FIG. 7  is a side view of the adapter shown in  FIG. 6 ; 
         FIG. 8  is a bottom view of the adapter shown in  FIG. 6 ; 
         FIG. 9  is a top view of the adapter of  FIGS. 6 and 7 ; 
         FIG. 10  is a partial bottom perspective view of a surgical tool embodiment; 
         FIG. 11  is a front perspective view of a portion of a surgical tool embodiment with some elements thereof omitted for clarity; 
         FIG. 12  is a rear perspective view of the surgical tool embodiment of  FIG. 11 ; 
         FIG. 13  is a top view of the surgical tool embodiment of  FIGS. 11 and 12 ; 
         FIG. 14  is a partial top view of the surgical tool embodiment of  FIGS. 11-13  with the manually actuatable drive gear in an unactuated position; 
         FIG. 15  is another partial top view of the surgical tool embodiment of  FIGS. 11-14  with the manually actuatable drive gear in an initially actuated position; 
         FIG. 16  is another partial top view of the surgical tool embodiment of  FIGS. 11-15  with the manually actuatable drive gear in an actuated position; 
         FIG. 17  is a rear perspective view of another surgical tool embodiment; 
         FIG. 18  is a side elevational view of the surgical tool embodiment of  FIG. 17 ; 
         FIG. 19  is a cross-sectional view of the surgical tool embodiment of  FIG. 5  with the end effector detached from the proximal shaft portion of the surgical tool; 
         FIG. 20  is a side perspective view showing a portion of a interconnected quick disconnect joint embodiment; 
         FIG. 21  is a cross-sectional view of a quick disconnect joint embodiment with the distal shaft portion of the end effector detached from the proximal shaft portion; 
         FIG. 22  is another cross-sectional view of the quick disconnect joint embodiment of  FIGS. 19-21  wherein the distal shaft portion has been initially engaged with the proximal shaft portion; 
         FIG. 22A  is a cross-sectional view of a quick disconnect joint embodiment wherein the distal shaft portion has been initially engaged with the proximal shaft portion; 
         FIG. 23  is another cross-sectional view of the quick disconnect joint embodiment of  FIGS. 19-22  wherein the distal shaft portion has been attached to the proximal shaft portion; 
         FIG. 23A  is another cross-sectional view of the quick disconnect joint embodiment of  FIG. 22A  wherein the distal shaft portion has been attached to the proximal shaft portion; 
         FIG. 23B  is another cross-sectional view of the quick disconnect joint embodiment of  FIG. 22A  wherein the distal shaft portion has been disengaged from the proximal shaft portion; 
         FIG. 24  is a cross-sectional view of the distal shaft portion of  FIGS. 19-23  taken along line  24 - 24  in  FIG. 21 ; 
         FIG. 25  is a cross-sectional view of a portion of an articulation joint and end effector embodiment; 
         FIG. 26  is an exploded assembly view of a portion of the articulation joint and end effector of  FIG. 25 ; 
         FIG. 27  is a partial cross-sectional perspective view of the articulation joint and end effector portions depicted in  FIG. 26 ; 
         FIG. 28  is a partial perspective view of an end effector and drive shaft assembly embodiment; 
         FIG. 29  is a partial side view of a drive shaft assembly embodiment; 
         FIG. 30  is a perspective view of a drive shaft assembly embodiment; 
         FIG. 31  is a side view of the drive shaft assembly of  FIG. 31 ; 
         FIG. 32  is a perspective view of a composite drive shaft assembly embodiment; 
         FIG. 33  is a side view of the composite drive shaft assembly of  FIG. 33 ; 
         FIG. 34  is another view of the drive shaft assembly of  FIGS. 30 and 31  assuming an arcuate or “flexed” configuration; 
         FIG. 34A  is a side view of a drive shaft assembly embodiment assuming an arcuate or “flexed” configuration; 
         FIG. 34B  is a side view of another drive shaft assembly embodiment assuming an arcuate or “flexed” configuration; 
         FIG. 35  is a perspective view of a portion of another drive shaft assembly embodiment; 
         FIG. 36  is a top view of the drive shaft assembly embodiment of  FIG. 35 ; 
         FIG. 37  is another perspective view of the drive shaft assembly embodiment of  FIGS. 35 and 36  in an arcuate configuration; 
         FIG. 38  is a top view of the drive shaft assembly embodiment depicted in  FIG. 37 ; 
         FIG. 39  is a perspective view of another drive shaft assembly embodiment; 
         FIG. 40  is another perspective view of the drive shaft assembly embodiment of  FIG. 39  in an arcuate configuration; 
         FIG. 41  is a top view of the drive shaft assembly embodiment of  FIGS. 39 and 40 ; 
         FIG. 42  is a cross-sectional view of the drive shaft assembly embodiment of  FIG. 41 ; 
         FIG. 43  is a partial cross-sectional view of another drive shaft assembly embodiment; 
         FIG. 44  is another cross-sectional view of the drive shaft assembly embodiment of  FIG. 43 ; 
         FIG. 45  is another cross-sectional view of a portion of another drive shaft assembly embodiment; 
         FIG. 46  is another cross-sectional view of the drive shaft assembly of  FIG. 45 ; 
         FIG. 47  is a partial cross-sectional perspective view of an end effector embodiment with the anvil thereof in an open position; 
         FIG. 48  is another partial cross-sectional perspective view of the end effector embodiment of  FIG. 47 ; 
         FIG. 49  is a side cross-sectional view of the end effector embodiment of  FIGS. 47 and 48 ; 
         FIG. 50  is another side cross-sectional view of the end effector embodiment of  FIGS. 47-49 ; 
         FIG. 51  is a partial cross-sectional perspective view of the end effector embodiment of  FIGS. 47-50  with the anvil thereof in a closed position; 
         FIG. 52  is another partial cross-sectional perspective view of the end effector embodiment of  FIG. 51 ; 
         FIG. 53  is a side cross-sectional view of the end effector embodiment of  FIGS. 51 and 52  with the anvil thereof in a partially closed position; 
         FIG. 54  is another side cross-sectional view of the end effector embodiment of  FIGS. 51-53  with the anvil in a closed position; 
         FIG. 55  is a cross-sectional perspective view of another end effector embodiment and portion of another elongate shaft assembly embodiment; 
         FIG. 56  is an exploded perspective view of a closure system embodiment; 
         FIG. 57  is a side view of the closure system embodiment of  FIG. 56  with the anvil in an open position; 
         FIG. 58  is a side cross-sectional view of the closure system embodiment of  FIGS. 57 and 57  within an end effector embodiment wherein the anvil thereof is in an open position; 
         FIG. 59  is another cross-sectional view of the closure system and end effector embodiment of  FIG. 58  with the anvil thereof in a closed position; 
         FIG. 59A  is a front perspective view of a portion of another surgical tool embodiment that employs the closure system embodiment of  FIGS. 56-59  with the actuation solenoid omitted for clarity; 
         FIG. 60  is an exploded assembly view of another end effector embodiment; 
         FIG. 61  is a partial perspective view of a drive system embodiment; 
         FIG. 62  is a partial front perspective view of a portion of the drive system embodiment of  FIG. 61 ; 
         FIG. 63  is a partial rear perspective view of a portion of the drive system embodiment of  FIGS. 61 and 62 ; 
         FIG. 64  is a partial cross-sectional side view of the drive system embodiment of  FIGS. 61-63  in a first axial drive position; 
         FIG. 65  is another partial cross-sectional side view of the drive system embodiment of  FIGS. 61-64  in a second axial drive position; 
         FIG. 66  is a cross-sectional view of an end effector and drive system embodiment wherein the drive system is configured to fire the firing member; 
         FIG. 67  is another cross-sectional view of the end effector and drive system embodiment wherein the drive system is configured to rotate the entire end effector; 
         FIG. 68  is a cross-sectional perspective view of a portion of an end effector embodiment and articulation joint embodiment; 
         FIG. 69  is a cross-sectional side view of the end effector and articulation joint embodiment depicted in  FIG. 68 ; 
         FIG. 70  is a cross-sectional view of another end effector and drive system embodiment wherein the drive system is configured to rotate the entire end effector; 
         FIG. 71  is another cross-sectional view of the end effector and drive system embodiment of  FIG. 70  wherein the drive system is configured to fire the firing member of the end effector; 
         FIG. 72  is a cross-sectional side view of an end effector embodiment; 
         FIG. 73  is an enlarged cross-sectional view of a portion of the end effector embodiment of  FIG. 72 ; 
         FIG. 74  is a cross-sectional side view of another end effector embodiment wherein the firing member thereof has been partially driven through the firing stroke; 
         FIG. 75  is another cross-sectional side view of the end effector embodiment of  FIG. 74  wherein the firing member has been driven to the end of its firing stroke; 
         FIG. 76  is another cross-sectional side view of the end effector embodiment of  FIGS. 74 and 75  wherein the firing member thereof is being retracted; 
         FIG. 77  is a cross-sectional side view of another end effector embodiment wherein the firing member thereof has been partially driven through its firing stroke; 
         FIG. 78  is an exploded assembly view of a portion of an implement drive shaft embodiment; 
         FIG. 79  is another cross-sectional side view of the end effector of  FIG. 77  with the firing member thereof at the end of its firing stroke; 
         FIG. 80  is another cross-sectional side view of the end effector of  FIGS. 77 and 78  wherein the firing member is being retracted; 
         FIG. 81  is a cross-sectional side view of another end effector embodiment wherein the firing member is at the end of its firing stroke; 
         FIG. 81A  is an exploded assembly view of an implement drive shaft and bearing segment embodiment; 
         FIG. 81B  is an exploded assembly view of another implement drive shaft and bearing segment embodiment; 
         FIG. 82  is an exploded assembly view of a firing member embodiment; 
         FIG. 83  is a perspective view of the firing member of  FIG. 82 ; 
         FIG. 84  is a cross-sectional view of the firing member of  FIGS. 82 and 83  installed on a portion of an exemplary implement drive shaft embodiment; 
         FIG. 85  is an exploded assembly view of another firing member embodiment; 
         FIG. 86  is a rear perspective view of another firing member embodiment; 
         FIG. 87  is a front perspective view of the firing member embodiment of  FIG. 86 ; 
         FIG. 88  is a perspective view of a firing member, implement drive shaft, wedge sled assembly and alignment portion for a surgical end effector; 
         FIG. 89  is a side elevational view of the firing member, implement drive shaft, wedge sled assembly and alignment portion of  FIG. 88 ; 
         FIG. 90  is a cross-sectional elevational view of the surgical end effector of  FIG. 60  in a closed configuration without a staple cartridge installed therein; 
         FIG. 91  is a bottom view of a surgical end effector having a firing lockout according to various exemplary embodiments of the present disclosure; 
         FIG. 92  is a perspective view of a portion of the bottom of the surgical end effector of  FIG. 91  in a closed and inoperable configuration; 
         FIG. 93  is a cross-sectional elevational view of the surgical end effector of  FIG. 91  in a closed and inoperable configuration; 
         FIG. 94  is an end elevational view of the surgical end effector of  FIG. 91  in an open and inoperable configuration; 
         FIG. 95  is an end elevational view of the surgical end effector of  FIG. 91  in a closed and inoperable configuration; 
         FIG. 96  is an elevational, cross-sectional view of the surgical end effector of  FIG. 91  in a closed and operable configuration having a wedge sled assembly and an alignment portion in a first set of positions therein; 
         FIG. 97  is another end elevational view of the surgical end effector of  FIG. 91  in a closed and operable configuration; 
         FIG. 98  is an exploded perspective view of a surgical end effector with some components thereof shown in cross section and other components thereof omitted for clarity; 
         FIG. 99  is a perspective view of the biasing element depicted in  FIG. 98 ; 
         FIG. 100  is a perspective view of the end effector drive housing depicted in  FIG. 98 ; 
         FIG. 101  is a cross-sectional elevational view of the surgical end effector of  FIG. 98  illustrating the biasing element in a second set of positions; 
         FIG. 102  is a cross-sectional view of a portion of the surgical end effector of  FIG. 98  illustrating the implement drive shaft in an inoperable position; 
         FIG. 103  is a cross-sectional view of a portion of the surgical end effector of  FIG. 98  illustrating the biasing element in a first set of positions; 
         FIG. 104  is a cross-sectional view of a portion of the surgical end effector of  FIG. 98  illustrating the biasing element in a first set of positions and the implement drive shaft in an operable position; 
         FIG. 105  is a cross-sectional perspective view of an end effector for a surgical instrument comprising a drive screw configured to drive a firing member of the end effector; 
         FIG. 106A  is a side view of a portion of a first drive screw for an end effector comprising a first length, wherein the first drive screw includes a single thread; 
         FIG. 106B  is a cross-sectional end view of the first drive screw of  FIG. 106A ; 
         FIG. 107A  is a side view of a portion of a second drive screw for an end effector comprising a second length, wherein the second drive screw includes two threads; 
         FIG. 107B  is a cross-sectional end view of the second drive screw of  FIG. 107A ; 
         FIG. 108A  is a side view of a portion of a third drive screw for an end effector comprising a third length, wherein the third drive screw includes three threads; 
         FIG. 108B  is a cross-sectional end view of the third drive screw of  FIG. 108A ; 
         FIG. 109A  is a side view of a portion of a fourth drive screw for an end effector comprising a fourth length, wherein the fourth drive screw includes four threads; 
         FIG. 109B  is a cross-sectional end view of the fourth drive screw of  FIG. 109A ; 
         FIG. 110  is a exploded perspective view of a cutting blade for use with an end effector having a drive screw; 
         FIG. 111  is a perspective view of a gearing arrangement for transmitting rotation from a drive shaft to a drive screw of an end effector, wherein the gearing arrangement is shown with portions thereof removed for the purposes of illustration; 
         FIG. 112  is a perspective view of another surgical tool embodiment; 
         FIG. 112A  is a perspective view of the end effector arrangement of the surgical tool of  FIG. 112 ; 
         FIG. 113  is an exploded assembly view of a portion of the elongate shaft assembly and quick disconnect coupler arrangement depicted in  FIG. 112 ; 
         FIG. 114  is a perspective view of a portion of the elongate shaft assembly of  FIGS. 112 and 113 ; 
         FIG. 115  is an enlarged exploded perspective view of the exemplary quick disconnect coupler arrangement depicted in  FIGS. 112-114 ; 
         FIG. 116  is a side elevational view of the quick disconnect coupler arrangement of  FIGS. 112-115  with the locking collar thereof in an unlocked position; 
         FIG. 117  is another side elevational view of the quick disconnect coupler arrangement of  FIGS. 112-116  with the locking collar thereof in a locked position; 
         FIG. 118  is a perspective view of another surgical tool embodiment; 
         FIG. 119  is another perspective view of the surgical tool embodiment of  FIG. 118 ; 
         FIG. 120  is a cross-sectional perspective view of the surgical tool embodiment of  FIGS. 118 and 119 ; 
         FIG. 121  is a cross-sectional perspective view of a portion of an articulation system; 
         FIG. 122  is a cross-sectional view of the articulation system of  FIG. 121  in a neutral position; 
         FIG. 123  is another cross-sectional view of the articulation system of  FIGS. 121 and 122  in an articulated position; 
         FIG. 124  is a side elevational view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity; 
         FIG. 125  is a rear perspective view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity; 
         FIG. 126  is a rear elevational view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity; 
         FIG. 127  is a front perspective view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity; 
         FIG. 128  is a side elevational view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity; 
         FIG. 129  is an exploded assembly view of an exemplary reversing system embodiment of the surgical instrument embodiment of  FIGS. 118-120 ; 
         FIG. 130  is a perspective view of a lever arm embodiment of the reversing system of  FIG. 129 ; 
         FIG. 131  is a perspective view of a knife retractor button of the reversing system of  FIG. 129 ; 
         FIG. 132  is a perspective view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity and with the lever arm in actuatable engagement with the reversing gear; 
         FIG. 133  is a perspective view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity and with the lever arm in an unactuated position; 
         FIG. 134  is another perspective view of a portion of the surgical instrument embodiment of  FIGS. 118-120  with portions thereof omitted for clarity and with the lever arm in actuatable engagement with the reversing gear; 
         FIG. 135  is a side elevational view of a portion of a handle assembly portion of the surgical instrument embodiment of  FIGS. 118-20  with the a shifter button assembly moved into a position which will result in the rotation of the end effector when the drive shaft assembly is actuated; 
         FIG. 136  is another side elevational view of a portion of a handle assembly portion of the surgical instrument embodiment of  FIGS. 118-120  with the a shifter button assembly moved into another position which will result in the firing of the firing member in the end effector when the drive shaft assembly is actuated; 
         FIG. 137  is a cross-sectional view of a portion of another surgical tool embodiment with a lockable articulation joint embodiment; 
         FIG. 138  is another cross-sectional view of the portion of surgical tool of  FIG. 137  articulated in one configuration; 
         FIG. 139  is another cross-sectional view of the portion of surgical tool of  FIGS. 137 and 138  articulated in another configuration; 
         FIG. 140  is a cross-sectional of an articulation locking system embodiment depicted in  FIG. 137  taken along line  140 - 140  in  FIG. 137 ; 
         FIG. 141  is a cross-sectional view of the articulation locking system of  FIG. 140  taken along line  141 - 141  in  FIG. 140 ; 
         FIG. 142  is a cross-sectional view of a portion of the surgical tool of  FIG. 137  taken along line  142 - 142  in  FIG. 137 ; 
         FIG. 143  illustrates the position of the locking wire when the first and second locking rings are in a clamped or locked configuration when the end effector has been articulated into a first articulation position illustrated in  FIG. 138 ; 
         FIG. 144  illustrates a position of the locking wire when the first and second locking rings have been sprung to their respective unclamped or unlocked positions when the end effector has been articulated to the first articulation position illustrated in  FIG. 138 ; 
         FIG. 145  illustrates a position of the locking wire when the first and second locking rings are in a clamped or locked configuration when the end effector has been articulated into a second articulation position illustrated in  FIG. 139 ; 
         FIG. 146  illustrates the position of the locking wire when the first and second locking rings have been sprung to their respective unclamped or unlocked positions when the end effector has been articulated to the first articulation position illustrated in  FIG. 139 ; 
         FIG. 147  is another view of the locking wire when the end effector has been articulated relative to the elongate shaft assembly; 
         FIG. 148  is a cross-sectional view of another end effector embodiment with the anvil assembly thereof in the closed position; 
         FIG. 149  is another cross-sectional view of the end effector embodiment of  FIG. 148 ; 
         FIG. 150  is another cross-sectional view of the end effector embodiment of  FIGS. 148 and 149  with the anvil assembly in the closed position; 
         FIG. 151  is another cross-sectional view of the end effector embodiment of  FIGS. 148-150  illustrating the drive transmission configured to drive the firing member; 
         FIG. 152  is another cross-sectional view of the end effector embodiment of  FIGS. 148-151  with the drive transmission configured to rotate the entire end effector about the longitudinal tool axis; 
         FIG. 153  is a cross-sectional view of the end effector of  FIGS. 148-152  taken along line  153 - 153  in  FIG. 148  with the drive transmission configured to actuate the anvil assembly; 
         FIG. 154  is a cross-sectional view of the end effector of  FIGS. 148-153  taken along line  154 - 154  in  FIG. 148  with the drive transmission configured to fire the firing member; 
         FIG. 155  is a cross-sectional view of the end effector of  FIGS. 148-154  taken along line  155 - 155  in  FIG. 148  with the drive transmission configured to actuate the anvil assembly; 
         FIG. 156  is a cross-sectional view of the end effector of  FIGS. 148-155  taken along line  156 - 156  in  FIG. 148 ; 
         FIG. 157  is a cross-sectional perspective view of another end effector embodiment; 
         FIG. 158  is a perspective view of an elongate channel of the end effector of  FIG. 157 ; 
         FIG. 159  is a perspective view of an anvil spring embodiment; 
         FIG. 160  is a side cross-sectional view of the end effector of  FIG. 157  with the anvil in a closed position after the firing member has been driven to its distal-most position; 
         FIG. 161  is a cross-sectional view of a portion of the end effector of  FIG. 160  taken along line  161 - 161  in  FIG. 160 ; 
         FIG. 162  is another side cross-sectional view of the end effector of  FIGS. 157, 160 and 161  with the firing member being retracted; 
         FIG. 163  is a cross-sectional view of a portion of the end effector of  FIG. 162  taken along line  163 - 163 ; 
         FIG. 164  is another side cross-sectional view of the end effector of  FIGS. 157 and 160-163  with the firing member in its proximal-most position; 
         FIG. 165  is a cross-sectional view of the end effector of  FIGS. 157 and 160-164  taken along line  165 - 165  in  FIG. 164 ; 
         FIG. 166  is another side cross-sectional view of the end effector of  FIGS. 157 and 160-165  after the solenoid has pulled the closure tube to its proximal-most position; 
         FIG. 167  is a cross-sectional view of the end effector of  FIGS. 157 and 160-166  taken along line  167 - 167  in  FIG. 166 ; 
         FIG. 168  is another side cross-sectional view of the end effector of  FIGS. 157 and 160-167  with the anvil in an open position and the after the solenoid has pulled the closure tube to its proximal-most position; 
         FIG. 169  is another side cross-sectional view of the end effector of  FIGS. 157 and 160-168  after the firing member has moved to its starting position; 
         FIG. 170  is another side cross-sectional view of the end effector of  FIGS. 157 and 160-169  with the anvil assembly closed and the firing member ready to fire; 
         FIG. 171  is a partial cross-sectional view of another quick disconnect arrangement for coupling a distal shaft portion that may be attached to an end effector to a proximal shaft portion that may be coupled to a tool mounting portion for a robotic system or to a handle assembly; 
         FIG. 172  is another partial cross-sectional view of the quick disconnect arrangement of  FIG. 171 ; 
         FIG. 173  is an end view of the proximal shaft portion of the quick disconnect arrangement of  FIGS. 171 and 172 ; 
         FIG. 174  is cross-sectional view of an axially movable lock collar embodiment of the quick disconnect arrangement of  FIGS. 171 and 172 ; 
         FIG. 174A  is a perspective view of the lock collar embodiment of  FIG. 174 ; 
         FIG. 175  is another cross-sectional view of the quick disconnect arrangement of  FIGS. 171 and 172  illustrating the initial coupling of the distal and proximal drive shaft portions; 
         FIG. 176  is another cross-sectional view of the quick disconnect arrangement of  FIGS. 171, 172 and 175  illustrating the initial coupling of the corresponding articulation cable segments; 
         FIG. 177  is another cross-sectional view of the quick disconnect arrangement of  FIG. 175  after the distal drive shaft portion has been locked to the proximal drive shaft portion; and 
         FIG. 178  is another cross-sectional view of the quick disconnect arrangement of  FIG. 176  after the corresponding articulation cable segments have been locked together. 
     
    
    
     DETAILED DESCRIPTION 
     Applicant of the present application also owns the following patent applications that have been filed on Jun. 28, 2012 and which are each herein incorporated by reference in their respective entireties:
     1. U.S. patent application Ser. No. 13/536,271, entitled FLEXIBLE DRIVE MEMBER, now U.S. Pat. No. 9,204,879.   2. U.S. patent application Ser. No. 13/536,288, entitled MULTI-FUNCTIONAL POWERED SURGICAL DEVICE WITH EXTERNAL DISSECTION FEATURES, now U.S. Patent Application Publication No. 2014/0005718.   3. U.S. patent application Ser. No. 13/536,277, entitled COUPLING ARRANGEMENTS FOR ATTACHING SURGICAL END EFFECTORS TO DRIVE SYSTEMS THEREFOR, now U.S. Patent Application Publication No. 2014/0001234.   4. U.S. patent application Ser. No. 13/536,295, entitled ROTARY ACTUATABLE CLOSURE ARRANGEMENT FOR SURGICAL END EFFECTOR, now U.S. Pat. No. 9,119,657.   5. U.S. patent application Ser. No. 13/536,326, entitled SURGICAL END EFFECTORS HAVING ANGLED TISSUE-CONTACTING SURFACES, now U.S. Pat. No. 9,289,256.   6. U.S. patent application Ser. No. 13/536,303, entitled INTERCHANGEABLE END EFFECTOR COUPLING ARRANGEMENT, now U.S. Pat. No. 9,028,494.   7. U.S. patent application Ser. No. 13/536,393, entitled SURGICAL END EFFECTOR JAW AND ELECTRODE CONFIGURATIONS, now U.S. Patent Application Publication No. 2014/0005640.   8. U.S. patent application Ser. No. 13/536,362, entitled MULTI-AXIS ARTICULATING AND ROTATING SURGICAL TOOLS, now U.S. Pat. No. 9,125,662.   9. U.S. patent application Ser. No. 13/536,284, entitled DIFFERENTIAL LOCKING ARRANGEMENTS FOR ROTARY POWERED SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,072,536.   10. U.S. patent application Ser. No. 13/536,374, entitled INTERCHANGEABLE CLIP APPLIER, now U.S. Pat. No. 9,561,038.   11. U.S. patent application Ser. No. 13/536,301, entitled ROTARY DRIVE SHAFT ASSEMBLIES FOR SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS, now U.S. Pat. No. 8,747,238.   12. U.S. patent application Ser. No. 13/536,313, entitled ROTARY DRIVE ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0005678.   13. U.S. patent application Ser. No. 13/536,323, entitled ROBOTICALLY POWERED SURGICAL DEVICE WITH MANUALLY-ACTUATABLE REVERSING SYSTEM, now U.S. Pat. No. 9,408,606.   14. U.S. patent application Ser. No. 13/536,379, entitled REPLACEABLE CLIP CARTRIDGE FOR A CLIP APPLIER, now U.S. Pat. No. 9,649,111.   15. U.S. patent application Ser. No. 13/536,386, entitled EMPTY CLIP CARTRIDGE LOCKOUT, now U.S. Pat. No. 9,282,974.   16. U.S. patent application Ser. No. 13/536,360, entitled Surgical Instrument System Including Replaceable End Effectors, now U.S. Pat. No. 9,226,751.   17. U.S. patent application Ser. No. 13/536,335, entitled ROTARY SUPPORT JOINT ASSEMBLIES FOR COUPLING A FIRST PORTION OF A SURGICAL INSTRUMENT TO A SECOND PORTION OF A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,364,230.   18. U.S. patent application Ser. No. 13/536,417, entitled ELECTRODE CONNECTIONS FOR ROTARY DRIVEN SURGICAL TOOLS, now U.S. Pat. No. 9,101,385.   

     Applicant also owns the following patent applications that are each incorporated by reference in their respective entireties:
     U.S. patent application Ser. No. 13/118,259, entitled SURGICAL INSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF A ROBOTIC SYSTEM AND REMOTE SENSOR, now U.S. Pat. No. 8,684,253;   U.S. patent application Ser. No. 13/118,210, entitled ROBOTICALLY-CONTROLLED DISPOSABLE MOTOR DRIVEN LOADING UNIT, now U.S. Pat. No. 8,752,749;   U.S. patent application Ser. No. 13/118,194, entitled ROBOTICALLY-CONTROLLED ENDOSCOPIC ACCESSORY CHANNEL, now U.S. Pat. No. 8,992,422;   U.S. patent application Ser. No. 13/118,253, entitled ROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT, now U.S. Pat. No. 9,386,983;   U.S. patent application Ser. No. 13/118,278, entitled ROBOTICALLY-CONTROLLED SURGICAL STAPLING DEVICES THAT PRODUCE FORMED STAPLES HAVING DIFFERENT LENGTHS, now U.S. Pat. No. 9,237,891;   U.S. patent application Ser. No. 13/118,190, entitled ROBOTICALLY-CONTROLLED MOTORIZED CUTTING AND FASTENING INSTRUMENT, now U.S. Pat. No. 9,179,912;   U.S. patent application Ser. No. 13/118,223, entitled ROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 8,931,682;   U.S. patent application Ser. No. 13/118,263, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Patent Application Publication No. 2011/0295295;   U.S. patent application Ser. No. 13/118,272, entitled ROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE FEEDBACK CAPABILITIES, now U.S. Patent Application Publication No. 2011/0290856;   U.S. patent application Ser. No. 13/118,246, entitled ROBOTICALLY-DRIVEN SURGICAL INSTRUMENT WITH E-BEAM DRIVER, now U.S. Pat. No. 9,060,770; and   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535.   

     Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these exemplary embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various exemplary embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other exemplary embodiments. Such modifications and variations are intended to be included within the scope of the present invention. 
       FIG. 1  depicts a master controller  12  that is used in connection with a robotic arm slave cart  20  of the type depicted in  FIG. 2 . Master controller  12  and robotic arm slave cart  20 , as well as their respective components and control systems are collectively referred to herein as a robotic system  10 . Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320 which has been herein incorporated by reference. Thus, various details of such devices will not be described in detail herein beyond that which may be necessary to understand various exemplary embodiments disclosed herein. As is known, the master controller  12  generally includes master controllers (generally represented as  14  in  FIG. 1 ) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display  16 . The master controllers  12  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 , the robotic arm cart  20  is configured to actuate a plurality of surgical tools, generally designated as  30 . Various robotic surgery systems and methods employing master controller and robotic arm cart arrangements are disclosed in U.S. Pat. No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, the full disclosure of which is incorporated herein by reference. As shown, the robotic arm cart  20  includes a base  22  from which, in the illustrated embodiment, three surgical tools  30  are supported. The surgical tools  30  are each supported by a series of manually articulatable linkages, generally referred to as set-up joints  32 , and a robotic manipulator  34 . These structures are herein illustrated with protective covers extending over much of the robotic linkage. These protective covers may be optional, and may be limited in size or entirely eliminated to minimize the inertia that is encountered by the servo mechanisms used to manipulate such devices, to limit the volume of moving components so as to avoid collisions, and to limit the overall weight of the cart  20 . The cart  20  generally has dimensions suitable for transporting the cart  20  between operating rooms. The cart  20  is configured to typically fit through standard operating room doors and onto standard hospital elevators. The cart  20  would preferably have a weight and include a wheel (or other transportation) system that allows the cart  20  to be positioned adjacent an operating table by a single attendant. 
     Referring now to  FIG. 3 , robotic manipulators  34  as shown include a linkage  38  that constrains movement of the surgical tool  30 . Linkage  38  includes rigid links coupled together by rotational joints in a parallelogram arrangement so that the surgical tool  30  rotates around a point in space  40 , as more fully described in U.S. Pat. No. 5,817,084, the full disclosure of which is herein incorporated by reference. The parallelogram arrangement constrains rotation to pivoting about an axis  40   a , sometimes called the pitch axis. The links supporting the parallelogram linkage are pivotally mounted to set-up joints  32  ( FIG. 2 ) so that the surgical tool  30  further rotates about an axis  40   b , sometimes called the yaw axis. The pitch and yaw axes  40   a ,  40   b  intersect at the remote center  42 , which is aligned along a shaft  44  of the surgical tool  30 . The surgical tool  30  may have further degrees of driven freedom as supported by manipulator  50 , including sliding motion of the surgical tool  30  along the longitudinal tool axis “LT-LT”. As the surgical tool  30  slides along the tool axis LT-LT relative to manipulator  50  (arrow  40   c ), remote center  42  remains fixed relative to base  52  of manipulator  50 . Hence, the entire manipulator is generally moved to re-position remote center  42 . Linkage  54  of manipulator  50  is driven by a series of motors  56 . These motors actively move linkage  54  in response to commands from a processor of a control system. Motors  56  are also employed to manipulate the surgical tool  30 . An alternative set-up joint structure is illustrated in  FIG. 4 . In this embodiment, a surgical tool  30  is supported by an alternative manipulator structure  50 ′ between two tissue manipulation tools. 
     Other embodiments may incorporate a wide variety of alternative robotic structures, including those described in U.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the full disclosure of which is incorporated herein by reference. Additionally, while the data communication between a robotic component and the processor of the robotic surgical system is described with reference to communication between the surgical tool  30  and the master controller  12 , 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. 
     A surgical tool  100  that is well-adapted for use with a robotic system  10  is depicted in  FIG. 5 . As can be seen in that Figure, the surgical tool  100  includes a surgical end effector  1000  that comprises an endocutter. The surgical tool  100  generally includes an elongate shaft assembly  200  that is operably coupled to the manipulator  50  by a tool mounting portion, generally designated as  300 . The surgical tool  100  further includes an interface  302  which mechanically and electrically couples the tool mounting portion  300  to the manipulator. One interface  302  is illustrated in  FIGS. 6-10 . In the embodiment depicted in  FIGS. 6-10 , the tool mounting portion  300  includes a tool mounting plate  304  that operably supports a plurality of (four are shown in  FIG. 10 ) rotatable body portions, driven discs or elements  306 , that each include a pair of pins  308  that extend from a surface of the driven element  306 . One pin  308  is closer to an axis of rotation of each driven elements  306  than the other pin  308  on the same driven element  306 , which helps to ensure positive angular alignment of the driven element  306 . Interface  302  may include an adaptor portion  310  that is configured to mountingly engage a mounting plate  304  as will be further discussed below. The illustrated adaptor portion  310  includes an array of electrical connecting pins  312  ( FIG. 8 ) which may be coupled to a memory structure by a circuit board within the tool mounting portion  300 . While interface  302  is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like in other embodiments. 
     As can be seen in  FIGS. 6-9 , the adapter portion  310  generally includes a tool side  314  and a holder side  316 . A plurality of rotatable bodies  320  are mounted to a floating plate  318  which has a limited range of movement relative to the surrounding adaptor structure normal to the major surfaces of the adaptor  310 . Axial movement of the floating plate  318  helps decouple the rotatable bodies  320  from the tool mounting portion  300  when levers or other latch formations along the sides of the tool mounting portion housing (not shown) are actuated. Other embodiments may employ other mechanisms/arrangements for releasably coupling the tool mounting portion  300  to the adaptor  310 . In the embodiment of  FIGS. 6-10 , rotatable bodies  320  are resiliently mounted to floating plate  318  by resilient radial members which extend into a circumferential indentation about the rotatable bodies  320 . The rotatable bodies  320  can move axially relative to plate  318  by deflection of these resilient structures. When disposed in a first axial position (toward tool side  314 ) the rotatable bodies  320  are free to rotate without angular limitation. However, as the rotatable bodies  320  move axially toward tool side  314 , tabs  322  (extending radially from the rotatable bodies  320 ) laterally engage detents on the floating plates so as to limit angular rotation of the rotatable bodies  320  about their axes. This limited rotation can be used to help drivingly engage the rotatable bodies  320  with drive pins  332  of a corresponding tool holder portion  330  of the robotic system  10 , as the drive pins  332  will push the rotatable bodies  320  into the limited rotation position until the pins  332  are aligned with (and slide into) openings  334 ′. Openings  334  on the tool side  314  and openings  334 ′ on the holder side  316  of rotatable bodies  320  are configured to accurately align the driven elements  306  ( FIG. 10 ) of the tool mounting portion  300  with the drive elements  336  of the tool holder  330 . As described above regarding inner and outer pins  308  of driven elements  306 , the openings  334 ,  334 ′ are at differing distances from the axis of rotation on their respective rotatable bodies  306  so as to ensure that the alignment is not 180 degrees from its intended position. Additionally, each of the openings  334  may be slightly radially elongate so as to fittingly receive the pins  308  in the circumferential orientation. This allows the pins  308  to slide radially within the openings  334  and accommodate some axial misalignment between the tool  100  and tool holder  330 , while minimizing any angular misalignment and backlash between the drive and driven elements. Openings  334  on the tool side  314  may be offset by about 90 degrees from the openings  334 ′ (shown in broken lines) on the holder side  316 , as can be seen most clearly in  FIG. 9 . 
     In the embodiment of  FIGS. 6-10 , an array of electrical connector pins  340  are located on holder side  316  of adaptor  310  and the tool side  314  of the adaptor  310  includes slots  342  ( FIG. 9 ) for receiving a pin array (not shown) from the tool mounting portion  300 . In addition to transmitting electrical signals between the surgical tool  100  and the tool holder  330 , at least some of these electrical connections may be coupled to an adaptor memory device  344  ( FIG. 8 ) by a circuit board of the adaptor  310 . 
     In the embodiment of  FIGS. 6-10 , a detachable latch arrangement  346  is employed to releasably affix the adaptor  310  to the tool holder  330 . As used herein, the term “tool drive assembly” when used in the context of the robotic system  10 , at least encompasses the adapter  310  and tool holder  330  and which have been collectively generally designated as  110  in  FIG. 6 . As can be seen in  FIG. 6 , the tool holder  330  includes a first latch pin arrangement  337  that is sized to be received in corresponding clevis slots  311  provided in the adaptor  310 . In addition, the tool holder  330  further has second latch pins  338  that are sized to be retained in corresponding latch clevises  313  in the adaptor  310 . See  FIG. 8 . A latch assembly  315  is movably supported on the adapter  310  and has a pair of latch devises  317  formed therein that is biasable from a first latched position wherein the latch pins  338  are retained within their respective latch clevis  313  and an unlatched position wherein the devises  317  are aligned with devises  313  to enable the second latch pins  338  may be inserted into or removed from the latch devises  313 . A spring or springs (not shown) are employed to bias the latch assembly into the latched position. A lip on the tool side  314  of adaptor  310  slidably receives laterally extending tabs of the tool mounting housing (not shown). 
     Referring now to  FIGS. 5 and 11-16 , the tool mounting portion  300  operably supports a plurality of drive systems for generating various forms of control motions necessary to operate a particular type of end effector that is coupled to the distal end of the elongate shaft assembly  200 . As shown in  FIGS. 5 and 11-13 , the tool mounting portion  300  includes a first drive system generally designated as  350  that is configured to receive a corresponding “first” rotary output motion from the tool drive assembly  110  of the robotic system  10  and convert that first rotary output motion to a first rotary control motion to be applied to the surgical end effector. In the illustrated embodiment, the first rotary control motion is employed to rotate the elongate shaft assembly  200  (and surgical end effector  1000 ) about a longitudinal tool axis LT-LT. 
     In the embodiment of  FIGS. 5 and 11-13 , the first drive system  350  includes a tube gear segment  354  that is formed on (or attached to) the proximal end  208  of a proximal closure tube segment  202  of the elongate shaft assembly  200 . The proximal end  208  of the proximal tube segment  202  is rotatably supported on the tool mounting plate  304  of the tool mounting portion  300  by a forward support cradle  352  that is mounted on the tool mounting plate  304 . See FIG.  11 . The tube gear segment  354  is supported in meshing engagement with a first rotational gear assembly  360  that is operably supported on the tool mounting plate  304 . As can be seen in  FIG. 11 , the rotational gear assembly  360  comprises a first rotation drive gear  362  that is coupled to a corresponding first one of the driven discs or elements  306  on the holder side  316  of the tool mounting plate  304  when the tool mounting portion  300  is coupled to the tool drive assembly  110 . See  FIG. 10 . The rotational gear assembly  360  further comprises a first rotary driven gear  364  that is rotatably supported on the tool mounting plate  304 . The first rotary driven gear  364  is in meshing engagement with a second rotary driven gear  366  which, in turn, is in meshing engagement with the tube gear segment  354 . Application of a first rotary output motion from the tool drive assembly  110  of the robotic system  10  to the corresponding driven element  306  will thereby cause rotation of the rotation drive gear  362 . Rotation of the rotation drive gear  362  ultimately results in the rotation of the elongate shaft assembly  200  (and the surgical end effector  1000 ) about the longitudinal tool axis LT-LT (represented by arrow “R” in  FIG. 5 ). It will be appreciated that the application of a rotary output motion from the tool drive assembly  110  in one direction will result in the rotation of the elongate shaft assembly  200  and surgical end effector  1000  about the longitudinal tool axis LT-LT in a first rotary direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongate shaft assembly  200  and surgical end effector  1000  in a second rotary direction that is opposite to the first rotary direction. 
     In embodiment of  FIGS. 5 and 11-16 , the tool mounting portion  300  further includes a second drive system generally designated as  370  that is configured to receive a corresponding “second” rotary output motion from the tool drive assembly  110  of the robotic system  10  and convert that second rotary output motion to a second rotary control motion for application to the surgical end effector. The second drive system  370  includes a second rotation drive gear  372  that is coupled to a corresponding second one of the driven discs or elements  306  on the holder side  316  of the tool mounting plate  304  when the tool mounting portion  300  is coupled to the tool drive assembly  110 . See  FIG. 10 . The second drive system  370  further comprises a first rotary driven gear  374  that is rotatably supported on the tool mounting plate  304 . The first rotary driven gear  374  is in meshing engagement with a shaft gear  376  that is movably and non-rotatably mounted onto a proximal drive shaft segment  380 . In this illustrated embodiment, the shaft gear  376  is non-rotatably mounted onto the proximal drive shaft segment  380  by a series of axial keyways  384  that enable the shaft gear  376  to axially move on the proximal drive shaft segment  380  while being non-rotatably affixed thereto. Rotation of the proximal drive shaft segment  380  results in the transmission of a second rotary control motion to the surgical end effector  1000 . 
     The second drive system  370  in the embodiment of  FIGS. 5 and 11-16  includes a shifting system  390  for selectively axially shifting the proximal drive shaft segment  380  which moves the shaft gear  376  into and out of meshing engagement with the first rotary driven gear  374 . For example, as can be seen in  FIGS. 11-13 , the proximal drive shaft segment  380  is supported within a second support cradle  382  that is attached to the tool mounting plate  304  such that the proximal drive shaft segment  380  may move axially and rotate relative to the second support cradle  382 . In at least one form, the shifting system  390  further includes a shifter yoke  392  that is slidably supported on the tool mounting plate  304 . The proximal drive shaft segment  380  is supported in the shifter yoke  392  and has a pair of collars  386  thereon such that shifting of the shifter yoke  392  on the tool mounting plate  304  results in the axial movement of the proximal drive shaft segment  380 . In at least one form, the shifting system  390  further includes a shifter solenoid  394  that operably interfaces with the shifter yoke  392 . The shifter solenoid  394  receives control power from the robotic controller  12  such that when the shifter solenoid  394  is activated, the shifter yoke  392  is moved in the distal direction “DD”. 
     In this illustrated embodiment, a shaft spring  396  is journaled on the proximal drive shaft segment  380  between the shaft gear  376  and the second support cradle  382  to bias the shaft gear  376  in the proximal direction “PD” and into meshing engagement with the first rotary driven gear  374 . See  FIGS. 11, 13 and 14 . Rotation of the second rotation drive gear  372  in response to rotary output motions generated by the robotic system  10  ultimately results in the rotation of the proximal drive shaft segment  380  and other drive shaft components coupled thereto (drive shaft assembly  388 ) about the longitudinal tool axis LT-LT. It will be appreciated that the application of a rotary output motion from the tool drive assembly  110  in one direction will result in the rotation of the proximal drive shaft segment  380  and ultimately of the other drive shaft components attached thereto in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the proximal drive shaft segment  380  in a second direction that is opposite to the first direction. When it is desirable to shift the proximal drive shaft segment  380  in the distal direction “DD” as will be discussed in further detail below, the robotic controller  12  activates the shifter solenoid  390  to shift the shifter yoke  392  in the distal direction “DD”. 
       FIGS. 17 and 18  illustrate another embodiment that employs the same components of the embodiment depicted in  FIGS. 5 and 11-16  except that this embodiment employs a battery-powered drive motor  400  for supplying rotary drive motions to the proximal drive shaft segment  380 . Such arrangement enables the tool mounting portion to generate higher rotary output motions and torque which may be advantageous when different forms of end effectors are employed. As can be seen in those Figures, the motor  400  is attached to the tool mounting plate  304  by a support structure  402  such that a driver gear  404  that is coupled to the motor  400  is retained in meshing engagement with the shaft gear  376 . In the embodiment of  FIGS. 17 and 18 , the support structure  402  is configured to removably engage latch notches  303  formed in the tool mounting plate  304  that are designed to facilitate attachment of a housing member (not shown) to the mounting plate  304  when the motor  400  is not employed. Thus, to employ the motor  400 , the clinician removes the housing from the tool mounting plate  304  and then inserts the legs  403  of the support structure into the latch notches  303  in the tool mounting plate  304 . The proximal drive shaft segment  380  and the other drive shaft components attached thereto are rotated about the longitudinal tool axis LT-LT by powering the motor  400 . As illustrated, the motor  400  is battery powered. In such arrangement, however, the motor  400  interface with the robotic controller  12  such that the robotic system  10  controls the activation of the motor  400 . In alternative embodiments, the motor  400  is manually actuatable by an on/off switch (not shown) mounted on the motor  400  itself or on the tool mounting portion  300 . In still other embodiments, the motor  400  may receive power and control signals from the robotic system. 
     The embodiment illustrated in  FIGS. 5 and 11-16  includes a manually-actuatable reversing system, generally designated as  410 , for manually applying a reverse rotary motion to the proximal drive shaft segment  380  in the event that the motor fails or power to the robotic system is lost or interrupted. Such manually-actuatable reversing system  410  may also be particularly useful, for example, when the drive shaft assembly  388  becomes jammed or otherwise bound in such a way that would prevent reverse rotation of the drive shaft components under the motor power alone. In the illustrated embodiment, the mechanically-actuatable reversing system  410  includes a drive gear assembly  412  that is selectively engageable with the second rotary driven gear  376  and is manually actuatable to apply a reversing rotary motion to the proximal drive shaft segment  380 . The drive gear assembly  412  includes a reversing gear  414  that is movably mounted to the tool mounting plate  304 . The reversing gear  414  is rotatably journaled on a pivot shaft  416  that is movably mounted to the tool mounting plate  304  through a slot  418 . See  FIG. 12 . In the embodiment of  FIGS. 5 and 11-16 , the manually-actuatable reversing system  410  further includes a manually actuatable drive gear  420  that includes a body portion  422  that has an arcuate gear segment  424  formed thereon. The body portion  422  is pivotally coupled to the tool mounting plate  304  for selective pivotal travel about an actuator axis A-A ( FIG. 11 ) that is substantially normal to the tool mounting plate  304 . 
       FIGS. 11-14  depict the manually-actuatable reversing system  410  in a first unactuated position. In one exemplary form, an actuator handle portion  426  is formed on or otherwise attached to the body portion  422 . The actuator handle portion  426  is sized relative to the tool mounting plate  304  such that a small amount of interference is established between the handle portion  426  and the tool mounting plate  304  to retain the handle portion  426  in the first unactuated position. However, when the clinician desires to manually actuate the drive gear assembly  412 , the clinician can easily overcome the interference fit by applying a pivoting motion to the handle portion  426 . As can also be seen in  FIGS. 11-14 , when the drive gear assembly  412  is in the first unactuated position, the arcuate gear segment  424  is out of meshing engagement with the reversing gear  414 . When the clinician desires to apply a reverse rotary drive motion to the proximal drive shaft segment  380 , the clinician begins to apply a pivotal ratcheting motion to drive gear  420 . As the drive gear  420  begins to pivot about the actuation axis A-A, a portion of the body  422  contacts a portion of the reversing gear  414  and axially moves the reversing gear  414  in the distal direction DD taking the drive shaft gear  376  out of meshing engagement with the first rotary driven gear  374  of the second drive system  370 . See  FIG. 15 . As the drive gear  420  is pivoted, the arcuate gear segment  424  is brought into meshing engagement with the reversing gear  414 . Continued ratcheting of the drive gear  420  results in the application of a reverse rotary drive motion to the drive shaft gear  376  and ultimately to the proximal drive shaft segment  380 . The clinician may continue to ratchet the drive gear assembly  412  for as many times as are necessary to fully release or reverse the associated end effector component(s). Once a desired amount of reverse rotary motion has been applied to the proximal drive shaft segment  380 , the clinician returns the drive gear  420  to the starting or unactuated position wherein the arcuate gear segment  416  is out of meshing engagement with the drive shaft gear  376 . When in that position, the shaft spring  396  once again biases the shaft gear  376  into meshing engagement with first rotary driven gear  374  of the second drive system  370 . 
     In use, the clinician may input control commands to the controller or control unit of the robotic system  10  which “robotically-generates” output motions that are ultimately transferred to the various components of the second drive system  370 . As used herein, the terms “robotically-generates” or “robotically-generated” refer to motions that are created by powering and controlling the robotic system motors and other powered drive components. These terms are distinguishable from the terms “manually-actuatable” or “manually generated” which refer to actions taken by the clinician which result in control motions that are generated independent from those motions that are generated by powering the robotic system motors. Application of robotically-generated control motions to the second drive system in a first direction results in the application of a first rotary drive motion to the drive shaft assembly  388 . When the drive shaft assembly  388  is rotated in a first rotary direction, the firing member  1200  is driven in the distal direction “DD” from its starting position toward its ending position in the end effector  1000 . Application of robotically-generated control motions to the second drive system in a second direction results in the application of a second rotary drive motion to the drive shaft assembly  388 . When the drive shaft assembly  388  is rotated in a second rotary direction, the firing member  1200  is driven in the proximal direction “PD” from its ending position toward its starting position in the end effector  1000 . When the clinician desires to manually-apply rotary control motion to the drive shaft assembly  388 , the drive shaft assembly  388  is rotated in the second rotary direction which causes the firing member  1200  to move in the proximal direction “PD” in the end effector. Other embodiments containing the same components are configured such that the manual-application of a rotary control motion to the drive shaft assembly could cause the drive shaft assembly to rotate in the first rotary direction which could be used to assist the robotically-generated control motions to drive the firing member  1200  in the distal direction. 
     The drive shaft assembly that is used to fire, close and rotate the end effector can be actuated and shifted manually allowing the end effector to release and be extracted from the surgical site as well as the abdomen even in the event that the motor(s) fail, the robotic system loses power or other electronic failure occurs. Actuation of the handle portion  426  results in the manual generation of actuation or control forces that are applied to the drive shaft assembly  388 ′ by the various components of the manually-actuatable reversing system  410 . If the handle portion  426  is in its unactuated state, it is biased out of actuatable engagement with the reversing gear  414 . The beginning of the actuation of the handle portion  426  shifts the bias. The handle  426  is configured for repeated actuation for as many times as are necessary to fully release the firing member  1200  and the end effector  1000 . 
     As illustrated in  FIGS. 5 and 11-16 , the tool mounting portion  300  includes a third drive system  430  that is configured to receive a corresponding “third” rotary output motion from the tool drive assembly  110  of the robotic system  10  and convert that third rotary output motion to a third rotary control motion. The third drive system  430  includes a third drive pulley  432  that is coupled to a corresponding third one of the driven discs or elements  306  on the holder side  316  of the tool mounting plate  304  when the tool mounting portion  300  is coupled to the tool drive assembly  110 . See  FIG. 10 . The third drive pulley  432  is configured to apply a third rotary control motion (in response to corresponding rotary output motions applied thereto by the robotic system  10 ) to a corresponding third drive cable  434  that may be used to apply various control or manipulation motions to the end effector that is operably coupled to the shaft assembly  200 . As can be most particularly seen in  FIGS. 11 and 12 , the third drive cable  434  extends around a third drive spindle assembly  436 . The third drive spindle assembly  436  is pivotally mounted to the tool mounting plate  304  and a third tension spring  438  is attached between the third drive spindle assembly  436  and the tool mounting plate  304  to maintain a desired amount of tension in the third drive cable  434 . As can be seen in the Figures, cable end portion  434 A of the third drive cable  434  extends around an upper portion of a pulley block  440  that is attached to the tool mounting plate  304  and cable end portion  434 B extends around a sheave pulley or standoff  442  on the pulley block  440 . It will be appreciated that the application of a third rotary output motion from the tool drive assembly  110  in one direction will result in the rotation of the third drive pulley  432  in a first direction and cause the cable end portions  434 A and  434 B to move in opposite directions to apply control motions to the end effector  1000  or elongate shaft assembly  200  as will be discussed in further detail below. That is, when the third drive pulley  432  is rotated in a first rotary direction, the cable end portion  434 A moves in a distal direction “DD” and cable end portion  434 B moves in a proximal direction “PD”. Rotation of the third drive pulley  432  in an opposite rotary direction result in the cable end portion  434 A moving in a proximal direction “PD” and cable end portion  434 B moving in a distal direction “DD”. 
     The tool mounting portion  300  illustrated in  FIGS. 5 and 11-16  includes a fourth drive system  450  that is configured to receive a corresponding “fourth” rotary output motion from the tool drive assembly  110  of the robotic system  10  and convert that fourth rotary output motion to a fourth rotary control motion. The fourth drive system  450  includes a fourth drive pulley  452  that is coupled to a corresponding fourth one of the driven discs or elements  306  on the holder side  316  of the tool mounting plate  304  when the tool mounting portion  300  is coupled to the tool drive assembly  110 . See  FIG. 10 . The fourth drive pulley  452  is configured to apply a fourth rotary control motion (in response to corresponding rotary output motions applied thereto by the robotic system  10 ) to a corresponding fourth drive cable  454  that may be used to apply various control or manipulation motions to the end effector that is operably coupled to the shaft assembly  200 . As can be most particularly seen in  FIGS. 11 and 12 , the fourth drive cable  454  extends around a fourth drive spindle assembly  456 . The fourth drive spindle assembly  456  is pivotally mounted to the tool mounting plate  304  and a fourth tension spring  458  is attached between the fourth drive spindle assembly  456  and the tool mounting plate  304  to maintain a desired amount of tension in the fourth drive cable  454 . Cable end portion  454 A of the fourth drive cable  454  extends around a bottom portion of the pulley block  440  that is attached to the tool mounting plate  304  and cable end portion  454 B extends around a sheave pulley or fourth standoff  462  on the pulley block  440 . It will be appreciated that the application of a rotary output motion from the tool drive assembly  110  in one direction will result in the rotation of the fourth drive pulley  452  in a first direction and cause the cable end portions  454 A and  454 B to move in opposite directions to apply control motions to the end effector or elongate shaft assembly  200  as will be discussed in further detail below. That is, when the fourth drive pulley  434  is rotated in a first rotary direction, the cable end portion  454 A moves in a distal direction “DD” and cable end portion  454 B moves in a proximal direction “PD”. Rotation of the fourth drive pulley  452  in an opposite rotary direction result in the cable end portion  454 A moving in a proximal direction “PD” and cable end portion  454 B to move in a distal direction “DD”. 
     The surgical tool  100  as depicted in  FIG. 5  includes an articulation joint  700 . In such embodiment, the third drive system  430  may also be referred to as a “first articulation drive system” and the fourth drive system  450  may be referred to herein as a “second articulation drive system”. Likewise, the third drive cable  434  may be referred to as a “first proximal articulation cable” and the fourth drive cable  454  may be referred to herein as a “second proximal articulation cable”. 
     The tool mounting portion  300  of the embodiment illustrated in  FIGS. 5 and 11-16  includes a fifth drive system generally designated as  470  that is configured to axially displace a drive rod assembly  490 . The drive rod assembly  490  includes a proximal drive rod segment  492  that extends through the proximal drive shaft segment  380  and the drive shaft assembly  388 . See  FIG. 13 . The fifth drive system  470  includes a movable drive yoke  472  that is slidably supported on the tool mounting plate  304 . The proximal drive rod segment  492  is supported in the drive yoke  372  and has a pair of retainer balls  394  thereon such that shifting of the drive yoke  372  on the tool mounting plate  304  results in the axial movement of the proximal drive rod segment  492 . In at least one exemplary form, the fifth drive system  370  further includes a drive solenoid  474  that operably interfaces with the drive yoke  472 . The drive solenoid  474  receives control power from the robotic controller  12 . Actuation of the drive solenoid  474  in a first direction will cause the drive rod assembly  490  to move in the distal direction “DD” and actuation of the drive solenoid  474  in a second direction will cause the drive rod assembly  490  to move in the proximal direction “PD”. As can be seen in  FIG. 5 , the end effector  1000  includes an anvil portion that is movable between open and closed positions upon application of axial closure motions to a closure system. In the illustrated embodiment of  FIGS. 5 and 11-16 , the fifth drive system  470  is employed to generate such closure motions. Thus, the fifth drive system  470  may also be referred to as a “closure drive”. 
     The embodiment depicted in  FIG. 5 , includes a surgical end effector  1000  that is attached to the tool mounting portion  300  by the elongate shaft assembly  200 . In that illustrated embodiment, the elongate shaft assembly includes a coupling arrangement in the form of a quick disconnect arrangement or joint  210  that facilitates quick attachment of a distal portion  230  of the shaft assembly  200  to a proximal shaft portion  201  of the shaft assembly  200 . The quick disconnect joint  210  serves to facilitate the quick attachment and detachment of a plurality of drive train components used to provide control motions from a source of drive motions to an end effector that is operably coupled thereto. In the embodiment illustrated in  FIGS. 5 and 19 , for example, the quick disconnect joint  210  is employed to couple a distal shaft portion  230  of end effector  1000  to a proximal shaft portion  201 . 
     Referring now to  FIGS. 19-23 , the coupling arrangement or quick disconnect joint  210  includes a proximal coupler member  212  that is configured to operably support proximal drive train assemblies and a distal coupler member  232  that is configured to operably support at least one and preferably a plurality of distal drive train assemblies. In the embodiment of  FIGS. 5 and 19 , the third drive system  430  (i.e., a first articulation drive system) and the fourth drive system  450  (i.e., a second articulation drive system) are employed to apply articulation motions to the articulation joint  700 . For example, the third drive system  430  serves to apply control motions to the first proximal articulation cable  434  that has cable end portions  434 A,  434 B to articulate the end effector  1000  in first and second articulation directions about the articulation joint  700 . Likewise, the fourth drive system  450  serves to apply control motions to the second proximal articulation cable  454  that has cable end portions  454 A,  454 B to articulate the end effector  1000  in the third and fourth articulation directions. 
     Referring to  FIG. 20 , the proximal coupler member  212  has a first pair of diametrically-opposed first slots  214  therein and a second pair of diametrically-opposed second slots  218  therein (only one slot  218  can be seen in  FIG. 20 ). A first proximal articulation formation or link  222  is supported in each of the opposed first slots  214 . A second proximal articulation formation or link  226  is supported in each of the second slots  218 . The cable end portion  434 A extends through a slot in one of the proximal articulation links  222  and is attached thereto. Likewise, the cable end portion  434 B extends through a slot in the other proximal articulation link  222  and is attached thereto. Cable end portion  434 A and its corresponding proximal articulation formation or link  222  and cable end portion  434 B and its corresponding proximal articulation formation or link  222  are collectively referred to as a “first proximal articulation drive train assembly”  217 . The end cable portion  454 A extends through a slot in one of the proximal articulation links  226  and is attached thereto. The cable end portion  454 B extends through a slot in the other proximal articulation link  226  and is attached thereto. Cable end portion  454 A and its corresponding proximal articulation formation or link  226  and the cable end portion  454 B and its corresponding proximal articulation formation or link  226  are collectively referred to as a “second proximal articulation drive train assembly”  221 . 
     As can be seen in  FIG. 21 , the distal shaft portion  230  includes a distal outer tube portion  231  that supports the distal coupler member  232 . The distal coupler member  232  has a first pair of diametrically opposed first slots  234  therein and a second pair of diametrically opposed second slots  238  therein. See  FIG. 20 . A first pair of distal articulation formations or links  242  are supported in the opposed first slots  234 . A second pair of distal articulation formations or links  246  are supported in the second pair of slots  238 . A first distal cable segment  444  extends through one of the first slots  234  and a slot in one of the distal articulation links  242  to be attached thereto. A primary distal cable segment  445  extends through the other one of the first slots  234  and through a slot in the other distal articulation link  242  and to be attached thereto. The first distal cable segment  444  and its corresponding distal articulation link  242  and the primary distal cable segment  445  and its corresponding distal articulation link  242  are collectively referred to as a “first distal articulation drive train assembly”  237 . A second distal cable segment  446  extends through one of the second slots  238  and a slot in one of the distal articulation links  246  and to be attached thereto. A secondary distal cable segment  447  extends through the other second slot  238  and through a slot in the other distal articulation link  246  to be attached thereto. The second distal cable segment  446  and its corresponding distal articulation link  246  and the secondary distal cable segment  447  and its corresponding distal articulation link  246  are collectively referred to as a “second distal articulation drive train assembly”  241 . 
     Each of the proximal articulation links  222  has a toothed end  224  formed on a spring arm portion  223  thereof. Each proximal articulation link  226  has a toothed end  227 ′ formed on a spring arm portion  227 . Each distal articulation link  242  has a toothed end  243  that is configured to be meshingly coupled with the toothed end  224  of a corresponding one of the proximal articulation links  222 . Each distal articulation link  246  has a toothed end  247  that is configured to be meshingly coupled with the toothed end  228  of a corresponding proximal articulation link  226 . When the proximal articulation formations or links  222 ,  226  are meshingly linked with the distal articulation links  242 ,  246 , respectively, the first and second proximal articulation drive train assemblies  217  and  221  are operably coupled to the first and second distal articulation drive train assemblies  237  and  241 , respectively. Thus, actuation of the third and fourth drive systems  430 ,  450  will apply actuation motions to the distal cable segments  444 ,  445 ,  446 ,  447  as will be discussed in further detail below. 
     In the embodiment of  FIGS. 19-23 , a distal end  250  of proximal outer tube segment  202  has a series of spring fingers  252  therein that extend distally into slots  254  configured to receive corresponding spring arm portions  223 ,  227  therein. See  FIG. 21  (spring arm portion  227  is not depicted in  FIG. 21  but can be seen in  FIG. 20 ). Each spring finger  252  has a detent  256  therein that is adapted to engage corresponding dimples  258  formed in the proximal articulation links  222 ,  226  when the proximal articulation links  222 ,  226  are in the neutral position ( FIG. 23 ). When the clinician desires to remove or attach an end effector  1000  to the proximal shaft portion  201 , the third and fourth drive systems  430 ,  450  are parked in their neutral unactuated positions. 
     The proximal coupler member  212  and the distal coupler member  232  of the quick disconnect joint  210  operably support corresponding portions of a drive member coupling assembly  500  for releasably coupling the proximal drive rod segment  492  to a distal drive rod segment  520 . The proximal drive rod segment  492  comprises a proximal axial drive train assembly  496  and the distal drive rod segment  520  comprises a distal axial drive train assembly  528 . The drive member coupling assembly  500  comprises a drive rod coupler or formation  502  that comprises a receiving formation or first magnet  504  such as, for example, a rare earth magnet, etc. that is attached to the distal end  493  of the distal drive rod segment  520 . The first magnet  504  has a receiving cavity  506  formed therein for receiving a second formation or distal magnet  510 . As can be seen in  FIG. 21 , the distal magnet  510  is attached to a tapered mounting member  512  that is attached to a proximal end  522  of the distal drive rod  520 . 
     The proximal coupler member  212  and the distal coupler member  232  of the quick disconnect joint  210  operably support other corresponding portions of a drive member coupling assembly  500  for releasably coupling the proximal drive shaft segment  380  with a distal drive shaft segment  540 . The proximal drive shaft segment  380 , in at least one exemplary form, comprises a proximal rotary drive train assembly  387  and the distal drive shaft segment  540  comprises a distal rotary drive train assembly  548 . When the proximal rotary drive train assembly  387  is operably coupled to the distal rotary drive train assembly  548 , the drive shaft assembly  388  is formed to transmit rotary control motions to the end effector  1000 . In the illustrated exemplary embodiment, a proximal end  542  of the distal drive shaft segment  540  has a plurality (e.g., four—only two can be seen in  FIG. 21 ) formations or cleated fingers  544  formed thereon. Each cleated finger  544  has an attachment cleat  546  formed thereon that are sized to be received in corresponding lock formations or holes or slots  383  in a distal end  381  of the proximal drive shaft segment  380 . The fingers  544  extend through a reinforcing ring  545  journaled onto the proximal end  542  of the distal drive shaft segment  540 . 
     In the embodiment depicted in  FIGS. 19-23 , the drive member coupling assembly  500  further includes an unlocking tube  514  for assisting in the disengagement of the first and second magnets  504 ,  510  when the clinician detaches the end effector  1000  from the proximal shaft portion  201  of the surgical tool  100 . The unlocking tube  514  extends through the proximal drive shaft segment  380  and its proximal end  517  protrudes out of the proximal end  385  of the proximal drive shaft segment  380  as shown in  FIG. 19 . The unlocking tube  514  is sized relative to the proximal drive shaft segment  380  so as to be axially movable therein upon application of an unlocking motion “UL” applied to the proximal end  517  thereof. A handle (not shown) is attached to the proximal end  517  of the unlocking tube to facilitate the manual application of the unlocking motion “UL” to the unlocking tube  514  or the unlocking motion “UL”. Other embodiments that are otherwise identical to the embodiment of  FIGS. 19-23  employ an unlocking solenoid (not shown) that is attached to the tool mounting plate  304  and powered by the robotic controller  12  or a separate battery attached thereto is employed to apply the unlocking motion. 
     In the illustrated exemplary embodiment, the coupling arrangement or quick disconnect joint  210  also includes an outer lock collar  260  that is slidably journaled on the distal end  204  of the proximal outer tube portion  202 . The outer lock collar  260  has four inwardly extending detents  262  that extend into a corresponding one of the slots  254  in the proximal outer tube portion  202 . Use of the quick disconnect joint  210  can be understood from reference to  FIGS. 21-23 .  FIG. 21  illustrates the conditions of the proximal shaft portion  201  and the distal shaft portion  230  prior to being coupled together. As can be seen in that Figure, the spring arm portions  223 ,  227  of the proximal articulation links  224 ,  226 , respectively are naturally radially sprung outward. The locking collar  260  is moved to its proximal-most position on the proximal outer tube  202  wherein the detents  262  are at the proximal end of the slots  254  therein. When the clinician desires to attach the end effector  1000  to the proximal shaft portion  201  of the surgical tool  100 , the clinician brings the distal shaft portion  230  into axial alignment and coupling engagement with the proximal shaft portion  201  as shown in  FIG. 22 . As can be seen in that Figure, the distal magnet  510  is seated within the cavity  506  in the drive rod coupler  502  and is magnetically attached to the proximal magnet  504  to thereby couple the distal drive rod segment  520  to the proximal drive rod segment  492 . Such action thereby operably couples the distal axial drive train assembly  528  to the proximal axial drive train assembly  496 . In addition, as the shaft portions  201 ,  230  are joined together, the cleated fingers  544  flex inward until the cleats  546  formed thereon enter the lock openings  383  in the distal end portion  381  of the proximal drive shaft segment  380 . When the cleats  546  are seated within their respective locking holes  383 , the distal drive shaft segment  540  is coupled to the proximal drive shaft segment  380 . Thus, such action thereby operably couples the distal rotary drive train assembly  548  to the proximal rotary drive train assembly  387 . As such, when distal coupler member  232  and the proximal coupler member  212  are brought into axial alignment and engagement in the manner described above and the locking collar  260  is moved to its proximal-most position on the proximal outer tube  202 , the distal drive train assemblies are operably coupled to the proximal drive train assemblies. 
     When the clinician desires to detach the end effector  1000  from the proximal shaft portion  201  of the surgical tool  100 , the clinician returns the third and fourth drive systems  430 ,  450  into their neutral positions. The clinician may then slide the locking collar  260  proximally on the proximal outer tube segment  202  into the starting position shown in  FIG. 22 . When in that position, the spring arm portions of the proximal articulation links  222 ,  226  cause the toothed portions thereof to disengage the toothed portions of the distal articulation links  242 ,  246 . The clinician may then apply an unlocking motion UL to the proximal end  517  of the unlocking tube  514  to move the unlocking tube  514  and the unlocking collar  516  attached thereto in the distal direction “DD”. As the unlocking collar  516  moves distally, it biases the cleated fingers  544  out of engagement with their respective holes  383  in the distal end portion  381  of the proximal drive shaft segment  380  and contacts the tapered mounting portion  512  to force the distal magnet  510  out of magnetic engagement with the proximal magnet  504 . 
       FIGS. 22A, 23A and 23B  depict an alternative coupling arrangement or quick disconnect joint assembly  210 ″ that is similar to the quick disconnect joint  210  described above except that an electromagnet  504 ′ is employed to couple the distal drive rod segment  520  to the proximal drive rod segment  492 ′. As can be seen in these Figures, the proximal drive rod segment  492 ′ is hollow to accommodate conductors  505  that extend from a source of electrical power in the robotic system  10 . The conductors  505  are wound around a piece of iron  508 . When the clinician brings the distal shaft portion  230  into engagement with the proximal shaft portion  201  as shown in  FIG. 22A , electrical current may be passed through the conductors  505  in a first direction to cause the magnet  504 ′ to attract the magnet  510  into coupling engagement as shown in  FIG. 23A . When the clinician desires to detach the end effector  1000  from the proximal shaft portion  201  of the surgical tool  100 , the clinician returns the third and fourth drive systems  430 ,  450  into their neutral positions. The clinician may then slide the locking collar  260  proximally on the proximal outer tube segment  202  into the starting position shown in  FIG. 22A . When in that position, the spring arm portions of the proximal articulation links  222 ,  226  cause the toothed portions thereof to disengage the toothed portions of the distal articulation links  242 ,  246 . The clinician may then apply an unlocking motion UL to the proximal end  517  of the unlocking tube  514  to move the unlocking tube  514  and the unlocking collar  516  attached thereto in the distal direction “DD”. In addition, the electrical current may be passed through the conductors  505  in an opposite direction to cause the electromagnet  504 ′ to repel magnet  510  to assist in separating the shaft segments. As the clinician moves the unlocking tube distally, the unlocking collar  516  biases the cleated fingers  544  out of engagement with their respective holes  383  in the distal end portion  381  of the proximal drive shaft segment  380  and contacts the tapered mounting portion  512  to further separate the shaft segments. 
     The coupling arrangements or quick detach joint assemblies described above may offer many advantages. For example, such arrangements may employ a single release/engagement motions that cannot be left semi-engaged. Such engagement motions can be employed to simultaneously operably couple several drive train assemblies wherein at least some drive train assemblies provide control motions that differ from the control motions provided by other drive train assemblies. For example, some drive trains may provide rotary control motions and be longitudinally shiftable to provide axial control motions and some may just provide rotary or axial control motions. Other drive train assemblies may provide push/pull motions for operating various end effector systems/components. The unique and novel locking collar arrangement ensures that either the distal drive train assemblies are locked to their respective proximal drive train assemblies or they are unlocked and may be detached therefrom. When locked together, all of the drive train assemblies are radially supported by the locking collar which prevents any uncoupling. 
     The surgical tool  100  depicted in  FIGS. 5 and 11-16  includes an articulation joint  700  that cooperates with the third and fourth drive systems  430 ,  450 , respectively for articulating the end effector  1000  about the longitudinal tool axis “LT”. The articulation joint  700  includes a proximal socket tube  702  that is attached to the distal end  233  of the distal outer tube portion  231  and defines a proximal ball socket  704  therein. See  FIG. 25 . A proximal ball member  706  is movably seated within the proximal ball socket  704 . As can be seen in  FIG. 25 , the proximal ball member  706  has a central drive passage  708  that enables the distal drive shaft segment  540  to extend therethrough. In addition, the proximal ball member  706  has four articulation passages  710  therein which facilitate the passage of distal cable segments  444 ,  445 ,  446 ,  447  therethrough. As can be further seen in  FIG. 25 , the articulation joint  700  further includes an intermediate articulation tube segment  712  that has an intermediate ball socket  714  formed therein. The intermediate ball socket  714  is configured to movably support therein an end effector ball  722  formed on an end effector connector tube  720 . The distal cable segments  444 ,  445 ,  446 ,  447  extend through cable passages  724  formed in the end effector ball  722  and are attached thereto by lugs  726  received within corresponding passages  728  in the end effector ball  722 . Other attachment arrangements may be employed for attaching distal cable segments  444 ,  445 ,  446 ,  447  to the end effector ball  722 . 
     A unique and novel rotary support joint assembly, generally designated as  740 , is depicted in  FIGS. 26 and 27 . The illustrated rotary support joint assembly  740  includes a connector portion  1012  of the end effector drive housing  1010  that is substantially cylindrical in shape. A first annular race  1014  is formed in the perimeter of the cylindrically-shaped connector portion  1012 . The rotary support joint assembly  740  further comprises a distal socket portion  730  that is formed in the end effector connector tube  720  as shown in  FIGS. 26 and 27 . The distal socket portion  730  is sized relative to the cylindrical connector portion  1012  such that the connector portion  1012  can freely rotate within the socket portion  730 . A second annular race  732  is formed in an inner wall  731  of the distal socket portion  730 . A window  733  is provided through the distal socket  730  that communicates with the second annular race  732  therein. As can also be seen in  FIGS. 26 and 27 , the rotary support joint assembly  740  further includes a ring-like bearing  734 . In various exemplary embodiments, the ring-like bearing  734  comprises a plastic deformable substantially-circular ring that has a cut  735  therein. The cut forms free ends  736 ,  737  in the ring-like bearing  734 . As can be seen in  FIG. 26 , the ring-like bearing  734  has a substantially annular shape in its natural unbiased state. 
     To couple a surgical end effector  1000  (e.g., a first portion of a surgical instrument) to the articulation joint  700  (e.g., a second portion of a surgical instrument), the cylindrically shaped connector position  1012  is inserted into the distal socket portion  730  to bring the second annular race  732  into substantial registry with the first annular race  1014 . One of the free ends  736 ,  737  of the ring-like bearing is then inserted into the registered annular races  1014 ,  732  through the window  733  in the distal socket portion  730  of the end effector connector tube  720 . To facilitate easy insertion, the window or opening  733  has a tapered surface  738  formed thereon. See  FIG. 26 . The ring-like bearing  734  is essentially rotated into place and, because it tends to form a circle or ring, it does not tend to back out through the window  733  once installed. Once the ring-like bearing  734  has been inserted into the registered annular races  1014 ,  732 , the end effector connector tube  720  will be rotatably affixed to the connector portion  1012  of the end effector drive housing  1010 . Such arrangement enables the end effector drive housing  1010  to rotate about the longitudinal tool axis LT-LT relative to the end effector connector tube  720 . The ring-like bearing  734  becomes the bearing surface that the end effector drive housing  1010  then rotates on. Any side loading tries to deform the ring-like bearing  734  which is supported and contained by the two interlocking races  1014 ,  732  preventing damage to the ring-like bearing  734 . It will be understood that such simple and effective joint assembly employing the ring-like bearing  734  forms a highly lubricious interface between the rotatable portions  1010 ,  730 . If during assembly, one of the free ends  736 ,  737  is permitted to protrude out through the window  733  (see e.g.,  FIG. 27 ), the rotary support joint assembly  740  may be disassembled by withdrawing the ring-like bearing member  732  out through the window  733 . The rotary support joint assembly  740  allows for easy assembly and manufacturing while also providing for good end effector support while facilitating rotary manipulation thereof. 
     The articulation joint  700  facilitates articulation of the end effector  1000  about the longitudinal tool axis LT. For example, when it is desirable to articulate the end effector  1000  in a first direction “FD” as shown in  FIG. 5 , the robotic system  10  may power the third drive system  430  such that the third drive spindle assembly  436  ( FIGS. 11-13 ) is rotated in a first direction thereby drawing the proximal cable end portion  434 A and ultimately distal cable segment  444  in the proximal direction “PD” and releasing the proximal cable end portion  434 B and distal cable segment  445  to thereby cause the end effector ball  722  to rotate within the socket  714 . Likewise, to articulate the end effector  1000  in a second direction “SD” opposite to the first direction FD, the robotic system  10  may power the third drive system  430  such that the third drive spindle assembly  436  is rotated in a second direction thereby drawing the proximal cable end portion  434 B and ultimately distal cable segment  445  in the proximal direction “PD” and releasing the proximal cable end portion  434 A and distal cable segment  444  to thereby cause the end effector ball  722  to rotate within the socket  714 . When it is desirable to articulate the end effector  1000  in a third direction “TD” as shown in  FIG. 5 , the robotic system  10  may power the fourth drive system  450  such that the fourth drive spindle assembly  456  is rotated in a third direction thereby drawing the proximal cable end portion  454 A and ultimately distal cable segment  446  in the proximal direction “PD” and releasing the proximal cable end portion  454 B and distal cable segment  447  to thereby cause the end effector ball  722  to rotate within the socket  714 . Likewise, to articulate the end effector  1000  in a fourth direction “FTH” opposite to the third direction TD, the robotic system  10  may power the fourth drive system  450  such that the fourth drive spindle assembly  456  is rotated in a fourth direction thereby drawing the proximal cable end portion  454 B and ultimately distal cable segment  447  in the proximal direction “PD” and releasing the proximal cable end portion  454 A and distal cable segment  446  to thereby cause the end effector ball  722  to rotate within the socket  714 . 
     The end effector embodiment depicted in  FIGS. 5 and 11-16  employs rotary and longitudinal motions that are transmitted from the tool mounting portion  300  through the elongate shaft assembly for actuation. The drive shaft assembly employed to transmit such rotary and longitudinal motions (e.g., torsion, tension and compression motions) to the end effector is relatively flexible to facilitate articulation of the end effector about the articulation joint.  FIGS. 28 and 29  illustrate an alternative drive shaft assembly  600  that may be employed in connection with the embodiment illustrated in  FIGS. 5 and 11-16  or in other embodiments. In the embodiment depicted in  FIG. 5  which employs the quick disconnect joint  210 , the proximal drive shaft segment  380  comprises a segment of drive shaft assembly  600  and the distal drive shaft segment  540  similarly comprises another segment of drive shaft assembly  600 . The drive shaft assembly  600  includes a drive tube  602  that has a series of annular joint segments  604  cut therein. In that illustrated embodiment, the drive tube  602  comprises a distal portion of the proximal drive shaft segment  380 . 
     The drive tube  602  comprises a hollow metal tube (stainless steel, titanium, etc.) that has a series of annular joint segments  604  formed therein. The annular joint segments  604  comprise a plurality of loosely interlocking dovetail shapes  606  that are, for example, cut into the drive tube  602  by a laser and serve to facilitate flexible movement between the adjoining joint segments  604 . See  FIG. 29 . Such laser cutting of a tube stock creates a flexible hollow drive tube that can be used in compression, tension and torsion. Such arrangement employs a full diametric cut that is interlocked with the adjacent part via a “puzzle piece” configuration. These cuts are then duplicated along the length of the hollow drive tube in an array and are sometimes “clocked” or rotated to change the tension or torsion performance. 
       FIGS. 30-34  illustrate alternative exemplary micro-annular joint segments  604 ′ that comprise plurality of laser cut shapes  606 ′ that roughly resemble loosely interlocking, opposed “T” shapes and T-shapes with a notched portion therein. The annular joint segments  604 ,  604 ′ essentially comprise multiple micro-articulating torsion joints. That is, each joint segment  604 ,  604 ′ can transmit torque while facilitating relative articulation between each annular joint segment. As shown in  FIGS. 30 and 31 , the joint segment  604 D′ on the distal end  603  of the drive tube  602  has a distal mounting collar portion  608 D that facilitates attachment to other drive components for actuating the end effector or portions of the quick disconnect joint, etc. and the joint segment  604 P′ on the proximal end  605  of the drive tube  602  has a proximal mounting collar portion  608 P′ that facilitates attachment to other proximal drive components or portions of the quick disconnect joint. 
     The joint-to-joint range of motion for each particular drive shaft assembly  600  can be increased by increasing the spacing in the laser cuts. For example, to ensure that the joint segments  604 ′ remain coupled together without significantly diminishing the drive tube&#39;s ability to articulate through desired ranges of motion, a secondary constraining member  610  is employed. In the embodiment depicted in  FIGS. 32 and 33 , the secondary constraining member  610  comprises a spring  612  or other helically-wound member. In various exemplary embodiments, the distal end  614  of the spring  612  corresponds to the distal mounting collar portion  608 D and is wound tighter than the central portion  616  of the spring  612 . Similarly, the proximal end  618  of the spring  612  is wound tighter than the central portion  616  of the spring  612 . In other embodiments, the constraining member  610  is installed on the drive tube  602  with a desired pitch such that the constraining member also functions, for example, as a flexible drive thread for threadably engaging other threaded control components on the end effector and/or the control system. It will also be appreciated that the constraining member may be installed in such a manner as to have a variable pitch to accomplish the transmission of the desired rotary control motions as the drive shaft assembly is rotated. For example, the variable pitch arrangement of the constraining member may be used to enhance open/close and firing motions which would benefit from differing linear strokes from the same rotation motion. In other embodiments, for example, the drive shaft assembly comprises a variable pitch thread on a hollow flexible drive shaft that can be pushed and pulled around a ninety degree bend. In still other embodiments, the secondary constraining member comprises an elastomeric tube or coating  611  applied around the exterior or perimeter of the drive tube  602  as illustrated in  FIG. 34A . In still another embodiment, for example, the elastomeric tube or coating  611 ′ is installed in the hollow passageway  613  formed within the drive tube  602  as shown in  FIG. 34B . 
     Such drive shaft arrangements comprise a composite torsional drive axle which allows superior load transmission while facilitating a desirable axial range of articulation. See, e.g.,  FIGS. 34 and 34A -B. That is, these composite drive shaft assemblies allow a large range of motion while maintaining the ability to transmit torsion in both directions as well as facilitating the transmission of tension and compression control motions therethrough. In addition, the hollow nature of such drive shaft arrangements facilitate passage of other control components therethrough while affording improved tension loading. For example, some other embodiments include a flexible internal cable that extends through the drive shaft assembly which can assist in the alignment of the joint segments while facilitating the ability to apply tension motions through the drive shaft assembly. Moreover, such drive shaft arrangements are relatively easily to manufacture and assemble. 
       FIGS. 35-38  depict a segment  620  of a drive shaft assembly  600 ′. This embodiment includes joint segments  622 ,  624  that are laser cut out of tube stock material (e.g., stainless steel, titanium, polymer, etc.). The joint segments  622 ,  624  remain loosely attached together because the cuts  626  are radial and are somewhat tapered. For example, each of the lug portions  628  has a tapered outer perimeter portion  629  that is received within a socket  630  that has a tapered inner wall portion. See, e.g.,  FIGS. 36 and 38 . Thus, there is no assembly required to attach the joint segments  622 ,  624  together. As can be seen in the Figures, joint segment  622  has opposing pivot lug portions  628  cut on each end thereof that are pivotally received in corresponding sockets  630  formed in adjacent joint segments  624 . 
       FIGS. 35-38  illustrate a small segment of the drive shaft assembly  600 ′. Those of ordinary skill in the art will appreciate that the lugs/sockets may be cut throughout the entire length of the drive shaft assembly. That is, the joint segments  624  may have opposing sockets  630  cut therein to facilitate linkage with adjoining joint segments  622  to complete the length of the drive shaft assembly  600 ′. In addition, the joint segments  624  have an angled end portion  632  cut therein to facilitate articulation of the joint segments  624  relative to the joint segments  622  as illustrated in  FIGS. 37 and 38 . In the illustrated embodiment, each lug  628  has an articulation stop portion  634  that is adapted to contact a corresponding articulation stop  636  formed in the joint segment  622 . See  FIGS. 37 and 38 . Other embodiments, which may otherwise be identical to the segment  620 , are not provided with the articulation stop portions  634  and stops  636 . 
     As indicated above, the joint-to-joint range of motion for each particular drive shaft assembly can be increased by increasing the spacing in the laser cuts. In such embodiments, to ensure that the joint segments  622 ,  624  remain coupled together without significantly diminishing the drive tube&#39;s ability to articulate through desired ranges of motion, a secondary constraining member in the form of an elastomeric sleeve or coating  640  is employed. Other embodiments employ other forms of constraining members disclosed herein and their equivalent structures. As can be seen in  FIG. 35 , the joint segments  622 ,  624  are capable of pivoting about pivot axes “PA-PA” defined by the pivot lugs  628  and corresponding sockets  630 . To obtain an expanded range of articulation, the drive shaft assembly  600 ′ may be rotated about the tool axis TL-TL while pivoting about the pivot axes PA-PA. 
       FIGS. 39-44  depict a segment  640  of another drive shaft assembly  600 ″. The drive shaft assembly  600 ″ comprises a multi-segment drive system that includes a plurality of interconnected joint segments  642  that form a flexible hollow drive tube  602 ″. A joint segment  642  includes a ball connector portion  644  and a socket portion  648 . Each joint segment  642  may be fabricated by, for example, metal injection molding “MIM” and be fabricated from 17-4, 17-7, 420 stainless steel. Other embodiments may be machined from 300 or 400 series stainless steel, 6065 Or 7071 aluminum or titanium. Still other embodiments could be molded out of plastic infilled or unfilled Nylon, Ultem, ABS, Polycarbonate or Polyethylene, for example. As can be seen in the Figures, the ball connector  644  is hexagonal in shape. That is, the ball connector  644  has six arcuate surfaces  646  formed thereon and is adapted to be rotatably received in like-shaped sockets  650 . Each socket  650  has a hexagonally-shaped outer portion  652  formed from six flat surfaces  654  and a radially-shaped inner portion  656 . See  FIG. 42 . Each joint segment  642  is identical in construction, except that the socket portions of the last joint segments forming the distal and proximal ends of the drive shaft assembly  600  may be configured to operably mate with corresponding control components. Each ball connector  644  has a hollow passage  645  therein that cooperate to form a hollow passageway  603  through the hollow flexible drive tube  602 ″. 
     As can be seen in  FIGS. 43 and 44 , the interconnected joint segments  642  are contained within a constraining member  660  which comprises a tube or sleeve fabricated from a flexible polymer material, for example.  FIG. 45  illustrates a flexible inner core member  662  extending through the interconnected joint segments  642 . The inner core member  662  comprises a solid member fabricated from a polymer material or a hollow tube or sleeve fabricated from a flexible polymer material.  FIG. 46  illustrates another embodiment wherein a constraining member  660  and an inner core member  662  are both employed. 
     Drive shaft assembly  600 ″ facilitates transmission of rotational and translational motion through a variable radius articulation joint. The hollow nature of the drive shaft assembly  600 ″ provides room for additional control components or a tensile element (e.g., a flexible cable) to facilitate tensile and compressive load transmission. In other embodiments, however, the joint segments  624  do not afford a hollow passage through the drive shaft assembly. In such embodiments, for example, the ball connector portion is solid. Rotary motion is translated via the edges of the hexagonal surfaces. Tighter tolerances may allow greater load capacity. Using a cable or other tensile element through the centerline of the drive shaft assembly  600 ″, the entire drive shaft assembly  600 ″ can be rotated bent, pushed and pulled without limiting range of motion. For example, the drive shaft assembly  600 ″ may form an arcuate drive path, a straight drive path, a serpentine drive path, etc. 
       FIGS. 5 and 47-54  illustrate one surgical end effector  1000  that may be effectively employed with the robotic system  10 . The end effector  1000  comprises an endocutter  1002  that has a first jaw  1004  and a second jaw  1006  that is selectively movable relative to the first jaw  1004 . In the embodiment illustrated in  FIGS. 5 and 47-54 , the first jaw  1004  comprises a support member  1019  in the form of an elongate channel  1020  that is configured to operably support a staple cartridge  1030  therein. The second jaw  1006  comprises an anvil assembly  1100 . As can be seen in  FIGS. 47, 49, 53 and 55 , the anvil assembly  1100  comprises an anvil body  1102  that has a staple forming surface  1104  thereon. The anvil body  1102  has a passage  1106  that is adapted to register with mounting holes  1022  in the elongate channel  1020 . A pivot or trunnion pin (not shown) is inserted through the holes  1022  and passage  1104  to pivotally couple the anvil  1100  to the elongate channel  1020 . Such arrangement permits the anvil assembly  1100  to be selectively pivoted about a closure axis “CA-CA” that is substantially transverse to the longitudinal tool axis “LT-LT” ( FIG. 48 ) between an open position wherein the staple forming surface  1104  is spaced away from the cartridge deck  1044  of the staple cartridge  1040  ( FIGS. 47-50 ) and closed positions ( FIGS. 51-54 ) wherein the staple forming surface  1104  on the anvil body  1102  is in confronting relationship relative to the cartridge deck  1042 . 
     The embodiment of  FIGS. 5 and 47-54  employs a closure assembly  1110  that is configured to receive opening and closing motions from the fifth drive system  470 . The fifth drive system  470  serves to axially advance and retract a drive rod assembly  490 . As described above, the drive rod assembly  490  includes a proximal drive rod segment  492  that operably interfaces with the drive solenoid  474  to receive axial control motions therefrom. The proximal drive rod segment  492  is coupled to a distal drive rod segment  520  through the drive rod coupler  502 . The distal drive rod segment  520  is somewhat flexible to facilitate articulation of the end effector  1000  about articulation joint  700  yet facilitate the axial transmission of closing and opening motions therethrough. For example, the distal drive rod segment  520  may comprise a cable or laminate structure of titanium, stainless spring steel or Nitinol. 
     The closure assembly  1110  includes a closure linkage  1112  that is pivotally attached to the elongate channel  1020 . As can be seen in  FIGS. 48, 51 and 52 , the closure linkage  1112  has an opening  1114  therein through which the distal end  524  of the distal drive rod segment  520  extends. A ball  526  or other formation is attached to the distal drive rod segment  520  to thereby attach the distal end  524  of the distal drive rod segment  520  to the closure linkage  1112 . The closure assembly  1110  further includes a pair of cam discs  1120  that are rotatably mounted on the lateral sides of the elongate channel  1020 . One cam disc  1120  is rotatably supported on one lateral side of the elongate channel  1020  and the other cam disc  1120  is rotatably supported to the other lateral side of the elongate channel  1020 . See  FIG. 60 . A pair of pivot links  1122  are attached between each cam disc  1120  and the closure linkage  1112 . Thus, pivotal travel of the closure linkage  1112  by the drive rod assembly  490  will result in the rotation of the cam discs  1120 . Each cam disc  1120  further has an actuator pin  1124  protruding therefrom that is slidably received in a corresponding cam slot  1108  in the anvil body  1102 . 
     Actuation of the second jaw  1006  or anvil assembly  1100  will now be described.  FIGS. 47-50  illustrate the anvil assembly  1100  in the open position. After the end effector  1000  has been positioned relative to the tissue to be cut and stapled, the robotic controller  12  may activate the drive solenoid  474  in the first or distal direction “DD” which ultimately results in the distal movement of the drive yoke  472  which causes the drive rod assembly  490  to move in the distal direction “DD”. Such movement of the drive rod assembly  490  results in the distal movement of the distal drive rod segment  520  which causes the closure linkage  1112  to pivot from the open position to the closed position ( FIGS. 51-54 ). Such movement of the closure linkage  1112  causes the cam discs  1120  to rotate in the “CCW” direction. As the cam discs rotate in the “CCW” direction, interaction between the actuator pins  1124  and their respective cam slot  1108  causes the anvil assembly  1100  to pivot closed onto the target tissue. To release the target tissue, the drive solenoid  474  is activated to pull the drive rod assembly  490  in the proximal direction “PD” which results in the reverse pivotal travel of the closure linkage  1112  to the open position which ultimately causes the anvil assembly  1100  to pivot back to the open position. 
       FIGS. 55-59  illustrate another closure system  670  for applying opening and closing motions to the anvil  1100 . As can be seen in  FIG. 56 , for example, the closure system  670  includes a first mounting block or member  672  that rotatably supports a first closure rod segment  680 . The first closure rod segment  680  has a substantially semi-circular, cross-sectional shape. A proximal end  682  of the first closure rod segment  680  has a first ball connector  684  thereon that is rotatably supported within a first mounting socket  673  formed in the mounting block  672 . To facilitate articulation of the end effector  1000  by the articulation joint  700 , the first closure rod segment  680  also has a first serrated portion  686  that coincides with the articulation joint  700  as illustrated in  FIGS. 58 and 59 . The closure system  670  further includes a second mounting block or member  674  that rotatably supports a second closure rod segment  690 . The second closure rod segment  690  has a substantially semi-circular, cross-sectional shape. A proximal end  692  of the second closure rod segment  690  has a second ball connector  694  thereon that is rotatably supported within a second mounting socket  675  formed in the second mounting block  674 . To facilitate articulation of the end effector  1000  by the articulation joint  700 , the second closure rod segment  690  also has a second serrated portion  696  that coincides with the articulation joint  700  as illustrated in  FIGS. 58 and 59 . 
     As can also be seen in  FIG. 56 , the closure system  670  further has a first pivot link  676  that is attached to a distal end  682  of the first closure rod segment  680 . The first pivot link  676  has a first pivot lug  677  formed thereon that is configured to be rotatably supported within a first socket  683  formed in the distal end  682  of the first closure rod segment  680 . Such arrangement permits the first pivot link  676  to rotate relative to the first closure rod segment  680 . Likewise, a second pivot link  678  is attached to a distal end  691  of the second closure rod segment  690  such that it can rotate relative thereto. The second pivot link  678  has a second pivot lug  1679  formed thereon that is configured to extend through an opening in the first pivot lug  677  to be rotatably supported within a second socket  692  in a distal end  1691  of the second closure rod segment  690 . In addition, as can be seen in  FIG. 56 , the first and second pivot links  676 ,  678  are movably keyed to each other by a key  716  on the second pivot link  678  that is slidably received within a slot  717  in the first pivot link  676 . In at least one embodiment, the first pivot link  676  is attached to each of the cam discs  1120  by first linkage arms  687  and the second pivot link  678  is attached to each of the cam discs  1120  by second linkage arms  688 . 
     In the illustrated embodiment, the closure system  670  is actuated by the drive solenoid  474 . The drive solenoid  474  is configured to operably interface with one of the first and second mounting blocks  672 ,  674  to apply axial closing and opening motions thereto. As can be seen in  FIGS. 56-59 , such drive arrangement may further comprise a first pivot link and gear assembly  695  that is movably attached to the first mounting block  672  by a pin  685  that extends into a slot  696  in the first pivot link and gear assembly  695 . Similarly, a second pivot link and gear assembly  697  is movably attached to the second mounting block  674  by a pin  685  that extends into a slot  698  in the second pivot link and gear assembly  697 . The first pivot link and gear assembly  695  has a first bevel gear  699 A rotatably mounted thereto and the second pivot link and gear assembly  697  has a second bevel gear  699 B rotatably attached thereto. Both first and second bevel gears  699 A,  699 B are mounted in meshing engagement with an idler gear  689  rotatably mounted on the tool mounting plate  302 . See  FIG. 59A . Thus, when the first mounting block  672  is advanced in the distal direction “DD” which also results in the movement of the first closure rod segment  680  and first pivot link  676  in the distal direction DD, the bevel gears  689 ,  699 A,  699 B will result in the movement of the second closure rod  690  and second pivot link  678  in the proximal direction “PD”. Likewise, when the first mounting block  672  is advanced in the proximal direction “PD” which also results in the movement of the first closure rod segment  680  and first pivot link  676  in the proximal direction PD, the bevel gears  689 ,  699 A,  699 B will result in the movement of the second closure rod  690  and second pivot link  678  in the distal direction “DD”. 
       FIG. 58  illustrates the anvil  1100  in the open position. As can be seen in that Figure, the first closure rod  680  is slightly proximal to the second closure rod  690 . To close the anvil, the drive solenoid  474  is powered to axially advance the first closure rod  680  in the distal direction “DD”. Such action causes the first pivot link  676  and first linkage arms  687  to rotate the cam discs  1120  in the counter-clockwise “CCW” direction as shown in  FIG. 59 . Such motion also results in the movement of the second closure rod  690  is the proximal direction causing the second pivot link  678  and second linkage arms  688  to also pull the cam discs  1120  in the counter-clockwise “CCW” direction. To open the anvil, the drive solenoid  474  applies an axial control motion to the first mounting block  672  to return the first and second control rod segments  680 ,  690  to the positions shown in  FIG. 58 . 
     The end effector embodiment  1000  illustrated in  FIG. 60  includes a drive arrangement generally designated as  748  that facilitates the selective application of rotary control motions to the end effector  1000 . The end effector  1000  includes a firing member  1200  that is threadably journaled on an implement drive shaft  1300 . As can be seen in  FIG. 61 , the implement drive shaft  1300  has a bearing segment  1304  formed thereon that is rotatably supported in a bearing sleeve  1011 . The implement drive shaft  1300  has an implement drive gear  1302  that operably meshes with a rotary transmission generally designated as  750  that operably interfaces with the elongate channel  1020  and is operably supported by a portion of the elongate shaft assembly  200 . In one exemplary form, the rotary transmission  750  includes a differential interlock assembly  760 . As can be seen in  FIGS. 64 and 65 , the differential interlock assembly  760  includes a differential housing  762  that is configured to selectively rotate relative to the end effector drive housing  1010  and to rotate with the end effector housing  1010 . 
     The distal drive shaft segment  540  is attached to a sun gear shaft  752  that has a sun gear  754  attached thereto. Thus, sun gear  754  will rotate when the distal drive shaft segment  540  is rotated. Sun gear  754  will also move axially with the distal drive shaft segment  540 . The differential interlock assembly  760  further includes a plurality of planet gears  764  that are rotatably attached to the differential housing  762 . In at least one embodiment, for example, three planet gears  764  are employed. Each planet gear  764  is in meshing engagement with a first end effector ring gear  1016  formed within the end effector drive housing  1010 . In the illustrated exemplary embodiment shown in  FIG. 60 , the end effector drive housing  1010  is non-rotatably attached to the elongate channel  1020  by a pair of opposing attachment lugs  1018  (only one attachment lug  1018  can be seen in  FIG. 60 ) into corresponding attachment slots  1024  (only one attachment slot  1024  can be seen in  FIG. 60 ) formed in the proximal end  1021  of the elongate channel  1020 . Other methods of non-movably attaching the end effector drive housing  1010  to the elongate channel  1020  may be employed or the end effector drive housing  1010  may be integrally formed with the elongate channel  1020 . Thus, rotation of the end effector drive housing  1010  will result in the rotation of the elongate channel  1020  of the end effector  1000 . 
     In the embodiment depicted in  FIGS. 61-65 , the differential interlock assembly  760  further includes a second ring gear  766  that is formed within the differential housing  762  for meshing engagement with the sun gear  754 . The differential interlock assembly  760  also includes a third ring gear  768  formed in the differential housing  762  that is in meshing engagement with the implement drive gear  1302 . Rotation of the differential housing  762  within the end effector drive housing  1010  will ultimately result in the rotation of the implement drive gear  1302  and the implement drive shaft  1300  attached thereto. 
     When the clinician desires to rotate the end effector  1000  about the longitudinal tool axis LT-LT distal to the articulation joint  700  to position the end effector in a desired orientation relative to the target tissue, the robotic controller  12  may activate the shifter solenoid  394  to axially move the proximal drive shaft segment  380  such that the sun gear  754  is moved to a “first axial” position shown in  FIGS. 65, 67 and 70 . As described in detail above, the distal drive shaft segment  540  is operably coupled to the proximal drive shaft segment  380  by the quick disconnect joint  210 . Thus, axial movement of the proximal drive shaft segment  380  may result in the axial movement of the distal drive shaft segment  540  and the sun gear shaft  752  and sun gear  754 . As was further described above, the shifting system  390  controls the axial movement of the proximal drive shaft segment  380 . When in the first axial position, the sun gear  754  is in meshing engagement with the planetary gears  764  and the second ring gear  766  to thereby cause the planetary gears  764  and the differential housing  762  to rotate as a unit as the sun gear  754  is rotated. 
     Rotation of the proximal drive shaft segment  380  is controlled by the second drive system  370 . Rotation of the proximal drive shaft segment  380  results in rotation of the distal drive shaft segment  540 , the sun gear shaft  752  and sun gear  754 . Such rotation of the differential housing  762  and planetary gears  764  as a unit applies a rotary motion to the end effector drive housing  1010  of sufficient magnitude to overcome a first amount of friction F1 between the end effector drive housing  1010  and the distal socket portion  730  of the intermediate articulation tube  712  to thereby cause the end effector drive housing  1010  and end effector  1000  attached thereto to rotate about the longitudinal tool axis “LT-LT” relative to the distal socket tube  730 . Thus, when in such position, the end effector drive housing  1010 , the differential housing  762  and the planetary gears  764  all rotate together as a unit. Because the implement shaft  1300  is supported by the bearing sleeve  1011  in the end effector drive housing, the implement shaft  1300  also rotates with the end effector drive housing  1010 . See  FIG. 61 . Thus, rotation of the end effector drive housing  1010  and the end effector  1000  does not result in relative rotation of the implement drive shaft  1300  which would result in displacement of the firing member  1200 . In the illustrated exemplary embodiment, such rotation of the end effector  1000  distal of the articulation joint  700  does not result in rotation of the entire elongate shaft assembly  200 . 
     When it is desired to apply a rotary drive motion to the implement drive shaft  1300  for driving the firing member  1200  within the end effector  1000 , the sun gear  754  is axially positioned in a “second axial” position to disengage the second ring gear  766  while meshingly engaging the planetary gears  764  as shown in  FIGS. 61, 62, 64 and 66 . Thus, when it is desired to rotate the implement drive shaft  1300 , the robotic controller  12  activates the shifter solenoid  394  to axially position the sun gear  754  into meshing engagement with the planetary gears  764 . When in that second axial or “firing position”, the sun gear  754  only meshingly engages the planetary gears  764 . 
     Rotation of the proximal drive shaft segment  380  may be controlled by the second drive system  370 . Rotation of the proximal drive shaft segment  380  results in rotation of the distal drive shaft segment  540 , the sun gear shaft  752  and sun gear  754 . As the sun gear  754  is rotated in a first firing direction, the planetary gears  764  are also rotated. As the planetary gears  764  rotate, they also cause the differential housing  762  to rotate. Rotation of the differential housing  762  causes the implement shaft  1300  to rotate due to the meshing engagement of the implement drive gear  1302  with the third ring gear  768 . Because of the amount of friction F1 existing between the end effector drive housing  1010  and the distal socket portion  730  of the intermediate articulation tube  712 , rotation of the planetary gears  764  does not result in the rotation of the end effector housing  1010  relative to the intermediate articulation tube  712 . Thus, rotation of the drive shaft assembly results in rotation of the implement drive shaft  1300  without rotating the entire end effector  1000 . 
     Such unique and novel rotary transmission  750  comprises a single drive system that can selectively rotate the end effector  1000  or fire the firing member  1200  depending upon the axial position of the rotary drive shaft. One advantage that may be afforded by such arrangement is that it simplifies the drives that must transverse the articulation joint  700 . It also translates the central drive to the base of the elongate channel  1020  so that the implement drive shaft  1300  can exist under the staple cartridge  1040  to the drive the firing member  1200 . The ability for an end effector to be rotatable distal to the articulation joint may vastly improve the ability to position the end effector relative to the target tissue. 
     As indicated above, when the drive shaft assembly is positioned in a first axial position, rotation of the drive shaft assembly may result in rotation of the entire end effector  1000  distal of the articulation joint  700 . When the drive shaft assembly is positioned in a second axial position (in one example-proximal to the first axial position), rotation of the drive shaft assembly may result in the rotation of the implement drive shaft  1300 . 
     The rotary transmission embodiment depicted in  FIGS. 64 and 65  includes a differential locking system  780  which is configured to retain the drive shaft assembly in the first and second axial positions. As can be seen in  FIGS. 64 and 65 , the differential locking system  780  comprises a first retention formation  756  in the sun gear shaft  752  that corresponds to the first axial position of the drive shaft assembly and a second retention formation  758  in the sun gear shaft  752  that correspond to the second axial position of the drive shaft assembly. In the illustrated exemplary embodiment, the first retention formation comprises a first radial locking groove  757  in the sun gear shaft  752  and the second retention formation  758  comprises a second radial locking groove  759  formed in the sun gear shaft  752 . The first and second locking grooves  757 ,  759  cooperate with at least one spring-biased locking member  784  that is adapted to retainingly engage the locking grooves  757 ,  759  when the drive shaft assembly is in the first and second axial positions, respectively. The locking members  784  have a tapered tip  786  and are movably supported within the differential housing  762 . A radial wave spring  782  may be employed to apply a biasing force to the locking members  784  as shown in  FIG. 63 . When the drive shaft assembly is axially moved into the first position, the locking members  784  snap into engagement with the first radial locking groove  7576 . See  FIG. 65 . When the drive shaft assembly is axially moved into the second axial position, the locking members  784  snap into engagement with the second radial locking groove  759 . See  FIG. 64 . In alternative embodiments, the first and second retention formations may comprise, for example, dimples that correspond to each of the locking members  784 . Also in alternative embodiments wherein the drive shaft assembly is axially positionable in more than two axial positions, addition retention formations may be employed which correspond to each of those axial positions. 
       FIGS. 70 and 71  illustrate an alternative differential locking system  790  that is configured to ensure that the drive shaft assembly is locked into one of a plurality of predetermined axial positions. The differential locking system  790  is configured to ensure that the drive shaft assembly is positionable in one of the first and second axial positions and is not inadvertently positioned in another axial position wherein the drive system is not properly operable. In the embodiment depicted in  FIGS. 70 and 71 , the differential locking system  790  includes a plurality of locking springs  792  that are attached to the drive shaft assembly. Each locking spring  792  is formed with first and second locking valleys  794 ,  796  that are separated by a pointed peak portion  798 . The locking springs  792  are located to cooperate with a pointed locking members  763  formed on the differential housing  762 . Thus, when the pointed locking members  763  are seated in the first locking valley  794 , the drive shaft assembly is retained in the first axial position and when the pointed locking members  763  are seated in the second locking valleys  796 , the drive shaft assembly is retained in the second axial position. The pointed peak portion  798  between the first and second locking valleys  794 ,  796  ensure that the drive shaft assembly is in one of the first and second axial positions and does not get stopped in an axial position between those two axial positions. If additional axial positions are desired, the locking springs may be provided with additional locking valleys that correspond to the desired axial positions. 
     Referring to  FIGS. 60, 72 and 73 , a thrust bearing  1030  is supported within a cradle  1026  in the elongate channel  1020 . The distal end portion  1306  of the implement drive shaft  1300  is rotatably received within the thrust bearing  1030  and protrudes therethrough. A retaining collar  1032  is pinned or otherwise affixed to the distal end  1030  as shown in  FIG. 73  to complete the installation. Use of the thrust bearing  1030  in this manner may enable the firing member  1200  to be “pulled” as it is fired from a starting position to an ending position within the elongate channel  1020 . Such arrangement may minimize the risk of buckling of the implement drive shaft  1300  under high load conditions. The unique and novel mounting arrangement and location of the thrust bearing  1030  may result in a seating load that increases with the anvil load which further increases the end effector stability. Such mounting arrangement may essentially serve to place the implement drive shaft  1300  in tension during the high load firing cycle. This may avoid the need for the drive system gears to both rotate the implement drive shaft  1300  and resist the buckling of the shaft  1300 . Use of the retaining collar  1032  may also make the arrangement easy to manufacture and assemble. The firing member  1200  is configured to engage the anvil and retain the anvil at a desired distance from the cartridge deck as the firing member  1200  is driven from the starting to ending position. In this arrangement for example, as the firing member  1200  assembly moves distally down the elongate channel  1020 , the length of the portion of the anvil that resembles a cantilever beam becomes shorter and stiffer thereby increasing the magnitude of downward loading occurring at the distal end of the elongate channel  1020  further increasing the bearing seating load. 
     One of the advantages of utilizing rotary drive members for firing, closing, rotating, etc. may include the ability to use the high mechanical advantage of the drive shaft to accommodate the high loads needed to accomplish those instrument tasks. However, when employing such rotary drive systems, it may be desirable to track the number of rotations that the drive shaft is driven to avoid catastrophic failure or damage to the drive screw and other instrument components in the event that the drive shaft or movable end effector component is driven too far in the distal direction. Thus, some systems that include rotary drive shafts have, in the past, employed encoders to track the motor rotations or sensors to monitor the axial position of the movable component. The use of encoders and/or sensors require the need for additional wiring, electronics and processing power to accommodate such a system which can lead to increased instrument costs. Also, the system&#39;s reliability may be somewhat difficult to predict and its reliability depends upon software and processors. 
       FIGS. 74-76  depict a mechanical stroke limiting system  1310  for limiting the linear stroke of the firing member  1200  as the firing member  1200  is driven from a starting to an ending position. The stroke limiting system  1310  employs an implement drive shaft  1300 ′ wherein the screw threads  1308  on the implement drive shaft  1300 ′ do not extend to the distal end  1306  of the drive shaft  1300 ′. For example, as can be seen in  FIGS. 74-76 , the implement drive shaft  1300 ′ includes an un-threaded section  1309 . The firing member  1200  has a body portion  1202  that has a series of internal threads  1204  that are adapted to threadably interface with the screw threads  1308  on the implement drive shaft  1300 ′ such that, as the implement drive shaft  1300 ′ is rotated in a first firing direction, the firing member  1200  is driven in the distal direction “DD” until it contacts the unthreaded section  1309  at which point the firing member  1200  stops its distal advancement. That is, the firing member  1200  will advance distally until the internal threads  1204  in the firing member  1200  disengage the threads  1308  in the implement drive shaft  1300 ′. Any further rotation of the implement drive shaft  1300 ′ in the first direction will not result in further distal advancement of the firing member  1200 . See, e.g.,  FIG. 75 . 
     The illustrated exemplary mechanical stroke limiting system  1310  further includes a distal biasing member  1312  that is configured to be contacted by the firing member  1200  when the firing member  1200  has been advanced to the end of its distal stroke (i.e., the firing member will no longer advance distally with the rotation of the implement drive shaft in the first rotary direction). In the embodiment depicted in  FIGS. 74-76 , for example, the biasing member  1312  comprises a leaf spring  1314  that is positioned within the elongate channel  1020  as shown.  FIG. 74  illustrates the leaf spring  1314  prior to contact by the firing member  1200  and  FIG. 75  illustrates the leaf spring  1314  in a compressed state after it has been contacted by the firing member  1200 . When in that position, the leaf spring  1314  serves to bias the firing member  1200  in the proximal direction “PD” to enable the internal threads  1204  in the firing member  1200  to re-engage the implement drive shaft  1300 ′ when the implement drive shaft  1300 ′ is rotated in a second retraction direction. As the implement drive shaft  1300 ′ is rotated in the second retraction direction, the firing member  1200  is retracted in the proximal direction. See  FIG. 76 . 
       FIGS. 77-80  illustrate another stroke limiting system  1310 ′. The stroke limiting system  1310 ′ employs a two-part implement drive shaft  1300 ″. In at least one form, for example, the implement drive shaft  1300 ″ includes a proximal implement drive shaft segment  1320  that has a socket  1324  in a distal end  1322  thereof and a distal drive shaft segment  1330  that has a lug  1334  protruding from a proximal end  1332  thereof. The lug  1334  is sized and shaped to be received within the socket  1324  such that threads  1326  on the proximal drive shaft segment  1320  cooperate with threads  1336  on the distal drive shaft segment  1330  to form one continuous drive thread  1340 . As can be seen in  FIGS. 77, 79 and 80 , a distal end  1338  of the distal drive shaft segment  1330  extends through a thrust bearing  1032  that is movably supported in the distal end  1023  of the elongate channel  1020 . That is, the thrust bearing  1032  is axially movable within the elongate channel  1020 . A distal biasing member  1342  is supported within the elongate channel  1020  for contact with the thrust bearing  1032 .  FIG. 78  illustrates the firing member  1200  being driven in the distal direction “DD” as the implement drive shaft  1300 ″ is driven in a first rotary direction.  FIG. 79  illustrates the firing member  1200  at the distal end of its stroke. Further rotation of the implement drive shaft  1300 ″ in the first rotary direction causes the thrust bearing  1032  to compress the biasing member  1342  and also allows the distal shaft segment  1330  to slip if the proximal segment  1320  continues to turn. Such slippage between the proximal and distal implement drive shaft segments  1320 ,  1330  prevent the firing member  1200  from being further advanced distally which could ultimately damage the instrument. However, after the first rotary motion has been discontinued, the biasing member  1342  serves to bias the distal shaft segment  1320  in the proximal direction such that the lug  1334  is seated in the socket  1324 . Thereafter, rotation of the implement shaft  1300 ″ in a second rotary direction results in the movement of the firing member  1200  in the proximal direction “PD” as shown in  FIG. 80 . 
       FIG. 81  illustrates another stroke limiting system  1310 ″. In this embodiment, the implement drive shaft  1300  has a lug  1350  formed thereon that is sized and shaped to be received within a socket  1352  in the bearing segment  1304  that has the implement drive gear  1302  formed thereon or otherwise attached thereto.  FIGS. 81A and 81B  illustrate different lugs  1350 ′ ( FIG. 81A ) and  1350 ″ ( FIG. 81B ) that are configured to releasably engage corresponding sockets  1352 ′ and  1352 ″, respectively. The leaf spring  1314  is positioned to be contacted by the firing member  1200  when the firing member  1200  has reached the end of its stroke. Further rotation of the implement drive shaft  1300  will result in the lug  1350 ,  1350 ′,  1350 ″ slipping out of the socket  1352 ,  1352 ′,  1352 ″, respectively to thereby prevent further rotation of the implement shaft  1300 . Once the application of rotational motion to the implement drive shaft  1300  is discontinued, the leaf spring  1314  will apply a biasing motion to the firing member  1200  to ultimately bias the implement drive shaft  1300  in the proximal direction “PD” to seat the lug  1350  in the socket  1352 . Rotation of the implement drive shaft  1300  in the second rotary direction will result in the retraction of the firing member  1200  in the proximal direction “PD” to the starting position. Once the firing member  1200  has returned to the starting position, the anvil  1100  may then be opened. 
     In the illustrated exemplary embodiment, the firing member  1200  is configured to engage the anvil  1100  as the firing member  1200  is driven distally through the end effector to affirmatively space the anvil from the staple cartridge to assure properly formed closed staples, especially when an amount of tissue is clamped that is inadequate to do so. Other forms of firing members that are configured to engage and space the anvil from the staple cartridge or elongate channel and which may be employed in this embodiment and others are disclosed in U.S. Pat. No. 6,978,921, entitled SURGICAL STAPLING INSTRUMENT INCORPORATING AN E-BEAM FIRING MECHANISM, the disclosure of which is herein incorporated by reference in its entirety. As can be seen in  FIGS. 82 and 83 , the body portion  1202  of the firing member  1200  includes a foot portion  1206  that upwardly engages a channel slot  1028  in the elongate channel  1020 . See  FIG. 60 . Similarly, the knife body includes a pair of laterally-protruding upper fins  1208 . When fired with the anvil  1100  closed, the upper fins  1208  advance distally within a longitudinal anvil slot  1103  extending distally through anvil  1100 . Any minor upward deflection in the anvil  1100  is overcome by a downward force imparted by the upper fins  1208 . 
     In general, the loads necessary to close and advance the firing member i.e., “fire” the firing member could conceivably exceed 200 lbs. Such force requirements, however, may require the internal threads  1204  in the firing member to comprise relative fine threads of a power-type thread configuration such as Acme threads. Further, to provide sufficient support to the upper fins  1208  to avoid the firing member  1200  from binding as it is driven distally through the end effector, it may be desirable for at least 5-15 threads in the firing member to be engaged with the threads on the implement drive shaft at any given time. However, conventional manufacturing methods may be unsuitable for forming sufficient threads in the firing member body  1202  within an 0.08 inch-0.150 inch diameter opening and which have sufficient thread depth. 
       FIGS. 82-84  illustrate a firing member  1200 ′ that may address at least some of the aforementioned challenges. As can be seen in those Figures, the body portion  1202 ′ of the firing member has a hollow shaft socket  1210  extending therethrough that is sized to receive the implement shaft therethrough. The internal threads in this embodiment are formed by a series of rods  1214  that extend transversely through holes  1212  in the shaft socket  1210  as shown. As can be seen in  FIG. 84 , the pins  1214  rest on the minor diameter of the pitch of the threads  1308  on the implement drive shaft  1300 . 
       FIG. 85  illustrates another firing member  1200 ″ that may also address at least some of the above-discussed manufacturing challenges. As can be seen in that Figure, the body portion  1202 ″ of the firing member  100 ″ has a hollow shaft socket  1210  extending therethrough that is sized to receive the implement shaft therethrough. A pair of windows  1216  are formed in the body portion  1202 ″ as shown. The internal threads  1220  in this embodiment are formed on plugs  1218  that are inserted into the windows  1216  and are attached therein by welding, adhesive, etc.  FIGS. 86 and 87  illustrate another firing member  1200 ″ wherein access into the socket  1210  is gained through access windows  1230 A,  1230 B formed in the body portion  1202 ″. For example, a pair of access windows  1230 A are provided through one side of the socket portion  1210  to enable internal thread segments  1232  to be formed within the opposite wall of the socket  1210 . Another access window  1230 B is provided through the opposite side of the socket portion  1210  so that a central internal thread segment  1234  can be formed in the opposite wall between the internal thread segments  1232 . The thread segments  1232 ,  1234  cooperate to threadably engage the threads  1308  on the implement drive shaft  1300 . 
     End effector  1000  is configured to removably support a staple cartridge  1040  therein. See  FIG. 60 . The staple cartridge  1040  includes a cartridge body  1042  that is configured to be operably seated with the elongate channel  1020 . The cartridge body  1042  has an elongate slot  1046  therein for accommodating the firing member  1200 . The cartridge body  1042  further defines an upper surface referred to herein as the cartridge deck  1044 . In addition, two lines of staggered staple apertures  1048  are provided on each side of the elongate slot  1046 . The staple apertures  1048  operably support corresponding staple drivers  1050  that support one or two surgical staples (not shown) thereon. A variety of such staple driver arrangements are known and may be employed without departing from the spirit and scope of the various exemplary embodiments of the invention. 
     The firing member embodiments also employ a wedge sled assembly  1250  for driving contact with the staple drivers operably supported within the staple cartridge  1040 . As can be seen in  FIG. 60 , the wedge sled assembly  1250  includes at least two wedges  1252  that are oriented for driving contact with the lines of staple drivers operably supported within the staple cartridge  1040 . As the firing member  1200  is driven distally, the wedge sled assembly  1250  travels with the firing member  1220  and the wedges  1252  thereon force the drivers  1050  upward towards the closed anvil  1100 . As the drivers  1050  are driven upwardly, the surgical staples supported thereon are driven out of their respective apertures  1048  into forming contact with the staple forming surface  1104  of the closed anvil  1100 . 
     Various exemplary end effector embodiments disclosed herein may also employ a unique and novel firing lockout arrangement that will prevent the clinician from inadvertently advancing or “firing” the firing member when a cartridge is not present, a cartridge has not been properly seated within the end effector and/or when a spent cartridge remains installed in the end effector. For example, as will be discussed in further detail below, the firing lockout arrangement may interact with the implement drive shaft  1300  and/or the firing member  1200  to prevent inadvertent advancement of the firing member  1200  when one of the aforementioned conditions exist. 
     In the illustrated exemplary embodiment, rotation of the implement drive shaft  1300  in a first rotary or “firing” direction will cause the firing member  1200  to be driven distally through the staple cartridge  1040  if the firing member  1200  is properly aligned with the elongate slot  1046  in the cartridge body  1042  ( FIG. 60 ), the channel slot  1028  in the elongate channel  1020  and the anvil slot  1103  in the anvil  1100 , for example. Referring primarily to  FIG. 90 , the elongate slot  1046 , the channel slot  1028  and/or the anvil slot  1103  can guide the firing member  1200  as it moves along the path through the surgical end effector  1000 , for example, during a firing stroke. When the firing member  1200  is in the operable configuration, the channel slot  1028  is configured to receive the foot portion  1206  of the firing member  1200  and the anvil slot  1103  is configured to receive the upper fins  1208  of the firing member  1200 , for example. When a portion of the firing member  1200  is positioned in the channel slot  1028  and/or the anvil slot  1103 , the firing member  1200  can be aligned or substantially aligned with the axis A. The channel slot  1028  and/or the anvil slot  1103  can guide the firing member  1200  and maintain the alignment of the firing member  1200  with the axis A as the firing member  1200  moves from the initial position to the secondary position relative to the cartridge body  1042 , for example. 
     As was briefly discussed above, in various surgical staple cartridge examples, the surgical staples are supported on movable staple drivers supported in the cartridge body. Various exemplary end effector embodiments employ a wedge sled assembly  1250  that is configured to contact the staple drivers as the wedge sled assembly is driven distally through the staple cartridge to drive the staples out of their respective cavities in the cartridge body and into forming contact with the closed anvil. In at least one exemplary embodiment, the wedge sled  1250  is positioned within the staple cartridge  1040 . Thus, each new staple cartridge  1040  has its own wedge sled operably supported therein. When the clinician properly seats a new staple cartridge  1040  into the elongate channel, the wedge sled  1250  is configured to straddle the implement drive shaft  1300  and engage the firing member  1200  in the manner illustrated in  FIGS. 60, 88 and 89 , for example. As can be seen in those Figures, the exemplary wedge sled assembly  1250  can comprise a sled body  1414 , a flange  1410 , and wedges  1252 . The sled body  1414  can be positioned around a portion of the implement drive shaft  1300  when the wedge sled assembly  1250  is positioned in the elongate channel  1020 . The sled body  1414  can be structured such that the sled body  1414  avoids contact with the implement drive shaft  1300  when the sled body  1414  is positioned around the implement drive shaft  1300 . The sled body  1414  can comprise a contour  1412 , for example, that curves over and/or around the implement drive shaft  1300 . In such embodiment, for example, a flange  1410  extends between the sled body  1414  and each of the wedges  1252 . In addition, the sled body  1414  has a notch  1415  therein that is configured to receive therein a portion of the firing member body  1203 . Referring primarily to  FIG. 89 , the flange  1410  can extend substantially parallel to the foot portion  1206  of the firing member  1200  when the firing member  1200  engages the wedge sled assembly  1250 . 
     When a new staple cartridge  1040  has been properly installed in the elongate channel  1020 , initial actuation of the firing member  1200  (e.g., by rotating the implement drive shaft  1300 ) causes a portion of the firing member body  1203  to enter the notch  1415  in the wedge sled  1250  which thereby results in the alignment of the firing member  1200  with the elongate slot  1046  in the cartridge body  1042  ( FIG. 60 ), the channel slot  1028  in the elongate channel  1020  and the anvil slot  1103  in the anvil  1100  to enable the firing member  1200  to be distally advanced through the staple cartridge  1040 . Hence, the wedge sled may also be referred to herein as an “alignment member”. If the staple cartridge  1040  has been improperly installed in the elongate channel, activation of the firing member  1200  will not result in the aligning engagement with the notch  1415  in the wedge sled  1250  and the firing member  1200  will remain out of alignment with the channel slot  1028  in the elongate channel  1020  and the anvil slot  1103  in the anvil  1100  to thereby prevent the firing member  1200  from being fired. 
     After a new staple cartridge  1040  has been properly installed in the elongate channel  1020 , the clinician fires the firing member by applying a first rotary motion to the implement drive shaft  1300 . Once the firing member  1200  has been distally driven through the staple cartridge  1040  to its distal-most position, a reverse rotary motion is applied to the implement drive shaft  1300  to return the firing member  1200  to its starting position external to the surgical staple cartridge  1040  to enable the spent cartridge to be removed from the elongate channel  1020  and a new staple cartridge to be installed therein. As the firing member  1200  is returned to its starting position, the wedge sled  1250  remains in the distal end of the staple cartridge and does not return with the firing member  1200 . Thus, as the firing member  1200  moves proximally out of the staple cartridge  1040  and the anvil slot  1103  in the anvil, the rotary motion of the implement drive shaft  1300  causes the firing member  1200  to pivot slightly into an inoperable position. That is, when the firing member  1200  is in the inoperable position (outside of the cartridge), should the clinician remove the spent cartridge  1040  and fail to replace it with a fresh cartridge containing a new wedge sled  1250  and then close the anvil  1110  and attempt to fire the firing member  1200 , because there is no wedge sled present to align the firing member  1200 , the firing member  1200  will be unable to advance distally through the elongate channel  1020 . Thus, such arrangement prevents the clinician from inadvertently firing the firing member  1200  when no cartridge is present. 
     In such exemplary embodiment, the firing member  1200  can be substantially aligned with an axis A when the firing member  1200  is oriented in an operable configuration such that the firing member  1200  can move along a path established through the end effector  1000 . The axis A can be substantially perpendicular to the staple forming surface  1104  of the anvil  1100  and/or the cartridge deck  1044  of the staple cartridge  1040  ( FIG. 60 ). In other exemplary embodiments, the axis A can be angularly oriented relative to the staple forming surface  1104  of the anvil  1100  and/or the cartridge deck  1044  of the staple cartridge  1040 . Further, in at least one exemplary embodiment, the axis A can extend through the center of the surgical end effector  1000  and, in other exemplary embodiments, the axis A can be positioned on either side of the center of the surgical end effector  1000 . 
       FIGS. 91-97  illustrate one exemplary form of a surgical end effector  1400  that employs a unique and novel firing lockout arrangement. As can be seen in  FIGS. 91-95 , when the firing member  1200  is in the initial position, the firing member  1200  is in an inoperable configuration which prevents its distal advancement through the end effector due to the misalignment of the firing member  1200  with the channel slot  1028  and the anvil slot  1103 . The firing member  1200  may be retained in the inoperable configuration by a firing lockout generally designated as  1418 . Referring primarily to  FIGS. 91-93 , in at least one form, for example, the firing lockout  1418  includes a first lockout groove or notch  1402  that is formed in the elongate channel  1020 . In other exemplary embodiments, however, the first lockout notch  1402  can form an opening in the first jaw  1004 , the second jaw  1006 , the elongate channel  1020  and/or the anvil  1100 , for example. In various exemplary embodiments, the first lockout notch  1402  is located in the surgical end effector  1400  such that the first lockout notch  1402  retainingly engages a portion of the firing member  1200  when the firing member  1200  is in the inoperable configuration. The first lockout notch  1402  can be near, adjacent to, and/or connected to the channel slot  1028  in the elongate channel  1020 , for example. Referring primarily to  FIG. 91 , the channel slot  1028  can have a slot width along the length thereof. In at least one exemplary embodiment, the first lockout notch  1402  can extend from the channel slot  1028  such that the combined width of the channel slot  1028  and the first lockout notch  1402  exceeds the slot width of the channel slot  1028 . As can be seen in  FIG. 91 , when the firing member  1200  is in the inoperable configuration, the foot portion  1206  of the firing member  1200  extends into the first lockout notch  1402  to thereby prevent its inadvertent distal advancement through the elongate channel  1020 . 
     When a new staple cartridge  1040  has been properly installed in the elongate channel  1020 , initiation of the firing stroke causes the firing member to engage the wedge sled  1250  positioned within the staple cartridge  1040  which moves the firing member  1200  into driving alignment with the elongate slot  1046  in the cartridge body  1042 , the channel slot  1028  in the elongate channel  1020  and the anvil slot  1103  in the anvil  1100  to enable the firing member  1200  to be distally advanced therethrough. As the firing member  1200  moves from the initial position to the secondary position relative to the staple cartridge  1040 , the firing member  1200  can move past the first lockout notch  1402 , for example. The first lockout notch  1402  can have a length of approximately 0.25 inches, for example. In some other exemplary embodiments, the first lockout notch  1402  can have a length of approximately 0.15 inches to approximately 0.25 inches, for example, or of approximately 0.25 inches to approximately 1.0 inch, for example. 
     Referring primarily to  FIGS. 93 and 94 , the surgical end effector  1400  can be structured to accommodate the upper fins  1208  of the firing member  1200  when the firing member  1200  is in the inoperable configuration. For example, the firing lockout  1418  can include a second lockout groove or notch  1404  in the anvil  1100 . In the illustrated exemplary embodiment, for example, the second lockout notch  1404  can be near, adjacent to, and/or connected to the anvil slot  1103  in the anvil  1100 , for example. The anvil slot  1103  can have a slot width along the length thereof. In at least one exemplary embodiment, the second lockout notch  1404  can extend from the anvil slot  1103  such that the combined width of the anvil slot  1103  and the second lockout notch  1404  exceeds the slot width of the anvil slot  1103 . The second lockout notch  1404  can extend a length or distance in the surgical end effector  1400 . The firing member  1200  can be structured to engage the second lockout notch  1404  along the length thereof when the firing member  1200  is in the inoperable configuration. As the firing member  1200  moves from the initial position to the secondary position relative to the staple cartridge  1040 , the firing member  1200  can move past the second lockout notch  1404 , for example. The second lockout notch  1404  can have a length of approximately 0.25 inches, for example. In some other exemplary embodiments, the second lockout notch  1404  can have a length of approximately 0.15 inches to approximately 0.25 inches, for example, or of approximately 0.25 inches to approximately 1.0 inch, for example. Referring primarily to  FIG. 93 , the first lockout notch  1402  can extend from the channel slot  1028  in a first direction X and the second lockout notch  1404  can extend from the anvil slot  1103  in a second direction Y. In at least one exemplary embodiment, the first direction X can be substantially laterally opposite to the second direction Y. In such exemplary embodiments, the foot portion  1206  of the firing member  1200  can pivot into the first lockout notch  1402  and the upper fins  1208  of the firing member  1200  can pivot into the second lockout notch  1404  when the firing member  1200  moves to the inoperable configuration. 
     Referring primarily to  FIGS. 92-94 , when the firing member  1200  is oriented in the inoperable configuration, corresponding portions of the firing member  1200  engage the first and second lockout notches  1402 ,  1404 . The firing member  1200  can be positioned at least partially within the first and second lockout notches  1402 ,  1404  when the firing member  1200  is in the inoperable configuration. The firing member  1200  can shift into the first and second lockout notches  1402 ,  1404  when the firing member  1200  moves to the inoperable configuration. Further, when the firing member  1200  is oriented in the operable configuration, the firing member  1200  can disengage the first and second lockout notches  1402 ,  1404 . 
     A portion or portions of the surgical end effector  1400  can block the firing member  1200  and limit or prevent movement of the firing member  1200  through the surgical end effector  1400  when the firing member  1200  is oriented in the inoperable configuration (see, e.g., FIG.  95 ). For example, the first jaw  1004 , the second jaw  1006 , the elongate channel  1020  and/or the anvil  1100  can be configured to block the firing member  1200  when it is in the operable configuration. In some exemplary embodiments, the first lockout notch  1402  has a first blocking surface or edge  1406  ( FIGS. 91 and 92 ) formed thereon and the second lockout notch  1404  has a second blocking surface or edge  1408  formed thereon ( FIG. 94 ). Attempts to fire the firing member  1200  while the firing member  1200  is in the inoperable configuration will result in corresponding portions of the firing member  1200  contacting one or both of the first and second blocking surfaces  1406 ,  1408  to prevent the firing member  1200  from moving from the initial position towards the secondary positions. In at least one exemplary embodiment, the surgical end effector  1400  need not have both the first blocking edge  1406  and the second blocking edge  1408 . 
       FIGS. 97-104  illustrate another exemplary surgical end effector embodiment  1500  that employs another exemplary firing lockout arrangement. For example, as can be seen in those Figures, a surgical end effector  1500  can comprise the elongate channel  1020 , the implement drive shaft  1300 , and the firing member  1200 . The surgical end effector  1500  can also comprise an end effector drive housing  1510  (see, e.g.  FIG. 100 ). Similar to the end effector drive housing  1010  described herein, the end effector drive housing  1510  can comprise a bearing sleeve  1511  and the third ring gear or housing drive member  768 . The bearing sleeve  1511  can be structured such that the bearing segment  1304  of the implement drive shaft  1300  can be moveably positioned in the bearing sleeve  1511 . The bearing segment  1304  can move in the bearing sleeve  1511  as the implement drive shaft  1300  moves between an inoperable position and an operable position, as described herein. The bearing sleeve  1511  can comprise a bore  1512  having an elongated cross-section such as, for example, a cross-sectional shape comprising an oval, an ellipse and/or semicircles having longitudinal and/or parallel sides therebetween. In such exemplary embodiments, the bearing segment  1304  can be positioned against or near a first side of the bore  1512  such as, for example, a first semicircle, when the implement drive shaft  1300  is in the inoperable position. Further, the bearing segment  1304  can be positioned against or near a second side of the bore  1512  such as, for example, a second semicircle, when the implement drive shaft  1300  is in the operable position. 
     The implement drive shaft  1300  can be moveable between the inoperable position and the operable position. As described herein, a biasing member  1520  and/or a portion of the staple cartridge  1040  can move the implement drive shaft  1300  between the inoperable position and the operable position, for example. In the illustrated embodiment and others, the implement drive gear  1302  of the implement drive shaft  1300  can be engaged with the third ring gear  768  of the end effector drive housing  1510  when the implement drive shaft  1300  is in the operable position. The implement drive gear  1302  can be an external gear, for example, and the third ring gear  768  can be an internal gear, for example. The implement drive gear  1302  can move into engagement with the third ring gear  768  when the implement drive shaft  1300  moves from the inoperable position to the operable position. Further, the implement drive gear  1302  can be disengaged from the third ring gear  768  when the implement drive shaft  1300  is in the inoperable position. In at least one exemplary embodiment, the implement drive gear  1302  can move out of engagement with the third ring gear  768  when the implement drive shaft  1300  moves from the operable position to the inoperable position. Similar to other exemplary embodiments described herein, when the implement drive shaft  1300  is engaged with the third ring gear  768  in the end effector drive housing  1510 , the drive system  750  ( FIG. 61 ) can drive the firing member  1200  through the elongate channel  1020  of the surgical end effector  1500 , for example, during a firing stroke. 
     Referring primarily to  FIGS. 101 and 102 , the bearing segment  1304  can be positioned against the first side of the bore  1512  of the bearing sleeve  1511  when the implement drive shaft  1300  is in the inoperable position. A retaining pin  1514  ( FIGS. 98, 100, 101 and 103 ) can be structured to bias the bearing segment  1304  against the first side of the bore  1512  such that the implement drive shaft  1300  is held in the inoperable position, for example, and the implement drive gear  1302  is held out of engagement with the third ring gear  768 , for example. In some exemplary embodiments, the retaining pin  1514  can be spring-loaded such that retaining pin  1514  exerts a force on the bearing segment  1304  to move the implement drive shaft  1300  towards the inoperable position. The implement drive shaft  1300  can remain in the inoperable position until another force overcomes the force exerted by the retaining pin  1514  to move the implement drive shaft  1300  towards the operable position, for example, and the implement drive gear  1302  into engagement with the third ring gear  768 , for example. 
     Referring primarily to  FIGS. 103 and 104 , the bearing segment  1304  can be positioned against the second side of the bore  1512  of the bearing sleeve  1511  when the implement drive shaft  1300  is in the operable position. In various exemplary embodiments, the force exerted by the retaining pin  1514  ( FIGS. 98, 100, 101 and 103 ) can be overcome to move the bearing segment  1304  against the second side of the bore  1512  such that the implement drive shaft  1300  is in the operable position, for example, and the implement drive gear  1302  is engaged with the third ring gear  768 , for example. As described herein, the biasing element  1520  can exert a force on the bearing segment  1304  that overcomes the force exerted by the retaining pin  1515 , for example. 
     The surgical end effector  1500  can comprise the biasing element  1520 , which can be moveable between a first set of positions (see, e.g.,  FIG. 103 ) and a second set of positions (see, e.g.,  FIG. 101 ). The second set of positions can be distal to the first set of positions relative to the end effector drive housing  1510 . When the biasing element  1520  is in the first set of positions, the biasing element  1520  can be structured to move the implement drive shaft  1300  to the operable position, for example. When the biasing element  1520  is in the second set of positions, the biasing element  1520  can release the implement drive shaft  1300  such that the implement drive shaft can return to the inoperable position, for example. 
     The biasing element  1520  can be an independent element positionable in the surgical end effector  1500 . The biasing element  1520  can be moveably retained in the surgical end effector  1500 , for example, and can be operably engageable with the staple cartridge  1040 , for example. The staple cartridge  1040  can comprise the biasing element  1520 . In some exemplary embodiments, the biasing element  1520  can be integrally formed with the wedge sled assembly  1250  of the staple cartridge  1040 , for example, and the biasing element  1520  can be moveably retained in the staple cartridge  1040 , for example. In such exemplary embodiments, the biasing element  1520  can move through the elongate channel  1020  as the wedge sled assembly  1250  and/or the firing member  1200  moves through the elongate channel  1020 , for example, during a firing stroke. 
     Referring primarily to  FIG. 99 , the biasing element  1520  can comprise a biasing body  1522  and legs  1526  extending from the biasing body  1522 . The biasing body  1522  can be positioned around a portion of the implement drive shaft  1300  in the surgical end effector  1500 . In some exemplary embodiments, the biasing body  1522  can be structured such that the biasing body  1522  avoids contact with the implement drive shaft  1300  when the biasing body  1522  is positioned around the implement drive shaft  1300 . The biasing body  1522  can comprise a contour  1524 , for example, that curves over and/or around the implement drive shaft  1300 . The legs  1526  can extend along a portion of the elongate channel  1020  and/or on either side of the implement drive shaft  1300 . The biasing element  1520  can also comprise at least one extension or wedge  1528 . As described herein, the wedge  1528  can moveably engage the bearing sleeve  1511  and/or the bearing segment  1304  to move the implement drive shaft into the operable position. The biasing element  1520  can also comprise at least one spring  1530 . The spring  1530  can be deformable between an initial configuration ( FIG. 101 ) and deformed configurations ( FIG. 103 ), for example. The spring  1530  can hold the biasing element  1520  in the first set of positions relative to the end effector drive housing  1510  until a force deforms the spring  1530  from the initial configuration to a deformed configuration. When the spring  1530  moves from the initial configuration to the deformed configuration, the biasing element  1520  can move from the second set of positions to the first set of positions relative to the end effector drive housing  1510 . 
     Referring primarily to  FIG. 101 , before the insertion of the staple cartridge  1040  ( FIG. 103 ) into the elongate channel  1020 , the spring  1530  can be in the initial configuration, for example, and the biasing element  1520  can be in the second set of positions, for example. The retaining pin  1514  can hold the bearing segment  1304  against the first side of the bore  1512 , for example. In such exemplary embodiments, the implement drive shaft  1300  can be held in the inoperable position by the retaining pin  1514 . 
     Referring now to  FIG. 103 , installation of the staple cartridge  1040  in the elongate channel  1020  moves the biasing element  1520  proximally against the force of springs  1530  into a first set of positions wherein the wedge  1528  moveably engages the bearing sleeve  1511  and the bearing segment  1304  to bias the bearing segment  1304  and the implement drive gear  1302  of the implement drive shaft  1300  into meshing engagement with the third ring gear  768 . Thereafter, actuation of the firing drive system as described herein will result in the firing of the firing member  1200 . In some exemplary embodiments, a portion of the staple cartridge  1040  is configured to directly contact the biasing element  1520  to move the biasing element  1520  to the first set of positions. In other exemplary embodiments, a portion of the staple cartridge  1040  is configured to contact another element in the surgical end effector  1500  such as, for example, the firing member  1200 , to operable move the biasing element  1520  to the first set of positions. In still other exemplary embodiments, the staple cartridge  1040  has the biasing element  1520  integrally formed therewith. 
     In various exemplary embodiments, the biasing element  1520  can move through the elongate channel  1020  of the surgical end effector  1500  as the firing member  1200  and/or the wedge sled assembly  1250  are driven through the elongate channel  1020  by the implement drive shaft  1300 , for example, during a firing stroke, as described herein. The biasing element  1520  can be integrally formed with and/or fixed to the wedge sled assembly  1250  of the staple cartridge  1040 . In such exemplary embodiments, when the staple cartridge  1040  is initially seated in the elongate channel  1020 , the wedge sled assembly  1250  and the biasing element  1520  can be positioned in an initial position relative to the staple cartridge  1040  and/or the elongate channel  1020 . The initial position of the biasing element  1520  can correspond to the first set of positions such that the biasing element  1520  moveably engages the bearing sleeve  1511  of the end effector drive housing  1510  to move the implement drive shaft  1300  into the operable position, as described herein. During the firing stroke, the wedge sled assembly  1250  and the biasing element  1520  can be moved away from the initial or first set of positions, for example. The biasing element  1520  can move to the second set of positions, for example. When the biasing element  1520  moves past the first set of positions and into the second set of positions, the biasing element  1520  may no longer engage the bearing sleeve  1511  of the end effector drive housing  1510  to hold the implement drive shaft  1300  in the operable configuration. Though the biasing element  1520  may not bias the implement drive gear  1302  of the implement drive shaft  1300  into engagement with the third ring gear  768  when the biasing element  1520  moves into the second set of positions, the channel slot  1028 , the anvil slot  1103 , and/or the elongate slot  1046  in the staple cartridge  1040  serve to guide the firing member  1200  in a firing orientation that retains the implement drive gear  1302  of the implement drive shaft  1300  in meshing engagement with the third ring gear  768  and thereby prevents the implement drive shaft  1300  from returning to the inoperable position during the firing stroke. 
     In at least one exemplary embodiment, the firing member  1200  and/or the implement drive shaft  1300  can drive the wedge sled assembly  1250  and/or the biasing element  1520  to the second set of positions during the firing stroke. In various exemplary embodiments, upon completion of the firing stroke, the firing member  1200  can return to the initial position, however, the wedge sled assembly  1250 , including the biasing element  1520 , can remain in the second set of positions, for example. The firing member  1200  can return to a proximal position in the surgical end effector  1500 , for example, and the biasing element  1520  can remain in a distal position in the surgical end effector  1500 , for example. When the firing member  1200  is in the initial position and the biasing element  1520  is in the second set of positions, the bearing segment  1304  of the implement drive shaft  1300  can shift in the bearing sleeve  1511  such that the implement drive shaft  1300  moves into the inoperable position, for example, and the implement drive gear  1302  moves out of engagement with the third ring gear  768 , for example. In various exemplary embodiments, the implement drive shaft  1300  can remain in the inoperable position until the biasing element  1520  is drawn back into the first set of positions and/or until a replacement biasing element  1520  is positioned in the first set of positions, for example. For example, the spent staple cartridge  1040  is removed from the elongate channel  1020  and replaced with a replacement staple cartridge  1040 , which can comprise a biasing element  1520  located in its first positions. When the replacement staple cartridge  1040  is positioned in the elongate channel  1020 , the biasing element  1520  thereof shifts the implement drive gear  1302  into engagement with the third ring gear  768 , for example, and into the operable position, for example. In such exemplary embodiments, the surgical end effector  1500  can be prevented from being re-fired when no cartridge  1040  or a spent cartridge  1040  is seated in the elongate channel  1020 . In addition, if the staple cartridge has not been properly seated in the elongate channel  1020  such that the biasing element  1520  has not moved the implement drive shaft  1300  into meshing engagement with the third ring gear  768 , the firing member  1200  cannot be fired. 
     As described above, a surgical instrument system can include a surgical housing, replaceable end effector assemblies that can be connected to the surgical housing for use during a surgical technique and then disconnected from the housing after they have been used, and a motor and/or an actuator configured to fire the end effectors. In various circumstances, a surgeon can choose from several different replaceable end effectors for use during a surgical procedure. For example, a surgeon may first select a first replaceable end effector configured to staple and/or incise a patient&#39;s tissue that includes a staple cartridge length of approximately 15 millimeters (“mm”), for example, to make a first cut in the patient tissue. In such an embodiment, a cutting blade and/or a staple-driving sled can be advanced along the approximately 15 mm length of the staple cartridge by a drive screw in order to cut and staple approximately 15 mm of patient tissue. The surgeon may then select a second replaceable end effector, also configured to staple and/or incise patient tissue, which can include a staple cartridge length of approximately 30 mm to make a second cut in the patient&#39;s tissue. In such an embodiment, a cutting blade and/or a staple-driving sled can be advanced along the approximately 30 mm length of the staple cartridge by a drive screw to cut and staple approximately 30 mm of the patient&#39;s tissue. The surgeon may also select a replaceable end effector configured to staple and/or incise patient tissue that includes a staple cartridge length of approximately 45 mm to make a cut in the patient&#39;s tissue, for example. In such an embodiment, a cutting blade and/or a staple driving sled can be advanced along the approximately 45 mm length of the staple cartridge by a drive screw to cut and staple approximately 45 mm of the patient&#39;s tissue. The surgeon may also select a replaceable end effector, which can also be configured to staple and/or incise patient tissue, which includes a staple cartridge length of approximately 60 mm to make a cut in the patient&#39;s tissue, for example. In such an embodiment, a cutting blade and/or a staple driving sled can be advanced along the approximately 60 mm length of the staple cartridge by a drive screw to cut and staple approximately 60 mm of the patient&#39;s tissue. The 15 mm, 30 mm, 45 mm, and/or 60 mm lengths of the end effectors discussed above are exemplary. Other lengths can be used. In certain embodiments, a first end effector can include a staple cartridge having a length of x, a second end effector can include a staple cartridge having a length of approximately 2*x, a third end effector can include a staple cartridge having a length of approximately 3*x, and a fourth end effector can include a staple cartridge having a length of approximately 4*x, for example. 
     In some surgical instrument systems utilizing replaceable end effectors having different lengths, the drive screws in each of the different replaceable end effectors may be identical except that the length of each drive screw may be different in order to accommodate the different length of the associated replaceable end effector. For example, a replaceable end effector comprising a 30 mm staple cartridge may require a drive screw which is longer than the drive screw of a replaceable end effector comprising a 15 mm staple cartridge. In each instance of such surgical instrument systems, however, each drive screw which utilizes the same thread pitch and/or thread lead, described in greater detail below, may require the motor to rotate the drive shaft a different number or revolutions depending on the length of the end effector being used in order for each end effector to be fully fired. For instance, a drive screw providing a 30 mm firing stroke may require twice as many revolutions in order to be fully actuated as compared to a drive screw providing a 15 mm firing stroke. In such surgical instrument systems, electronic communication between the surgical housing and the replaceable end effector can be utilized to ensure that the electric motor in the surgical housing turns a correct number of revolutions for the length of the attached replaceable end effector. For example, a replaceable end effector may include an electronic circuit that can be identified by the surgical instrument system so that surgical instrument system can turn the motor a correct number of revolutions for the attached end effector. In addition to or in lieu of the above, the replaceable end effector may include a sensor that senses when an end effector has been completely actuated. In such an embodiment, the sensor can be in signal communication with a controller in the housing configured to stop the motor when the appropriate signal is received. While suitable for their intended purposes, such electronic communication between the surgical housing and the replaceable end effector may increase the complexity and/or cost of such surgical instrument systems. 
     As outlined above, end effectors having different lengths can be used on the same surgical instrument system. In the surgical instrument systems described above, replaceable end effectors having different firing lengths include drive screws that revolve a different number of times to accommodate the different firing lengths. In order to accommodate the different number of revolutions required for different drive screws, the motor driving the drive screw is operated for a longer duration or a shorter duration, and/or a larger number of revolutions or a smaller number of revolutions, depending on whether a longer firing length or a shorter firing length is needed. Embodiments of replaceable end effectors described below enable a surgical instrument system comprising a motor configured to turn a fixed or set number of revolutions to actuate end effectors having different firing lengths. By operating the motor a fixed number of revolutions, the need for the surgical instrument system to identify the length of the end effector may not be necessary. Each end effector in the embodiments described below includes a drive screw with a thread pitch and/or thread lead that enables an actuating portion of an end effector, such as a cutting blade, for example, to travel the full length of a particular end effector in the fixed number of revolutions of the motor. 
     Referring to  FIG. 105 , a drive screw  1700  can be rotated in a first direction to move a cutting blade  1730  of an end effector  1740  in a distal direction indicated by arrow E. In use, the drive screw  1700  can be rotated a fixed or set number of times to advance the cutting blade  1730  a full firing length, indicated by length L in  FIG. 105 . For each revolution of the drive screw  1700 , in certain embodiments, the cutting blade  1730  can be moved in the direction of arrow E by an amount equal to the thread pitch, thread lead, and/or distance between adjacent windings of thread  1708  on the drive screw  1700 , described below in greater detail. In various embodiments, a first drive screw can include a first set of characteristics that defines a first firing length while a second drive screw can include a second set of characteristics that defines a second firing length wherein the first set of characteristics can be different than the second set of characteristics. 
     Now referring to  FIGS. 106A, 107, 108A, and 109A , further to the above, the distance between thread windings on a drive screw can be proportional to the angle of threads on the drive screw. Put differently, the angle at which threads are arranged on a drive screw can be a characteristic of a drive screw that defines the thread pitch and/or thread lead of the drive screw. A longer drive screw for use in a longer end effector can utilize a larger thread pitch and/or thread lead than a shorter drive screw for use in a shorter end effector in embodiments where the drive screws, and a motor driving the drive screws, turn a fixed number of revolutions. The drive screw  1700  in  FIG. 106A  includes a single thread A arranged at an angle α relative to the longitudinal axis  1701  on the drive screw  1700  wherein the thread A defines a thread pitch and/or thread lead having a length X.  FIG. 106B  shows a cross-sectional view of the drive screw  1700  and the single thread A. In certain embodiments, the drive screw  1700  may include more than one thread, as described in greater detail below. 
       FIG. 107A  shows a drive screw  1700 ′ which can include a first thread A′ and a second thread B′.  FIG. 107B  shows a cross-sectional view of the drive screw  1700 ′ wherein the first thread A′ and the second thread B′ are positioned approximately 180° out of phase with each other on the drive screw  1700 ′. In various embodiments, a drive screw with a first thread A′ and a second thread B′ can increase the number of threads per unit length compared to a drive screw using a single thread A′ or B′. Where a drive screw includes more than one thread, the distance from a winding of a first thread to an adjacent winding of a second thread is referred to as “thread pitch.” The distance from one winding of a thread to the next winding of the same thread is referred to as “thread lead.” For a drive screw with a single thread, the thread pitch and the thread lead are the same. For example, and with reference to  FIG. 107A , the distance from a winding of thread A′ to an adjacent winding of thread B′ defines the thread pitch of the drive screw  1700 ′. The distance from a winding of thread A′ to the next winding of thread A′ defines the thread lead of the drive screw  1700 ′. Thus, the thread lead of the drive screw  1700 ′ in  FIG. 107A  is equal to X′ and the thread pitch is equal to X′/2. The drive screw  1700  shown in FIGS.  106 A and  106 B has a single thread and therefore the thread pitch and thread lead are both equal to X. The thread lead of a drive screw determines the length that a firing member, such as a cutting blade  1730  and/or a staple driver, for example, will travel for a single revolution of the drive screw. 
     Returning to  FIG. 107A , the first thread A′ and the second thread B′ each are arranged at an angle β relative to the longitudinal axis  1701  of the drive screw  1700 ′. Angle β is less than angle α and the thread lead X′ of the drive screw  1700 ′ in  FIG. 107A  is greater than the thread lead X of the drive screw  1700  shown in  FIG. 106A . For a single rotation of the drive screw  1700 ′, a cutting blade will move a length X′ along the drive screw  1700 ′. For example, the thread lead X′ can be double the thread pitch or thread lead X of the drive screw  1700  shown in  FIG. 106A  wherein, as a result, a cutting blade engaged with the drive screw  1700 ′ of  FIG. 107A  will move twice the distance for a single revolution of drive screw  1700 ′ as would a cutting blade engaged with the drive screw  1700  of  FIG. 106A . 
       FIG. 108A  shows a drive screw  1700 ″ which can include a first thread A″, a second thread B″, and a third thread C″ each extending at an angle γ relative to the longitudinal axis  1701  of the drive screw  1700 ″.  FIG. 108B  is a cross-sectional view of the drive screw  1700 ″ and shows the threads A″, B″, and C″ arranged approximately 120° out of phase. The angle γ is smaller than the angle β in  FIG. 107A  and the thread lead X″ of the drive screw  1700 ″ in  FIG. 108A  is greater than the thread lead X′ of the drive screw  1700 ′ shown in  FIG. 107A . Similarly,  FIG. 109A  shows a drive screw  1700 ′″ which can include a first thread A′″, a second thread B′″, a third thread C′″, and a fourth thread D′″, each of which extends at an angle δ relative to the longitudinal axis Z of the drive screw  1700 ′.  FIG. 109B  is a cross-sectional view of the drive screw  1700 ′″ and shows the threads arranged approximately 90° out of phase. The angle δ is smaller than angle γ and the thread lead X′″ of the drive screw  1700 ′″ is larger than that of drive screw  1700 ″ in  FIG. 108A . 
     An exemplary surgical instrument system may include a housing and a motor in the housing configured to turn a fixed number of revolutions that results in a drive screw of a connected replaceable end effector turning 30 revolutions, for example. The surgical instrument system can further include a plurality of replaceable surgical stapler end effectors, wherein each of the end effectors can include a cutting blade and/or staple driver driven by the drive screw, for example. In at least one such embodiment, a first replaceable end effector can include a staple cartridge having a length of 15 mm, for example. The drive screw  1700  shown in  FIGS. 2A and 2B  can be used in the first replaceable end effector. The thread lead X can be set to 0.5 mm, for example, so that the cutting blade and/or staple driver can travel the 15 mm length of the staple cartridge in the 30 revolutions of the drive screw  1700 . A second replaceable end effector can include a staple cartridge having a length of 30 mm, for example, and a drive screw, such as drive screw  1700 ″ illustrated in  FIGS. 107A and 107B , for example. The thread lead X′ of the drive screw  1700 ′ can be set to 1.0 mm, for example, so that the cutting blade and/or staple drive can travel the 30 mm length of the staple cartridge in the 30 revolutions of the drive screw  1700 ′. Similarly, a third replaceable end effector with a staple cartridge having a length of 45 mm, for example, can include a drive screw, such as drive screw  1700 ″ in  FIGS. 108A and 108B , having a thread lead X″ of 1.5 mm, for example, so that the cutting blade and/or staple drive travels the 45 mm length of the staple deck in the 30 revolutions of the drive screw  1700 ″. A fourth replaceable end effector with a staple cartridge having a length of 60 mm, for example can include a drive screw, such as drive screw  1700 ′″ in  FIGS. 109A and 109B , having a thread lead X′″ of 2.0 mm, for example, so that the cutting blade and/or staple drive travels the 60 mm length of the staple deck in the 30 revolutions of the drive screw  1700 ′″. 
       FIG. 110  shows the cutting blade  1730  of  FIG. 105  removed from the remainder of the end effector  1740 . The cutting blade  1730  includes a passage  1732  though which the drive screw  1700  passes. Side portions  1736  form interior walls of the passage  1732  and can include recesses, such a grooves  1734 , for example, which are configured to receive threads  1708  on the drive screw  1700 . The grooves  1734  are oriented at an angle that corresponds to the angle of the threads  1708  on the drive screw  1700 . For example, if the threads  1708  are set to the angle α, shown in  FIG. 106A , then the angle of the grooves  1734  can also be set to the angle α. Correspondingly, the angle ε of the grooves  1734  can be set to the angles β, δ and/or γ, for example, of the corresponding drive screw used therewith. 
     In various embodiments, as illustrated in the exploded view of  FIG. 110 , the side portions  1736  can be assembled into windows  1738  defined in a shaft portion  1746  of the cutting blade  1730 . In certain embodiments, a cutting blade  1730  can comprise integral side portions. In at least one embodiment, the side portions can comprise an appropriate groove angle matching an angle of the threads  1708  on a drive screw  1700  which can be formed in the passage  1732  defined therein. Providing a cutting blade  1730  with an appropriate groove angle for a particular drive screw can be accomplished in numerous ways. In certain embodiments, a generic cutting blade  1730  can be provided that does not include side portions  1736  assembled into the windows  1738  of the shaft portion  1746  thereof wherein various sets of side portions  1736  can be provided such that a desired set of side portions  1736  can be selected from the various sets of side portions  1736  and then assembled to the generic cutting blade  1730  so that such an assembly can be used with a specific drive screw. For instance, a first set of side portions  1736 , when assembled to the cutting blade  1730 , can configure the cutting blade  1730  to be used with a first drive screw and a second set of side portions  1736 , when assembled to the cutting blade  1730 , can configure the cutting blade  1730  to be used with a second drive screw, and so forth. In certain other embodiments, a cutting blade  1730  can be provided with side portions formed integrally therewith. In at least one such embodiment, the grooves  1734  can be formed, e.g., with a tap, at the angle that matches the angle of threads  1708  of a particular drive screw  1700 . 
       FIG. 111  illustrates the drive screw  1700  coupled to a drive shaft  1750  via an intermediate gear  1720  disposed therebetween. The drive shaft  1750  is turned by a motor. As described above, the motor can complete a fixed or set number of revolutions and, as a result, the drive shaft  1750  can turn a fixed number of revolutions R. In certain embodiments, the number of revolutions R turned by the drive shaft  1750  may be equal to the fixed number of revolutions turned by the motor. In alternative embodiments, the number of revolutions R turned by the drive shaft  1750  may be greater than or less than the fixed number revolutions turned by the motor. In various embodiments, one or more gears arranged between the motor and the drive shaft  1750  can cause the drive shaft  1750  to complete more revolutions or fewer revolutions than the motor. In certain embodiments, the drive shaft  1750  can include an external spline gear  1752  surrounding and/or attached to the distal end  1754  of the drive shaft  1750 . The external spline gear  1752  can engage an internal spline gear  1724  defined in the intermediate gear  1720  in order to transmit rotation of the drive shaft  1750  to the intermediate gear  1720 . As a result, in at least one embodiment, the intermediate gear  1720  can complete the same revolutions R as the drive shaft  1750 . 
     The intermediate gear  1720  can include a second gear  1722  that is engaged to a gear  1712  surrounding and/or attached to a proximal end  1702  of the drive screw  1700 . The second gear  1722  of the intermediate gear  1720  defines a first diameter D 1  and the gear  1712  on the proximal end  1702  of the drive screw  1700  defines a second diameter D 2 . The second diameter D 2  can be different than the first diameter D 1 . When the first diameter D 1  and the second diameter D 2  are different, they can define a gear ratio that is different than 1:1. As shown in  FIG. 111 , in certain embodiments, diameter D 1  can be larger than diameter D 2  such that the drive screw  1700  will complete more revolutions R′ than the revolutions R turned by the drive shaft  1750  and the intermediate gear  1720 . In alternative embodiments, diameter D 1  can be smaller than diameter D 2  such that the drive screw  1700  will turn fewer revolutions R′ than the revolutions R turned by the drive shaft  1750  and the intermediate gear  1720 . 
     The gear ratio between the second gear  1722  of the intermediate gear  1720  and the gear  1712  of the drive screw  1700  can be set so that the drive screw  1700  completes a certain number of revolutions when the drive shaft  1750  completes its fixed number of revolutions. If the intermediate gear  1722  is part of the replaceable end effector assembly, then the gear ratio between the intermediate gear  1722  and the drive screw  1700  in each replaceable end effector assembly can be set so that the motor in the surgical housing can turn a fixed number of revolutions. For example, referring to  FIG. 111 , assuming that the drive shaft  1750  turns a fixed 30 revolutions and that the replaceable surgical stapler includes a 15 mm staple cartridge and if the end effector includes a drive screw with a thread lead of 0.25 mm, then the drive screw will complete 60 revolutions to advance a cutting blade and/or a staple driver the 15 mm length of the staple cartridge. In at least one embodiment, the intermediate gear  1720  can be sized so that the second interior gear  1722  has a diameter D 1  that is double the diameter D 2  of the external gear  1712  of the drive screw  1700 . As a result, the drive screw  1700  will complete 60 revolutions when the drive shaft  1750  completes 30 revolutions. If a second replaceable surgical stapler includes a 30 mm staple cartridge, then a drive screw with a thread lead of 0.25 mm will complete 120 revolutions to advance a cutting blade and/or staple driver the 30 mm length. The intermediate gear  1720  of the replaceable surgical stapler can be sized so that the second interior gear  1722  has a diameter D 1  that is four times the diameter D 2  of the external gear  1712  of the drive screw  1700 . As a result, the drive screw  1700  will complete 120 revolutions when the drive shaft  1750  completes 30 revolutions. 
     Returning to  FIG. 105 , in certain embodiments, a firing path of the firing member, e.g., cutting blade  1730 , can be linear. In certain embodiments, the firing patch can be curved and/or curvilinear. In certain embodiments, the drive screw  1708  can be flexible to enable the drive screw  1708  to follow lateral motions of the firing member along a curved and/or curvilinear path, for example. In certain embodiments, the firing member can be flexible or can include at least one flexible portion to enable portions of the firing member to displace laterally relative to the drive screw  1708 , for example, along a curved and/or curvilinear path while remaining portions of the firing member are not laterally displaced relative to the drive screw  1708 . In certain embodiments, the firing length may be defined by the distance moved by the firing member along the firing path regardless of the overall net displacement. In various other embodiments, the firing length may be defined by the overall net displacement of the firing member regardless of the firing path. 
     In various embodiments, a kit for use with a surgical instrument system may be provided that includes various replaceable end effectors having different lengths. In certain embodiments, the kit may include a selection of replaceable end effectors having different lengths from which a surgeon may choose for use in a surgical operation on a patient. The kit can also include several replaceable end effectors of each length. In certain embodiments, the kit may include a sequence of replaceable end effectors of different lengths wherein the sequence is predetermined for a particular surgical procedure. For example, a certain surgical procedure first may call for a 15 mm incision, then a second 15 mm incision, and finally a 30 mm incision. A surgical kit for this surgical procedure can include three replaceable end effectors configured to incise and staple a patient&#39;s tissue. The first two replaceable end effectors can include an approximately 15 mm length and the third replaceable end effector can include an approximately 30 mm length. 
       FIGS. 112-117  illustrate another exemplary elongate shaft assembly  2200  that has another exemplary quick disconnect coupler arrangement  2210  therein. In at least one form, for example, the quick disconnect coupler arrangement  2210  includes a proximal coupler member  2212  in the form of a proximal outer tube segment  2214  that has tube gear segment  354  thereon that is configured to interface with the first drive system  350  in the above-described manner. As discussed above, the first drive system  350  serves to rotate the elongate shaft assembly  2200  and the end effector  1000  operably coupled thereto about the longitudinal tool axis “LT-LT”. The proximal outer tube segment  2214  has a “necked-down” distal end portion  2216  that is configured to receive a locking tube segment  2220  thereon. The quick disconnect arrangement  2210  further includes a distal coupler member  2217  in the form of a distal outer tube portion  2218  that is substantially similar to the distal outer tube portion  231  described above except that the distal outer tube portion  2218  includes a necked down proximal end portion  2219 . A distal outer formation or dovetail joint  2226  is formed on the end of the proximal end portion  2219  of the distal outer tube segment  2218  that is configured to drivingly engage a proximal outer formation or dovetail joint  2228  that is formed on the distal end portion  2216  of the proximal outer tube segment  2214 . 
     The exemplary embodiment depicted in  FIGS. 112-117  employs an exemplary embodiment of the closure system  670  described above. The quick disconnect coupler arrangement  2210  is configured to facilitate operable coupling of proximal closure drive train assemblies to corresponding distal drive train assemblies. For example, as can be seen in  FIG. 113 , the elongate shaft assembly  2200  may include a first proximal closure drive train assembly in the form of a first proximal closure rod segment  2230  and a first distal closure drive train assembly in the form of a first distal closure rod segment  2240  that are configured to be linked together through the quick disconnect coupler arrangement  2210 . That is, in at least one exemplary form, the first proximal closure rod segment  2230  has a first closure joint formation or dovetail joint segment  2234  formed on a distal end  2232  thereof. Likewise, the first distal closure rod segment  2240  has a second closure joint formation or a dovetail joint segment  2244  formed on a proximal end  2242  thereof that is adapted to laterally slidably engage the first dovetail joint segment  2234 . Still referring to  FIG. 113 , the elongate shaft assembly  2200  may include a second proximal closure drive train assembly in the form of a second proximal closure rod segment  2250  and a second distal closure drive train assembly in the form of a second distal closure rod segment  2260  that are configured to be linked together through the quick disconnect coupler arrangement  2210 . That is, in at least one exemplary form, the second proximal closure rod segment  2250  has a third closure joint formation or dovetail closure joint segment  2254  formed on a distal end  2252  thereof. Likewise, the distal second distal closure rod segment  2260  may have a fourth closure joint formation or dovetail closure joint segment  2264  formed on a proximal end  2262  of the distal second closure rod segment  2260  that is adapted to laterally engage the third dovetail joint segment  2254 . 
     In the illustrated embodiment and others, the first proximal closure rod segment  2230  and the second proximal closure rod segment  2250  extend through the proximal drive shaft segment  380 ′. The proximal drive shaft segment  380 ′ comprises a proximal rotary drive train assembly  387 ′ and the distal drive shaft segment  540 ′ comprises a distal rotary drive train assembly  548 ′. When the proximal rotary drive train assembly  387 ′ is operably coupled to the distal rotary drive train assembly  548 ′, the drive shaft assembly  388 ′ is formed to transmit rotary control motions to the end effector  1000 . In at least one exemplary embodiment, the proximal drive shaft segment  380 ′ is substantially similar to the proximal drive shaft segment  380  described above, except that the distal end  381 ′ of the proximal drive shaft segment  380 ′ has a distal formation or dovetail drive joint  2270  formed thereon. Similarly, the distal drive shaft segment  540 ′ may be substantially similar to the distal drive shaft segment  540  described above, except that a proximal formation dovetail drive joint  2280  is formed on the proximal end  542 ′ thereof that is adapted to drivingly engage the distal dovetail drive joint  2270  through the quick disconnect coupler arrangement  2210 . The first distal closure rod segment  2240  and the distal second closure rod segment  2260  may also extend through the distal drive shaft segment  540 ′. 
     This exemplary embodiment may also include an articulation coupling joint  2300  that interfaces with the third and fourth drive cables  434 ,  454 . As can be seen in  FIG. 113 , the articulation coupling joint  2300  comprises a proximal articulation tube  2302  that has a proximal ball joint segment  2306  formed on a distal end  2304  thereof. The proximal articulation tube  2302  includes passages  2308  for receiving the cable end portions  434 A′,  434 B′,  454 A′,  454 B′ therethrough. A proximal ball joint segment  2310  is movably supported on the proximal ball segment  2306 . Proximal cable segments  434 A′,  434 B′,  454 A′,  454 B′ extend through passages  2308  to be attached to the proximal ball joint segment  2310 . The proximal articulation tube  2302 , the proximal ball joint segment  2310  and the proximal cable segments  434 A′,  434 B′,  454 A′,  454 B′ may be collectively referred to as a proximal articulation drive train portion  2314 . 
     The exemplary articulation coupling joint  2300  may also comprise a distal articulation tube  2320  that has a distal ball joint segment  2324  formed on a proximal end  2322  thereof. The distal ball joint segment  2324  has a first distal formation or dovetail joint  2325  formed thereon that is adapted to drivingly engage a first proximal formation or dovetail joint  2307  formed on the proximal ball joint segment  2306  such that when the first distal dovetail joint  2325  drivingly engages the first proximal dovetail joint  2307 , the distal ball joint segment  2324  and the proximal ball joint segment  2306  form an internal articulation ball assembly. In addition, the articulation coupling joint  2300  further comprises a distal ball segment  2330  that is supported on the distal ball joint segment  2324  and has a second distal formation or dovetail joint  2332  formed thereon that is adapted to drivingly engage a second proximal formation or dovetail joint  2312  on the proximal ball joint segment  2310 . The distal cable segments  444 ,  445 ,  446 ,  447  are attached to the distal ball segment  2340  and extend through passages  2328  in the distal articulation tube  2320 . When joined together, the proximal ball joint segment  2310  and the distal ball joint segment  2324  form an articulation ball  2340  that is movably journaled on the internal articulation ball. The distal articulation tube  2320 , the distal ball segment  2340  and the distal cable segments  444 ,  445 ,  446 ,  4447  may be collectively referred to as a proximal articulation drive train assembly  2316 . 
     As can be seen in  FIG. 115 , the distal portions of the elongate shaft assembly  2200  may be assembled such that the following joint segments are retained in registration with each other by the distal coupler  2217  or distal outer tube portion  2218  to form a distal dovetail joint assembly generally referred to as  2290 :  2226 ,  2332 ,  2325 ,  2280 ,  2244  and  2264 . Likewise, the elongate shaft assembly  2200  may be assembled such that the proximal coupler member  2212  or proximal outer tube segment  2214  retains the following joint segments in registration with each other to form a proximal dovetail joint assembly generally designated as  2292 :  2228 ,  2312 ,  2307 ,  2270 ,  2234  and  2254 . 
     The end effector  1000  may be operably coupled to the elongate shaft assembly  2200  as follows. To commence the attachment, the clinician moves the locking tube segment  2220  to a first unlocked position shown in  FIGS. 115 and 116 . As can be seen in those Figures, the locking tube segment has an abutment segment  2224  formed on its distal end  2222 . When in the unlocked position, the abutment segment  2224  protrudes distally beyond the proximal dovetail joint assembly  2292  to form an abutment surface for laterally joining the distal dovetail joint assembly  2290  with the proximal dovetail joint assembly  2292 . That is, the clinician may laterally align the distal dovetail joint assembly  2290  with the proximal dovetail joint assembly  2292  and then slide the distal dovetail joint assembly  2290  into lateral engagement with the proximal dovetail joint assembly  2292  until the distal dovetail joint assembly  2290  contacts the abutment segment  2224  at which point all of the corresponding proximal and distal joint segments are simultaneously interconnected. Thereafter, the clinician may move the locking tube segment  2220  distally to a second locked position as shown in  FIG. 117 . When in that position, the locking tube segment  2220  covers the quick disconnect joint  2210  and prevents any relative lateral movement between the distal dovetail assembly  2290  and the proximal dovetail assembly  2292 . 
     While the various exemplary embodiments described above are configured to operably interface with and be at least partially actuated by a robotic system, the end effector and elongate shaft components may be effectively employed in connection with handheld instruments. For example,  FIGS. 118-120  depict a handheld surgical instrument  2400  that may employ various components and systems described above to operably actuate an end effector  1000  coupled thereto. In the exemplary embodiment depicted in  FIGS. 118-120 , a quick disconnect joint  2210  is employed to couple the end effector  1000  to the elongate shaft assembly  2402 . To facilitate articulation of the end effector  1000  about the articulation joint  700 , the proximal portion of the elongate shaft assembly  2402  includes an exemplary manually actuatable articulation drive  2410 . 
     Referring now to  FIGS. 121-123 , in at least one exemplary form, the articulation drive  2410  includes four axially movable articulation slides that are movably journaled on the proximal drive shaft segment  380 ′ between the proximal outer tube segment  2214  and the proximal drive shaft segment  380 ′. For example, the articulation cable segment  434 A′ is attached to a first articulation slide  2420  that has a first articulation actuator rod  2422  protruding therefrom. Articulation cable segment  434 B′ is attached to a second articulation slide  2430  that is diametrically opposite from the first articulation slide  2420 . The second articulation slide  2430  has a second articulation actuator rod  2432  protruding therefrom. Articulation cable segment  454 A′ is attached to a third articulation slide  2440  that has a third articulation actuator rod  2442  protruding therefrom. Articulation cable segment  454 B′ is attached to a fourth articulation slide  2450  that is diametrically opposite to the third articulation slide  2440 . A fourth articulation actuator rod  2452  protrudes from the fourth articulation slide  2450 . Articulation actuator rods  2422 ,  2432 ,  2442 ,  2452  facilitate the application of articulation control motions to the articulation slides  2420 ,  2430 ,  2440 ,  2450 , respectively by an articulation ring assembly  2460 . 
     As can be seen in  FIG. 121 , the articulation actuator rods  2422 ,  2432 ,  2442 ,  2452  movably pass through a mounting ball  2470  that is journaled on a proximal outer tube segment  2404 . In at least one embodiment, the mounting ball  2470  may be manufactured in segments that are attached together by appropriate fastener arrangements (e.g., welding, adhesive, screws, etc.). As shown in  FIG. 109 , the articulation actuator rods  2422  and  2432  extend through slots  2472  in the proximal outer tube segment  2404  and slots  2474  in the mounting ball  2470  to enable the articulation slides  2420 ,  2430  to axially move relative thereto. Although not shown, the articulation actuator rods  2442 ,  2452  extend through similar slots  2472 ,  2474  in the proximal outer tube segment  2404  and the mounting ball  2470 . Each of the articulation actuator rods  2422 ,  2432 ,  2442 ,  2452  protrude out of the corresponding slots  2474  in the mounting ball  2470  to be operably received within corresponding mounting sockets  2466  in the articulation ring assembly  2460 . See  FIG. 122 . 
     In at least one exemplary form, the articulation ring assembly  2460  is fabricated from a pair of ring segments  2480 ,  2490  that are joined together by, for example, welding, adhesive, snap features, screws, etc. to form the articulation ring assembly  2460 . The ring segments  2480 ,  2490  cooperate to form the mounting sockets  2466 . Each of the articulation actuator rods has a mounting ball  2468  formed thereon that are each adapted to be movably received within a corresponding mounting socket  2466  in the articulation ring assembly  2460 . 
     Various exemplary embodiments of the articulation drive  2410  may further include an exemplary locking system  2486  configured to retain the articulation ring assembly  2460  in an actuated position. In at least one exemplary form, the locking system  2486  comprises a plurality of locking flaps formed on the articulation ring assembly  2460 . For example, the ring segments  2480 ,  2490  may be fabricated from a somewhat flexible polymer or rubber material. Ring segment  2480  has a series of flexible proximal locking flaps  2488  formed therein and ring segment  2490  has a series of flexible distal locking flaps  2498  formed therein. Each locking flap  2388  has at least one locking detent  2389  formed thereon and each locking flap  2398  has at least one locking detent  2399  thereon. Locking detents  2389 ,  2399  may serve to establish a desired amount of locking friction with the articulation ball so as to retain the articulation ball in position. In other exemplary embodiments, the locking detents  2389 ,  2390  are configured to matingly engage various locking dimples formed in the outer perimeter of the mounting ball  2470 . 
     Operation of the articulation drive  2410  can be understood from reference to  FIGS. 122 and 123 .  FIG. 122  illustrates the articulation drive  2410  in an unarticulated position. In  FIG. 123 , the clinician has manually tilted the articulation ring assembly  2460  to cause the articulation slide  2420  to move axially in the distal direction “DD” thereby advancing the articulation cable segment  434 A′ distally. Such movement of the articulation ring assembly  2460  also results in the axial movement of the articulation slide  2430  in the proximal direction which ultimately pulls the articulation cable  434 B in the proximal direction. Such pushing and pulling of the articulation cable segments  434 A′,  434 B′ will result in articulation of the end effector  1000  relative to the longitudinal tool axis “LT-LT” in the manner described above. To reverse the direction of articulation, the clinician simply reverses the orientation of the articulation ring assembly  2460  to thereby cause the articulation slide  2430  to move in the distal direction “DD” and the articulation slide  2420  to move in the proximal direction “PD”. The articulation ring assembly  2460  may be similarly actuated to apply desired pushing and pulling motions to the articulation cable segments  454 A′,  454 B′. The friction created between the locking detents  2389 ,  2399  and the outer perimeter of the mounting ball serves to retain the articulation drive  2410  in position after the end effector  1000  has been articulated to the desired position. In alternative exemplary embodiments, when the locking detents  2389 ,  2399  are positioned so as to be received in corresponding locking dimples in the mounting ball, the mounting ball will be retained in position. 
     In the illustrated exemplary embodiments and others, the elongate shaft assembly  2402  operably interfaces with a handle assembly  2500 . An exemplary embodiment of handle assembly  2500  comprises a pair of handle housing segments  2502 ,  2504  that are coupled together to form a housing for various drive components and systems as will be discussed in further detail below. See, e.g.,  FIGS. 118 and 119 . The handle housing segments  2502 ,  2504  may be coupled together by screws, snap features, adhesive, etc. When coupled together, the handle segments  2502 ,  2504  may form a handle assembly  2500  that includes a pistol grip portion  2506 . 
     To facilitate selective rotation of the end effector  1000  about the longitudinal tool axis “LT=LT”, the elongate shaft assembly  2402  may interface with a first drive system, generally designated as  2510 . The drive system  2510  includes a manually-actuatable rotation nozzle  2512  that is rotatably supported on the handle assembly  2500  such that it can be rotated relative thereto as well as be axially moved between a locked position and an unlocked position. 
     The surgical instrument  2400  may include a closure system  670  as was described above for applying opening and closing motions to the anvil  1100  of the end effector  1000 . In this exemplary embodiment, however, the closure system  670  is actuated by a closure trigger  2530  that is pivotally mounted to the handle frame assembly  2520  that is supported within the handle housing segments  2502 ,  2504 . The closure trigger  2530  includes an actuation portion  2532  that is pivotally mounted on a pivot pin  2531  that is supported within the handle frame assembly  2520 . See  FIG. 124 . Such exemplary arrangement facilitates pivotal travel toward and away from the pistol grip portion  2506  of the handle assembly  2500 . As can be seen in  FIG. 124 , the closure trigger  2530  includes a closure link  2534  that is linked to the first pivot link and gear assembly  695  by a closure wire  2535 . Thus, by pivoting the closure trigger  2530  toward the pistol grip portion  2506  of the handle assembly  2500  into an actuated position, the closure link  2534  and closure wire  2535  causes the first pivot link and gear assembly  695  to move the first closure rod segment  680  in the distal direction “DD” to close the anvil. 
     The surgical instrument  2400  may further include a closure trigger locking system  2536  to retain the closure trigger in the actuated position. In at least one exemplary form, the closure trigger locking system  2536  includes a closure lock member  2538  that is pivotally coupled to the handle frame assembly  2520 . As can be seen in  FIGS. 125 and 126 , the closure lock member  2538  has a lock arm  2539  formed thereon that is configured to ride upon an arcuate portion  2537  of the closure link  2532  as the closure trigger  2530  is actuated toward the pistol grip portion  2506 . When the closure trigger  2530  has been pivoted to the fully actuated position, the lock arm  2539  drops behind the end of the closure link  2532  and prevents the closure trigger  2530  from returning to its unactuated position. Thus, the anvil  1100  will be locked in its closed position. To enable the closure trigger  2530  to return to its unactuated position and thereby result in the movement of the anvil from the closed position to the open position, the clinician simply pivots the closure lock member  2538  until the lock arm  2539  thereof disengages the end of the closure link  2532  to thereby permit the closure link  2532  to move to the unactuated position. 
     The closure trigger  2532  is returned to the unactuated position by a closure return system  2540 . For example, as can be seen in  FIG. 124 , one exemplary form of the closure trigger return system  2540  includes a closure trigger slide member  2542  that is linked to the closure link  2534  by a closure trigger yoke  2544 . The closure trigger slide member  2542  is slidably supported within a slide cavity  2522  in the handle frame assembly  2520 . A closure trigger return spring  2546  is positioned within the slide cavity  2520  to apply a biasing force to the closure trigger slide member  2542 . Thus, when the clinician actuates the closure trigger  2530 , the closure trigger yoke  2544  moves the closure trigger slide member  2542  in the distal direction “DD” compressing the closure trigger return spring  2546 . When the closure trigger locking system  2536  is disengaged and the closure trigger is released  2530 , the closure trigger return spring  2546  moves the closure trigger slide member  2542  in the proximal direction “PD” to thereby pivot the closure trigger  2530  into the starting unactuated position. 
     The surgical instrument  2400  can also employ any of the various exemplary drive shaft assemblies described above. In at least one exemplary form, the surgical instrument  2400  employs a second drive system  2550  for applying rotary control motions to a proximal drive shaft assembly  380 ′. See  FIG. 128 . The second drive system  2550  may include a motor assembly  2552  that is operably supported in the pistol grip portion  2506 . The motor assembly  2552  may be powered by a battery pack  2554  that is removably attached to the handle assembly  2500  or it may be powered by a source of alternating current. A second drive gear  2556  is operably coupled to the drive shaft  2555  of the motor assembly  2552 . The second drive gear  2556  is supported for meshing engagement with a second rotary driven gear  2558  that is attached to the proximal drive shaft segment  380 ′ of the drive shaft assembly. In at least one form, for example, the second drive gear  2556  is also axially movable on the motor drive shaft  2555  relative to the motor assembly  2552  in the directions represented by arrow “U” in  FIG. 128 . A biasing member, e.g., a coil spring  2560  or similar member, is positioned between the second drive gear  2556  and the motor housing  2553  and serves to bias the second drive gear  2556  on the motor drive shaft  2555  into meshing engagement with a first gear segment  2559  on the second driven gear  2558 . 
     The second drive system  2550  may further include a firing trigger assembly  2570  that is movably, e.g., pivotally attached to the handle frame assembly  2520 . In at least one exemplary form, for example, the firing trigger assembly  2570  includes a first rotary drive trigger  2572  that cooperates with a corresponding switch/contact (not shown) that electrically communicates with the motor assembly  2552  and which, upon activation, causes the motor assembly  2552  to apply a first rotary drive motion to the second driven gear  2558 . In addition, the firing trigger assembly  2570  further includes a retraction drive trigger  2574  that is pivotal relative to the first rotary drive trigger. The retraction drive trigger  2574  operably interfaces with a switch/contact (not shown) that is in electrical communication with the motor assembly  2552  and which, upon activation, causes the motor assembly  2552  to apply a second rotary drive motion to the second driven gear  2558 . The first rotary drive motion results in the rotation of the drive shaft assembly and the implement drive shaft in the end effector to cause the firing member to move distally in the end effector  1000 . Conversely, the second rotary drive motion is opposite to the first rotary drive motion and will ultimately result in rotation of the drive shaft assembly and the implement drive shaft in a rotary direction which results in the proximal movement or retraction of the firing member in the end effector  1000 . 
     The illustrated embodiment also includes a manually actuatable safety member  2580  that is pivotally attached to the closure trigger actuation portion  2532  and is selectively pivotable between a first “safe” position wherein the safety member  2580  physically prevents pivotal travel of the firing trigger assembly  2570  and a second “off” position, wherein the clinician can freely pivot the firing trigger assembly  2570 . As can be seen in  FIG. 124 , a first dimple  2582  is provided in the closure trigger actuation portion  2532  that corresponds to the first position of the safety member  2580 . When the safety member  2580  is in the first position, a detent (not shown) on the safety member  2580  is received within the first dimple  2582 . A second dimple  2584  is also provided in the closure trigger actuation portion  2532  that corresponds to the second position of the safety member  2580 . When the safety member  2580  is in the second position, the detent on the safety member  2580  is received within the second dimple  2582 . 
     In at least some exemplary forms, the surgical instrument  2400  may include a mechanically actuatable reversing system, generally designated as  2590 , for mechanically applying a reverse rotary motion to the proximal drive shaft segment  380 ′ in the event that the motor assembly  2552  fails or battery power is lost or interrupted. Such mechanical reversing system  2590  may also be particularly useful, for example, when the drive shaft system components operably coupled to the proximal drive shaft segment  380 ′ become jammed or otherwise bound in such a way that would prevent reverse rotation of the drive shaft components under the motor power alone. In at least one exemplary form, the mechanically actuatable reversing system  2590  includes a reversing gear  2592  that is rotatably mounted on a shaft  2524 A formed on the handle frame assembly  2520  in meshing engagement with a second gear segment  2562  on the second driven gear  2558 . See  FIG. 126 . Thus, the reversing gear  2592  freely rotates on shaft  2524 A when the second driven gear  2558  rotates the proximal drive shaft segment  380 ′ of the drive shaft assembly. 
     In various exemplary forms, the mechanical reversing system  2590  further includes a manually actuatable driver  2594  in the form of a lever arm  2596 . As can be seen in  FIGS. 129  and  130 , the lever arm  2596  includes a yoke portion  2597  that has elongate slots  2598  therethrough. The shaft  2524 A extends through slot  2598 A and a second opposing shaft  2598 B formed on the handle housing assembly  2520  extends through the other elongate slot to movably affix the lever arm  2596  thereto. In addition, the lever arm  2596  has an actuator fin  2597  formed thereon that can meshingly engage the reversing gear  2592 . There is a detent or interference that keeps the lever arm  2596  in the unactuated state until the clinician exerts a substantial force to actuate it. This keeps it from accidentally initiating if inverted. Other embodiments may employ a spring to bias the lever arm into the unactuated state. Various exemplary embodiments of the mechanical reversing system  2590  further includes a knife retractor button  2600  that is movably journaled in the handle frame assembly  2520 . As can be seen in  FIGS. 129 and 130 , the knife retractor button  2600  includes a disengagement flap  2602  that is configured to engage the top of the second drive gear  2556 . The knife retractor button  2600  is biased to a disengaged position by a knife retractor spring  2604 . When in the disengaged position, the disengagement flap  2602  is biased out of engagement with the second drive gear  2556 . Thus, until the clinician desires to activate the mechanical reversing system  2590  by depressing the knife retractor button  2600 , the second drive gear  2556  is in meshing engagement with the first gear segment  2559  of the second driven gear  2558 . 
     When the clinician desires to apply a reverse rotary drive motion to the proximal drive shaft segment  380 ′, the clinician depresses the knife retractor button  2600  to disengage the first gear segment  2559  on the second driven gear  2558  from the second drive gear  2556 . Thereafter, the clinician begins to apply a pivotal ratcheting motion to the manually actuatable driver  2594  which causes the gear fin  2597  thereon to drive the reversing gear  2592 . The reversing gear  2592  is in meshing engagement with the second gear segment  2562  on the second driven gear  2558 . Continued ratcheting of the manually actuatable driver  2594  results in the application of a reverse rotary drive motion to the second gear segment  2562  and ultimately to the proximal drive shaft segment  380 ′. The clinician may continue to ratchet the driver  2594  for as many times as are necessary to fully release or reverse the associated end effector component(s). Once a desired amount of reverse rotary motion has been applied to the proximal drive shaft segment  380 ′, the clinician releases the knife retractor button  2600  and the driver  2594  to their respective starting or unactuated positions wherein the fin  2597  is out of engagement with the reversing gear  2592  and the second drive gear  2556  is once again in meshing engagement with the first gear segment  2559  on the second driven gear  2558 . 
     The surgical instrument  2400  can also be employed with an end effector  1000  that includes a rotary transmission  750  as was described in detail above. As discussed above, when the drive shaft assembly is in a first axial position, rotary motion applied thereto results in the rotation of the entire end effector  1000  about the longitudinal tool axis “LT-LT” distal to the articulation joint  700 . When the drive shaft assembly is in the second position, rotary motion applied thereto results in the rotation of the implement drive shaft which ultimately causes the actuation of the firing member within the end effector  1000 . 
     The surgical instrument  2400  may employ a shifting system  2610  for selectively axially shifting the proximal drive shaft segment  380 ′ which moves the shaft gear  376  into and out of meshing engagement with the first rotary driven gear  374 . For example, the proximal drive shaft segment  380 ′ is movably supported within the handle frame assembly  2520  such that the proximal drive shaft segment  380 ′ may move axially and rotate therein. In at least one exemplary form, the shifting system  2610  further includes a shifter yoke  2612  that is slidably supported by the handle frame assembly  2520 . See  FIGS. 124 and 127 . The proximal drive shaft segment  380 ′ has a pair of collars  386  (shown in  FIGS. 124 and 128 ) thereon such that shifting of the shifter yoke  2612  on the handle frame assembly  2520  results in the axial movement of the proximal drive shaft segment  380 ′. In at least one form, the shifting system  2610  further includes a shifter button assembly  2614  operably interfaces with the shifter yoke  2612  and extends through a slot  2505  in the handle housing segment  2504  of the handle assembly  2500 . See  FIGS. 135 and 136 . A shifter spring  2616  is mounted with the handle frame assembly  2520  such that it engages the proximal drive shaft segment  380 ′. See  FIGS. 127 and 134 . The spring  2616  serves to provide the clinician with an audible click and tactile feedback as the shifter button assembly  2614  is slidably positioned between the first axial position depicted in  FIG. 135  wherein rotation of the drive shaft assembly results in rotation of the end effector  1000  about the longitudinal tool axis “LT-LT” relative to the articulation joint  700  (illustrated in  FIG. 67 ) and the second axial position depicted in  FIG. 136  wherein rotation of the drive shaft assembly results in the axial movement of the firing member in the end effector (illustrated in  FIG. 66 ). Thus, such arrangement enables the clinician to easily slidably position the shifter button assembly  2614  while holding the handle assembly  2500 . 
       FIGS. 137-147  illustrate a lockable articulation joint  2700  that, in one exemplary embodiment, is substantially identical to the articulation joint  700  described above except for the differences discussed below. In one exemplary embodiment, the articulation joint  2700  is locked and unlocked by an articulation lock system  2710 . The articulation joint  2700  includes a proximal socket tube  702  that is attached to the distal end  233  of the distal outer tube portion  231  and defines a proximal ball socket  704  therein. See  FIG. 137 . A proximal ball member  706  that is attached to an intermediate articulation tube segment  712  is movably seated within the proximal ball socket  704  within the proximal socket tube  702 . As can be seen in  FIG. 137 , the proximal ball member  706  has a central drive passage  708  that enables the distal drive shaft segment  540  to extend therethrough. In addition, the proximal ball member  706  has four articulation passages  710  therein which facilitate the passage of distal cable segments  444 ,  445 ,  446 ,  447  therethrough. As can be further seen in  FIG. 137 , the intermediate articulation tube segment  712  has an intermediate ball socket  714  formed therein. The intermediate ball socket  714  is configured to movably support therein an end effector ball  722  formed on an end effector connector tube  720 . The distal cable segments  444 ,  445 ,  446 ,  447  extend through cable passages  724  formed in the end effector ball  722  and are attached thereto by lugs  726  received within corresponding passages  728  in the end effector ball  722 . Other attachment arrangements may be employed for attaching distal cable segments  444 ,  445 ,  446 ,  447  to the end effector ball  722 . 
     As can be seen in  FIG. 137 , one exemplary form of the articulation lock system  2710  includes a lock wire or member  2712  that extends through the distal outer tube portion  231  of elongate shaft assembly and the proximal socket tube  702 . The lock wire  2712  has a proximal end  2720  that is attached to a transfer disc  2722  that is operably supported in the handle portion  2500  (generally represented in broken lines in  FIG. 137 ). For example, the transfer disc  2722  is mounted on a spindle shaft  2724  that is coupled to a boss  2726  formed in the handle  2500 . An actuator cable or wire  2730  is attached to the transfer disc  2722  and may be manually actuated (i.e., pushed or pulled) by the clinician. In other embodiments wherein the surgical instrument is attached to the robotic system, the actuator cable  2730  may be configured to receive control motions from the robotic system to actuate the transfer disc  2722 . 
     As can be seen in  FIGS. 143-146 , the lock wire  2712  has a pair of unlocking wedges  2714 ,  2716  formed on its distal end  2715 . The first unlocking wedge  2714  is configured to operably interface with the ends  2742 ,  2744  of a distal locking ring  2740  that is journaled on the intermediate articulation tube  712 . In its normal “locked” state as shown in  FIG. 143 , the distal locking ring  2740  applies a circumferentially-extending locking or squeezing force to the intermediate articulation tube  712  to squeeze the intermediate articulation tube  712  onto the end effector ball  722  to prevent its movement within the socket  714 . As can be seen in  FIGS. 143-146 , the ends  2742 ,  2744  of the distal locking ring  2740  are tapered to define a conical or V-shaped opening  2746  therebetween configured to receive the first unlocking wedge  2714  therebetween. 
     As can be further seen in  FIGS. 143-146 , the second locking wedge  2716  is configured to interface with the ends  2752 ,  2754  of a proximal locking ring  2750  that is journaled on the proximal socket tube  702 . In its normal “locked” state as shown in  FIG. 143 , the proximal locking ring  27450  applies a circumferentially-extending locking or squeezing force to the proximal socket tube  702  to squeeze the proximal socket tube  702  onto the proximal ball member  706  to prevent its movement within the proximal ball socket  704 . As can be seen in  FIGS. 143-146 , the ends  2752 ,  2754  of the proximal locking ring  2750  are tapered to define a conical or V-shaped opening  2756  therebetween configured to receive the second unlocking wedge  2716  therebetween. 
     When the articulation joint  2700  is unlocked by actuation the articulation lock system  2710 , the end effector  1000  may be selectively articulated in the various manners described above by actuating the distal cable segments  444 ,  445 ,  446 ,  447 . Actuation of the articulation lock system  2710  may be understood from reference to  FIGS. 138, 139 and 143-146 .  FIG. 143  depicts the positions of the first and second unlocking wedges  2714 ,  2716  with respect to the distal and proximal locking rings  2740 ,  2750 . When in that state, locking ring  2740  prevents movement of the end effector ball  722  within the socket  714  and the locking ring  2750  prevents the proximal ball member  706  from moving within socket  704 . To unlock the articulation joint  2700 , the actuation cable  2726  is pulled in the proximal direction “PD” which ultimately results in the locking wire  2712  being pushed in the distal direction “DD” to the position shown in  FIG. 144 . As can be seen in  FIG. 144 , the first unlocking wedge  2714  has moved distally between the ends  2742 ,  2744  of the distal locking ring  2740  to spread the ring  2740  to relieve the squeezing force applied to the intermediate articulation tube  712  to permit the end effector ball  722  to move within the socket  714 . Likewise, the second unlocking wedge  2716  has moved distally between the ends  2752 ,  2754  of the proximal locking ring  2750  to spread the ring  2750  to relieve the squeezing force on the proximal socket tube  702  to permit the proximal ball member  706  to move within the socket  704 . When in that unlocked position, the articulation system may be actuated to apply actuation motions to the distal cable segments  444 ,  445 ,  446 ,  447  in the above described manners to articulate the end effector  1000  as illustrated in  FIGS. 138 and 139 . For example,  FIGS. 143 and 144  illustrate the position of the first and second locking wedges  2714 ,  2716  when the end effector  1000  has been articulated into the position illustrated in  FIG. 138 . Likewise,  FIGS. 145, 146  illustrate the position of the first and second locking wedges  2714 ,  2716  when the end effector  1000  has been articulated into the position illustrated in  FIG. 139 . Once the clinician has articulated the end effector to the desired position, the clinician (or robotic system) applies a pushing motion to the actuation cable to rotate the transfer disc  2722  and move the locking wire  2712  to the position shown in  FIGS. 143, 145  to thereby permit the locking rings  2740 ,  2750  to spring to their clamped or locked positions to retain the end effector  1000  in that locked position. 
       FIGS. 148-156  illustrate another end effector embodiment  2800  that, in one exemplary form, is substantially identical to the end effector  1000  except for the differences discussed below. The end effector  2800  includes an anvil assembly  2810  that is opened and closed by applying a rotary closure motion thereto. The anvil assembly  2810  is pivotally supported on an elongate channel  2830  for selective movement between an open position ( FIGS. 148 and 149 ) and a closed position ( FIGS. 150-153 ). The elongate channel  2830  may be substantially identical to elongate channel  1020  described above, except for the differences discussed below. For example, in the illustrated embodiment, the elongate channel  2830  has an end effector connector housing  2832  formed thereon that may be coupled to an end effector connector tube  720  by the ring-like bearing  734  as described above. As can be seen in  FIG. 148 , the end effector connector housing  2832  operably supports a rotary transmission assembly  2860  therein. 
     As can be seen in  FIGS. 148 and 149 , the anvil assembly  2810  includes a pair of anvil trunnions  2812  (only one trunnion can be seen in  FIG. 148 ) that are movably received within corresponding trunnion slots  2814  formed in the elongate channel  2830 . The underside of the anvil assembly  2810  further has an anvil open ramp  2816  formed thereon for pivotal engagement with an anvil pivot pin  1201 ′ on the firing member  1200 ′. Firing member  1200 ′ may be substantially identical to firing member  1200  described above except for the noted differences. In addition, the anvil assembly  2810  further includes a closure pin  2818  that is configured for operable engagement with a rotary closure shaft  2910  that receives rotary closure motions from the rotary transmission assembly  2860  as will be discussed in further detail below. The firing member  1200 ′ is rotatably journaled on an implement drive shaft  1300  that is rotatably supported within an elongate channel  2830  that is configured to support a surgical staple cartridge therein (not shown). The implement drive shaft  1300  has a bearing segment  1304  formed thereon that is rotatably supported in a bearing sleeve  2834  formed in the end effector connector housing  2832 . 
     In the exemplary illustrated embodiment, the rotary transmission assembly  2860  includes a rotary drive shaft  2870  that extends longitudinally through the elongate shaft assembly to operably interface with the tool mounting portion (if the end effector  2800  is powered by a robotic system) or with the firing trigger of a handle assembly (if the end effector  2800  is to be manually operated). For those embodiments employing an articulation joint, the portion of the rotary drive shaft  2870  that extends through the articulation joint  700  may comprise any of the flexible drive shaft assemblies disclosed herein. If no articulation joint is employed, the rotary drive shaft may be rigid. As can be most particularly seen in  FIGS. 148 and 149  the rotary drive shaft  2870  has a rotary drive head  2872  formed thereon or attached thereto that has a first ring gear  2874  formed thereon. In addition, the rotary drive head  2872  further has a second ring gear  2876  formed thereon for selective meshing engagement with a shifter gear  2882  attached to a rotary shifter shaft  2880 . 
     The shifter shaft  2880  may comprise any one of the rotary drive shaft assemblies described above and extends through the elongate shaft assembly to operably interface with a tool mounting portion  300  (if the end effector  2800  is driven by a robotic system) or the handle assembly (if the end effector is to be manually operated). In either case, the shifter shaft  2800  is configured to receive longitudinally shifting motions to longitudinally shift the shifter gear  2882  within the rotary drive head  2872  and rotary drive motions to rotate the shifter gear  2882  as will be discussed in further detail below. 
     As can be further seen in  FIGS. 148 and 149 , the rotary transmission assembly  2860  further includes a transfer gear assembly  2890  that has a body  2892 , a portion of which is rotatably supported within a cavity  2873  in the rotary drive head  2872 . The body  2892  has a spindle  2894  that rotatably extends through a spindle mounting hole  2838  formed in a bulkhead  2836  in the end effector connector housing  2832 . The body  2892  further has a shifter ring gear  2896  formed therein for selective meshing engagement with the shifter gear  2882  on the rotary shifter shaft  2880 . A transfer gear  2900  is mounted to a transfer gear spindle  2902  that protrudes from the body  2892  and is slidably received within the arcuate slot  2840  in the bulkhead  2836 . See  FIGS. 155 and 156 . The transfer gear  2900  is in meshing engagement with the first ring gear  2874  formed in the rotary drive head  2872 . As can be seen in  FIGS. 153-156 , the arcuate slot  2840  that has a centrally disposed flexible detent  2842  protruding therein. The detent  2842  is formed on a web  2844  formed by a detent relief slot  2846  formed adjacent to the arcuate slot  2840  as shown in  FIG. 155 . 
     The rotary closure shaft  2910  has a bearing portion  2912  that is rotatably supported through a corresponding opening in the bulkhead  2836 . The rotary closure shaft  2910  further has a closure drive gear  2914  that is configured for selective meshing engagement with the transfer gear  2900 . The implement drive shaft  1300  also has an implement drive gear  1302  that is configured for selective meshing engagement with the transfer gear  2900 . 
     Operation of the end effector  2800  will now be explained with reference to  FIGS. 148-155 .  FIGS. 148 and 149  illustrate the end effector  2800  with the anvil assembly  2810  in the open position. To move the anvil assembly  2810  to the closed position shown in  FIG. 150 , the shifter shaft  2880  is located such that the shifter gear  2882  is in meshing engagement with the shifter ring gear  2896  in the body  2892 . The shifter shaft  2880  may be rotated to cause the body  2892  to rotate to bring the transfer gear  2900  into meshing engagement with the closure drive gear  2914  on the closure shaft  2910 . See  FIG. 153 . When in that position, the locking detent  2842  retains the transfer gear spindle  2902  in that position. Thereafter, the rotary drive shaft  2870  is rotated to apply rotary motion to the transfer gear  2900  which ultimately rotates the closure shaft  2910 . As the closure shaft  2910  is rotated, a rotary spindle portion  2916  which is in engagement with the closure pin  2818  on the anvil assembly  2810  results in the anvil assembly  2810  moving proximally causing the anvil assembly  2810  to pivot on the anvil pivot pin  1201 ′ on the firing member  1200 ′. Such action causes the anvil assembly  2810  to pivot to the closed position shown in  FIG. 150 . When the clinician desires to drive the firing member  1200 ′ distally down the elongate channel  2830 , the shifter shaft  2880  is once again rotated to pivot the transfer gear spindle  2902  to the position shown in  FIG. 154 . Again, the locking detent  2842  retains the transfer gear spindle  2902  in that position. Thereafter, the rotary drive shaft  2870  is rotated to apply rotary motion to the drive gear  1302  on the implement drive shaft  1300 . Rotation of the implement drive shaft  1300  in one direction causes the firing member  1200 ′ to be driven in the distal direction “DD”. Rotation of the implement drive shaft  1300  in an opposite direction will cause the firing member  1200 ′ to be retracted in the proximal direction “PD”. Thus, in those applications wherein the firing member  1200 ′ is configured to cut and fire staples within a staple cartridge mounted in the elongate channel  2830 , after the firing member  1200 ′ has been driven to its distal-most position within the elongate channel  2830 , the rotary drive motion applied to the implement drive shaft  1300  by the rotary drive shaft assembly  2870  is reversed to retract the firing member  1200 ′ back to its starting position shown in  FIG. 150 . To release the target tissue from the end effector  2800 , the clinician again rotates the shifter shaft  2800  to once again bring the transfer gear  2900  into meshing engagement with the drive gear  2914  on the closure drive shaft  2910 . Thereafter, a reverse rotary motion is applied to the transfer gear  2900  by the rotary drive shaft  2870  to cause the closure drive shaft  2910  to rotate the drive spindle  2916  and thereby cause the anvil assembly  2810  to move distally and pivot to the open position shown in  FIGS. 148 and 149 . When the clinician desires to rotate the entire end effector  2800  about the longitudinal tool axis “LT-LT”, the shifter shaft is longitudinally shifted to bring the shifter gear  2882  into simultaneously meshing engagement with the second ring gear  2876  on the rotary drive head  2872  and the shifter ring gear  2896  on the transfer gear body  2892  as shown in  FIG. 152 . Thereafter, rotating the rotary drive shaft  2880  causes the entire end effector  2800  to rotate about the longitudinal tool axis “LT-LT” relative to the end effector connector tube  720 . 
       FIGS. 157-170  illustrate another end effector embodiment  3000  that employs a pull-type motions to open and close the anvil assembly  3010 . The anvil assembly  3010  is movably supported on an elongate channel  3030  for selective movement between an open position ( FIGS. 168 and 169 ) and a closed position ( FIGS. 157, 160 and 170 ). The elongate channel  3030  may be substantially identical to elongate channel  1020  described above, except for the differences discussed below. The elongate channel  3030  may be coupled to an end effector drive housing  1010  in the manner described above. The end effector drive housing  1010  may also be coupled to an end effector connector tube  720  by the ring-like bearing  734  as described above. As can be seen in  FIG. 157 , the end effector drive housing  1010  may support a drive arrangement  748  and rotary transmission  750  as described above. 
     As can be seen in  FIG. 160 , the anvil assembly  3010  includes a pair of anvil trunnions  3012  (only one trunnion can be seen in  FIG. 160 ) that are movably received within corresponding trunnion slots  3032  formed in the elongate channel  3030 . The underside of the anvil assembly  2810  further has an anvil open notches  3016  formed thereon for pivotal engagement with the upper fins  1208  on the firing member  3100 . See  FIG. 168 . Firing member  3100  may be substantially identical to firing member  1200  described above except for the noted differences. In the illustrated embodiment, the end effector  3000  further includes an anvil spring  3050  that is configured to apply a biasing force on the anvil trunnions  3012 . One form of anvil spring  3050  is illustrated in  FIG. 159 . As can be seen in that Figure, the anvil spring  3050  may be fabricated from a metal wire and have two opposing spring arms  3052  that are configured to bear upon the anvil trunnions  3012  when the anvil trunnions are received within their respective trunnion slots  3032 . in addition, as can be further seen in  FIG. 159 , the anvil spring  3050  has two mounting loops  3054  formed therein that are adapted to be movably supported on corresponding spring pins  3034  formed on the elongate channel  3030 . See  FIG. 158 . As will be discussed in further detail below, the anvil spring  3050  is configured to pivot on the spring pins  3034  within the elongate channel  3030 . As can be most particularly seen in  FIG. 158 , a portion  3035  of each side wall of the elongate channel is recessed to provide clearance for the movement of the anvil spring  3050 . 
     As can be seen in  FIGS. 157 and 160-170 , the end effector  3000  further includes a closure tube  3060  that is movably supported on the elongate channel  3030  for selective longitudinal movement thereon. To facilitate longitudinal movement of the closure tube  3060 , the embodiment depicted in  FIGS. 157 and 160-170  includes a closure solenoid  3070  that is linked to the closure tube  3060  by a linkage arm  3072  that is pivotally pinned or otherwise attached to the closure tube  3030 . When the solenoid is actuated, the linkage arm  3072  is driven in the distal direction which drives the closure tube  3060  distally on the end of the elongate channel  3030 . As the closure tube  3060  moves distally, it causes the anvil assembly  3010  to pivot to a closed position. In an alternative embodiment, the solenoid may comprise an annular solenoid mounted on the distal end of the end effector drive housing  1010 . The closure tube would be fabricated from a metal material that could be magnetically attracted and repelled by the annular solenoid to result in the longitudinal movement of the closure tube. 
     In at least one form, the end effector  3060  further includes a unique anvil locking system  3080  to retain the anvil assembly  3010  locked in position when it is closed onto the target tissue. In one form, as can be seen in  FIG. 157 , the anvil locking system  3080  includes an anvil lock bar  3082  that extends transversely across the elongate channel  3030  such that the ends thereof are received within corresponding lock bar windows  3036  formed in the elongate channel  3030 . See  FIG. 158 . Referring to  FIG. 161 , when the closure tube  3060  is in its distal-most “closed” position, the ends of the lock bar  3082  protrude laterally out through the lock bar windows  3036  and extend beyond the proximal end of the closure tube  3060  to prevent it from moving proximally out of position. The lock bar  3082  is configured to engage a solenoid contact  3076  supported in the end effector drive housing  1010 . The solenoid contact  3076  is wired to a control system for controlling the solenoid  3070 . The control system includes a source of electrical power either supplied by a battery or other source of electrical power in the robotic system or handle assembly, whichever the case may be. 
     The firing member  3100  is rotatably journaled on an implement drive shaft  1300  that is rotatably supported within an elongate channel  2830  that is configured to support a surgical staple cartridge therein (not shown). The implement drive shaft  1300  has a bearing segment  1304  formed thereon that is rotatably supported in a bearing sleeve  2834  formed in the end effector connector housing  2832  and operably interfaces with the rotary transmission  750  in the manner described above. Rotation of the implement drive shaft  1300  in one direction causes the firing member  3100  to be driven distally through the elongate channel  3030  and rotation of the implement drive shaft  1300  in an opposite rotary direction will cause the firing member  1200 ″ to be retracted in the proximal direction “PD”. As can be seen in  FIGS. 157 and 160-170 , the firing member  3100  has an actuation bar  3102  configured to engage the lock bar  3082  as will be discussed in further detail below. 
     The anvil locking system  3080  further includes an anvil pulling assembly  3090  for selectively pulling the anvil into wedging locking engagement with the closure tube  3060  when the closure tube  3060  has been moved into its distal-most position wherein the distal end of the closure tube  3060  is in contact with an anvil ledge  3013  formed on the anvil assembly  3010 . In one form, the anvil pulling assembly  3090  includes a pair of anvil pull cables  3092  that are attached to the proximal end of the anvil assembly  3010  and protrude proximally through the elongate shaft assembly to the tool mounting portion or handle assembly, whichever the case may be. The pull cables  3092  may be attached to an actuator mechanism on the handle assembly or be coupled to one of the drive systems on the tool mounting portion that is configured to apply tension to the cables  3092 . 
     Operation of the end effector  3000  will now be described.  FIGS. 168 and 169  illustrate the anvil assembly  3010  in an open position.  FIG. 168  illustrates the firing member  3100  in proximal-most position wherein a new staple cartridge (not shown) may be mounted in the elongate channel  3030 . The closure tube  3060  is also in its proximal-most unactuated position. Also, as can be seen in  FIG. 167 , when the firing member  3100  is in its proximal-most position, the actuation bar  3102  has biased the lock bar into engagement with the solenoid contact  3076  which enables the solenoid to be activated for the next closure sequence. Thus, to commence the closure process, the rotary drive shaft  752  is actuated to move the firing member  3100  to its starting position illustrated in  FIG. 169 . When in that position, the actuation bar  3102  has moved in the proximal direction sufficiently to enable the lock bar  3082  to move out of engagement with the solenoid contact  3076  such that when power is supplied to the solenoid control circuit, the solenoid link  3072  is extended. Control power is then applied—either automatically or through a switch or other control mechanism in the handle assembly to the solenoid  3070  which moves the closure tube  3060  distally until the distal end of the closure tube  3060  contacts the ledge  3013  on the anvil assembly  3010  to cause the anvil assembly to pivot closed on the firing member  1200 ″ as shown in  FIG. 162 . As can be seen in that Figure, the lock bar  3082  is positioned to prevent movement of the closure tube  3060  in the proximal direction. When in that position, the clinician then applies tension to the pull cables  3092  to pull the proximal end of the anvil assembly  3010  into wedging engagement with the closure tube  3060  to lock the anvil assembly  3010  in the closed position. Thereafter, the firing member  1200 ″ may be driven in the distal direction through the tissue clamped in the end effector  3000 . Once the firing process has been completed. The implement drive shaft is rotated in an opposite direction to return the firing member  3100  to its starting position wherein the actuation bar  3102  has once again contacted the lock bar  3082  to flex it into contact with the solenoid contact  3076  and to pull the ends of the lock bar  3082  into the windows  3036  in the elongate channel  3030 . When in that position, when power is supplied to the solenoid control system, the solenoid  3070  retracts the closure tube  3060  in the proximal direction to its starting or open position shown in  FIGS. 167 and 168 . As the closure tube  3060  moves proximally out of engagement with the anvil assembly  3010 , the anvil spring  3050  applies a biasing force to the anvil trunnions  3012  to bias the anvil assembly to the open position shown in  FIG. 168 . 
       FIGS. 171-178  illustrate another exemplary elongate shaft assembly  3200  that has another exemplary quick disconnect coupler arrangement  3210  therein. In at least one form, for example, the quick disconnect coupler arrangement  3210  includes a proximal coupler member  3212  in the form of a proximal outer tube segment  3214  that, in one arrangement, may have a tube gear segment  354  thereon that is configured to interface with the first drive system  350  in the above-described manner when the device is to be robotically controlled. In another embodiment, however, the proximal outer tube segment  3214  may interface with a manually-actuatable rotation nozzle  2512  mounted to a handle assembly in the above-described manner. As discussed above, the first drive system  350  in a robotically-controlled application or the rotation nozzle  2512  in a handheld arrangement serve to rotate the elongate shaft assembly  3200  and the end effector operably coupled thereto about the longitudinal tool axis “LT-LT”. See  FIG. 171 . The proximal outer tube segment  3214  has a “necked-down” distal end portion  3216  that is configured to receive a locking collar thereon. 
     In the exemplary embodiment depicted in  FIGS. 171-178 , the elongate shaft assembly  3200  includes a proximal drive shaft segment  380 ″ that may be substantially identical to the proximal drive shaft segment  380  described above except for the differences discussed below and be configured to receive rotary and axial control motions from the robotic system or handle assembly in the various manners disclosed herein. The illustrated embodiment may be used with an articulation joint  700  as described above and include articulation cables  434  and  454  that may be coupled to the articulation control drives in the various manners described herein. A proximal filler material  3220  is provided within the proximal outer tube segment  3214  to provide axial support for the articulation cable end portions  434 A,  434 B,  454 A,  454 B. Each articulation cable end portion  434 A,  434 B,  454 A,  454 B extends through a corresponding proximal articulation passage  3222  provided through the proximal filler material  3220 . Each articulation cable end portion  434 A,  434 B,  454 A,  454 B further has a proximal articulation clip  3224  attached thereto that is configured to slide within the corresponding articulation passage  3222 . The proximal articulation clips  3224  may be fabricated from metal or polymer material and each have a pair of flexible clip arms  3226  that each have a fastener cleat  3228  formed thereon. Likewise, the proximal drive shaft segment  380 ″ is movable received in a shaft passage  3230  in the proximal filler material  3220 . A drive shaft connection clip  3240  thereon. In one exemplary form, the drive shaft connection clip  3240  is formed with a central tubular connector portion  3242  and two flexible clip arms  3244  thereon that each have a fastener cleat  3248  thereon. 
     As can be further seen in  FIGS. 171, 172 and 176-178 , the quick disconnect arrangement  3210  further includes a distal coupler member  3250  in the form of a distal outer tube segment  3252  that is substantially similar to the distal outer tube portion  231  described above except that the distal outer tube segment  3252  includes a necked down proximal end portion  3254 . The distal outer tube segment  3252  is operably coupled to an end effector  1000  of the various types disclosed herein and includes a distal drive shaft segment  540 ″ that may be substantially similar to distal drive shaft segment  540  described above except for the differences noted below. A distal filler material  3260  is provided within the distal outer tube segment  3252  to provide axial support for the distal articulation cable segments  444 ,  445 ,  446 ,  447 . Each distal articulation cable segment  444 ,  445 ,  446 ,  447  extends through a corresponding distal articulation passage  3262  provided through the distal filler material  3260 . Each distal articulation cable segment  444 ,  445 ,  446 ,  447  further has a distal articulation bayonet post  3270  attached thereto that is configured to slide between the clip arms  3226  of the corresponding proximal articulation clip  3224 . Each distal articulation bayonet post  3270  is configured to be retainingly engaged by the fastener cleats  3228  on the corresponding clip arms  3226 . Likewise, the distal drive shaft segment  540 ″ is movably received in a distal shaft passage  3264  in the distal filler material  3260 . A distal drive shaft bayonet post  3280  is attached to the proximal end of the distal drive shaft segment  540 ″ such that it may protrude proximally beyond the distal articulation bayonet posts  3270 .  FIG. 172  illustrates the position of the distal drive shaft bayonet post  3280  (in broken lines) relative to the distal articulation bayonet posts  3270 . The distal drive shaft bayonet post  3280  is configured to be retainingly engaged by the fastener cleats  3248  on the corresponding clip arms  3244  on the drive shaft connection clip  3240 . 
     As can be seen in  FIGS. 171-178 , the exemplary quick disconnect coupler arrangement  3210  further includes an axially movable lock collar  3290  that is movably journaled on the necked down proximal end portion  3254  of the distal outer tube segment  3252 . As can be most particularly seen in  FIG. 174 , one form of the lock collar  3290  includes an outer lock sleeve  3292  that is sized to be slidably received on the necked down portions  3216 ,  3254  of the proximal outer tube segment  3214  and distal outer tube segment  3254 , respectively. The outer lock sleeve  3292  is coupled to central lock body  3294  by a bridge  3295 . The bridge  3295  is configured to slide through a distal slot  3255  in the necked down portion  3254  of the distal outer tube segment  3254  as well as a proximal slot  3217  in the necked down portion  3216  of the proximal outer tube segment  3214  that is slidably received within the necked down proximal end portion  3254  of the distal outer tube segment  3252  and may also slidably extend into the necked down portion  3216  of the proximal outer tube segment  3214 . As can be further seen in  FIG. 174 , the central lock body  3294  has a plurality of passages  3296  for receiving the articulation posts and clips therethrough. Likewise, the central lock body  3294  has a central drive shaft passage  3298  for movably receiving the distal drive shaft segment  540 ″ therein. 
     Use of the exemplary quick disconnect coupler arrangement  3210  will now be described. Referring first to  FIGS. 171 and 172 , the distal coupler member  3250  is axially aligned with the proximal coupler member  3212  such that the bridge  3295  is aligned with the slot  3217  in the necked down portion  3216  of the proximal outer tube segment  3214  and the distal drive shaft bayonet post  3280  is aligned with the central tubular connector portion  3242  on the proximal drive shaft connector clip  3240 . Thereafter, the distal coupler member  3250  is brought into abutting engagement with the proximal coupler member  3212  to cause the distal drive shaft bayonet post  3280  to slide into the central tubular segment  3214  an ultimately into retaining engagement with the fastener cleats  3248  on the proximal drive shaft connector clip  3240 . Such action also causes each distal articulation bayonet connector post  3270  to be retainingly engaged by the fastener cleats  3228  on the proximal articulation connector clips  3224  as shown in  FIG. 176 . It will be appreciated that as the distal drive shaft bayonet post  3280  is inserted between the clip arms  3244 , the clip arms  3244  flex outward until the fastener cleats  3248  engage a shoulder  3281  on the post  3280 . Likewise, as each of the distal articulation bayonet posts  3270  are inserted between their corresponding connector arms  3226 , the connector arms  3226  flex outward until the fastener cleats  3228  engage a shoulder  3271  on the post  3270 . Once the distal drive shaft segment  540 ″ has been connected to the proximal drive shaft segment  380 ″ and the distal articulation cable segments  444 ,  445 ,  446 ,  447  have been connected to the articulation cable end portions  434 A,  434 B,  454 A,  454 B, respectively, the user may then slide the outer lock sleeve  3292  proximally to the position shown in  FIGS. 177 and 178 . When in that position, the central lock body  3294  prevents the clip arms  3244 ,  3226  from flexing outward to thereby lock the distal coupler member  3250  to the proximal coupler member  3212 . To disconnect the distal coupler member  3250  from the proximal coupler member  3212 , the user moves the outer lock sleeve  392  to the position shown in  FIGS. 175 and 176  and thereafter pulls the coupler members  3250 ,  3212  apart. As opposing axial separation motions are applied to the coupler members  3250 ,  3212 , the clip arms  3244  and  3226  are permitted to flex out of engagement with the distal drive shaft bayonet post and the distal articulation bayonet posts, respectively. 
     NON-LIMITING EXAMPLES 
     One exemplary form comprises a surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. In at least one exemplary form, the surgical tool includes a drive system that is configured to interface with a corresponding portion of the tool drive assembly of the robotic system for receiving the robotically-generated output motions therefrom. A drive shaft assembly operably interfaces with the drive system and is configured to receive the robotically-generated output motions from the drive system and apply control motions to a surgical end effector that operably interfaces with the drive shaft assembly. A manually-actuatable control system operably interfaces with the drive shaft assembly to selectively apply manually-generated control motions to the drive shaft assembly. 
     In connection with another general exemplary form, there is provided a surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly. In at least one exemplary form, the surgical tool includes a surgical end effector that comprises at least one component portion that is selectively movable between first and second positions relative to at least one other component portion thereof in response to control motions applied thereto. An elongate shaft assembly is operably coupled to the surgical end effector and comprises at least one gear-driven portion that is in operable communication with the at least one selectively movable component portion. A tool mounting portion is operably coupled to the elongate shaft assembly and is configured to operably interface with the tool drive assembly when coupled thereto. At least one exemplary form further comprises a tool mounting portion that comprises a driven element that is rotatably supported on the tool mounting portion and is configured for driving engagement with a corresponding one of the at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom. A drive system is in operable engagement with the driven element to apply robotically-generated actuation motions thereto to cause the corresponding one of the at least one gear driven portions to apply at least one control motion to the selectively movable component. A manually-actuatable reversing system operably interfaces with the elongate shaft assembly to selectively apply manually-generated control motions thereto. 
     In accordance with another exemplary general form, there is provided a surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate rotary output motions. In at least one exemplary form, the surgical tool comprises a rotary drive system that is configured to interface with a corresponding portion of the tool drive assembly of the robotic system for receiving the robotically-generated rotary output motions therefrom. A rotary drive shaft assembly operably interfaces with the rotary drive system and is configured to receive the robotically-generated rotary output motions from the rotary drive system and apply rotary drive motions to a surgical end effector operably that interfaces with the rotary drive shaft assembly. A manually-actuatable reversing system operably interfaces with the rotary drive shaft assembly to selectively apply manually-generated rotary drive motions to the rotary drive shaft assembly. 
     Another exemplary form comprises a surgical stapling device that includes an elongate shaft assembly that has a distal end and defines a longitudinal tool axis. The device further includes an end effector that comprises an elongate channel assembly that includes a portion that is configured to operably support a surgical staple cartridge therein. An anvil is movably supported relative to the elongate channel assembly. The surgical stapling device further comprises a rotary joint that couples the elongate channel assembly to the distal end of the elongate shaft assembly to facilitate selective rotation of the elongate channel assembly about the longitudinal tool axis relative to the distal end of the elongate shaft assembly. 
     Another exemplary form comprises a rotary support joint assembly for coupling a first portion of a surgical instrument to a second portion of a surgical instrument. In at least one exemplary form, the rotary support joint assembly comprises a first annular race in the first portion and a second annular race in the second portion and which is configured for substantial registration with the first annular race when the second portion is joined with the first portion. A ring-like bearing is supported within the registered first and second annular races. 
     In connection with another exemplary general form, there is provided a rotary support joint assembly for coupling a surgical end effector to an elongate shaft assembly of a surgical instrument. In at least one exemplary form, the rotary support joint assembly comprises a cylindrically-shaped connector portion on the surgical end effector. A first annular race is provided in the perimeter of the connector portion. A socket is provided on the elongate shaft and is sized to receive the cylindrically-shaped connector portion therein such that the cylindrically-shaped connector portion may freely rotate relative to the socket. A second annular race is provided in an inner wall of the socket and is configured for substantial registration with the first annular race when the cylindrically-shaped connector portion is received within the socket. A window is provided in the socket in communication with the second annular race. A ring-like bearing member that has a free end is insertable through the window into the first and second registered annular races. 
     In connection with another exemplary general form, there is provided a method for rotatably coupling a first portion of a surgical instrument to a second portion of a surgical instrument. In various exemplary forms, the method comprises forming a first annular race in the first portion and forming a second annular race in the second portion. The method further includes inserting the first portion into the second portion such that the first and second annular races are in substantial registration and inserting a ring-like bearing within the registered first and second annular races. 
     Another exemplary form comprises a drive shaft assembly for a surgical instrument that includes a plurality of movably interlocking joint segments that are interconnected to form a flexible hollow tube. A flexible secondary constraining member is installed in flexible constraining engagement with the plurality of movably interlocking joint segments to retain the interlocking joint segments in movable interlocking engagement while facilitating flexing of the drive shaft assembly. 
     In accordance with another general exemplary form, there is provided a composite drive shaft assembly for a surgical instrument that includes a plurality of movably interlocking joint segments that are cut into a hollow tube by a laser and which has a distal end and a proximal end. A flexible secondary constraining member is in flexible constraining engagement with the plurality of movably interlocking joint segments to retain the interlocking joint segments in movable interlocking engagement while facilitating flexing of the drive shaft assembly. 
     In accordance with yet another exemplary general form, there is provided a drive shaft assembly for a surgical instrument that includes a plurality of movably interconnected joint segments wherein at least some joint segments comprise a ball connector portion that is formed from six substantially arcuate surfaces. A socket portion is sized to movably receive the ball connector portion of an adjoining joint segment therein. A hollow passage extends through each ball connector portion to form a passageway through the drive shaft assembly. The drive shaft assembly may further include a flexible secondary constraining member installed in flexible constraining engagement with the plurality of movably interconnected joint segments to retain the joint segments in movable interconnected engagement while facilitating flexing of the drive shaft assembly. 
     Another exemplary form comprises a method of forming a flexible drive shaft assembly for a surgical instrument. In various exemplary embodiments, the method comprises providing a hollow shaft and cutting a plurality of movably interconnected joint segments into the hollow shaft with a laser. The method further comprises installing a secondary constraining member on the hollow shaft to retain the movably interconnected joint segments in movable interconnected engagement while facilitating flexing of the drive shaft assembly. 
     In connection with another exemplary form, there is provided a method of forming a flexible drive shaft assembly for a surgical instrument. In at least one exemplary embodiment, the method comprises providing a hollow shaft and cutting a plurality of movably interconnected joint segments into the hollow shaft with a laser. Each joint segment comprises a pair of opposing lugs wherein each lug has a tapered outer perimeter portion that is received within a corresponding socket that has a tapered inner wall portion which cooperates with the tapered outer perimeter portion of the corresponding lug to movably retain the corresponding lug therein. 
     Another exemplary general form comprises a rotary drive arrangement for a surgical instrument that has a surgical end effector operably coupled thereto. In one exemplary form, the rotary drive arrangement includes a rotary drive system that is configured to generate rotary drive motions. A drive shaft assembly operably interfaces with the rotary drive system and is selectively axially movable between a first position and a second position. A rotary transmission operably interfaces with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector. 
     In connection with another exemplary general form, there is provided a surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to generate output motions. In at least one exemplary form the surgical tool comprises a tool mounting portion that is configured operably interface with a portion of the robotic system. A rotary drive system is operably supported by the tool mounting portion and interfaces with the tool drive assembly to receive corresponding output motions therefrom. An elongate shaft assembly operably extends from the tool mounting portion and includes a drive shaft assembly that operably interfaces with the rotary drive system. The drive shaft assembly is selectively axially movable between a first position and a second position. The surgical tool further comprises a surgical end effector that is rotatably coupled to the elongate shaft assembly for selective rotation relative thereto. A rotary transmission operably interfaces with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of one of the rotary drive motions to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the rotary drive system causes the rotary transmission to apply a second rotary control motion to the surgical end effector. 
     In connection with yet another exemplary general form, there is provided a surgical instrument that comprises a handle assembly and a drive motor that is operably supported by the handle assembly. An elongate shaft assembly operably extends from the handle assembly and includes a drive shaft assembly that operably interfaces with the drive motor and is selectively axially movable between a first position and a second position. A surgical end effector is rotatably coupled to the elongate shaft assembly for selective rotation relative thereto. A rotary transmission operably interfaces with the drive shaft assembly and the surgical end effector such that when the drive shaft assembly is in the first axial position, application of a rotary drive motion to the drive shaft assembly by the drive motor causes the rotary transmission to apply a first rotary control motion to the surgical end effector and when the drive shaft assembly is in the second axial position, application of the rotary drive motion to the drive shaft assembly by the drive motor causes the rotary transmission to apply a second rotary control motion to the surgical end effector. 
     Various exemplary embodiments also comprise a differential locking system for a surgical instrument that includes a surgical end effector that is powered by a rotary drive shaft assembly that is movable between a plurality of discrete axial positions. In at least one form, the differential locking system comprises at least one retention formation on the rotary drive shaft assembly that corresponds to each one of the discrete axial positions. At least one lock member is operably supported relative to rotary drive shaft assembly for retaining engagement with the at least one retention formation when the rotary drive shaft assembly is moved to the discrete axial positions associated therewith. 
     In connection with another exemplary general form, there is provided a differential locking system for a surgical instrument that includes a surgical end effector powered by a rotary drive shaft assembly that is movable between a first axial position and a second axial position. In at least one exemplary form, the differential locking system comprises a differential housing that operably interfaces with the rotary drive shaft assembly and the surgical end effector. At least one spring-biased lock member operably supported by the differential housing for retaining engagement with a first portion of the rotary drive shaft assembly when the rotary drive shaft assembly is in the first axial position and the at least one spring-biased lock member further configured to retainingly engage a second portion of the rotary drive shaft assembly when the rotary drive shaft assembly is in the second axial position. 
     In connection with yet another exemplary general form, there is provided a differential locking system for a surgical instrument that includes a surgical end effector that is powered by a rotary drive shaft assembly that is movable between a first axial position and a second axial position. In at least one exemplary form, the differential locking system comprises a differential housing that operably interfaces with the rotary drive shaft assembly and the surgical end effector. At least one spring member is provided on a portion of the rotary drive shaft assembly wherein each spring member defines a first retaining position that corresponds to the first axial position of the rotary drive shaft assembly and a second retaining position that corresponds to the second axial position of the rotary drive shaft assembly. A lock member is operably supported by the differential housing and corresponds to each of the at least one spring members for retaining engagement therewith such that the lock member retainingly engages the corresponding spring member in the first retaining position when the rotary drive shaft assembly is in the first axial position and the lock member retainingly engages the corresponding spring member in the second retaining position when the rotary drive shaft assembly is in the second axial position. 
     Various other exemplary embodiments comprise a surgical instrument that includes an end effector and a proximal rotary drive train assembly that is operably coupled to a source of rotary and axial control motions. The proximal rotary drive train assembly is longitudinally shiftable in response to applications of the axial control motions thereto. The surgical instrument further includes a distal rotary drive train assembly that is operably coupled to the end effector to apply the rotary control motions thereto. A proximal axial drive train assembly is operably coupled to another source of axial control motions. A distal axial drive train assembly is operably coupled to the end effector to apply the axial control motions thereto. The instrument further comprises a coupling arrangement for simultaneously attaching and detaching the proximal rotary drive train assembly to the distal rotary drive train assembly and the proximal axial drive train assembly to the distal axial drive train assembly. 
     In connection with another general aspect, there is provided a coupling arrangement for attaching an end effector including a plurality of distal drive train assemblies that are configured to apply a plurality of control motions to the end effector to corresponding proximal drive train assemblies communicating with a source of drive motions. In one exemplary form, the coupling arrangement comprises a proximal attachment formation on a distal end of each proximal drive train assembly and a proximal coupler member that is configured to operably support each proximal drive train assembly therein such that the proximal attachment formations thereon are retained in substantial coupling alignment. A distal attachment formation is provided on a proximal end of each distal drive train assembly. Each distal attachment formation is configured to operably engage a proximal attachment formation on the distal end of a corresponding proximal drive train when brought into coupling engagement therewith. A distal coupler member is operably coupled to the end effector and is configured to operably support each distal drive train therein to retain the distal attachment formations thereon in substantial coupling alignment. A locking collar is movable from an unlocked position wherein the distal drive train assemblies may be decoupled from the corresponding proximal drive train assemblies and a locked position wherein the distal drive train assemblies are retained in coupled engagement with their corresponding proximal drive train assemblies. 
     In connection with another general aspect, there is provided a surgical instrument that includes an end effector that is configured to perform surgical activities in response to drive motions applied thereto. An exemplary form of the instrument further includes a source of drive motions and a first proximal drive train assembly that operably interfaces with the source of drive motions for receiving corresponding first drive motions therefrom. A second proximal drive train assembly operably interfaces with the source of drive motions for receiving corresponding second drive motions therefrom. A first distal drive train assembly operably interfaces with the end effector and is configured to receive the corresponding first drive motions from the first proximal drive train assembly when it is operably coupled thereto. A second distal drive train assembly operably interfaces with the end effector and is configured to receive the corresponding second drive motions from the second proximal drive train assembly when it is operably coupled thereto. The instrument further comprises a coupling arrangement that includes a first coupling member that operably supports the first and second proximal drive train assemblies therein. The coupling arrangement further includes a second coupling member that operably supports the first and second distal drive train assemblies therein and is configured for axial alignment with the first coupling member such that when the second coupling member is axially aligned with the first coupling member, the first distal drive train assembly is in axial alignment with the first proximal drive train assembly for operable engagement therewith and the second distal drive train assembly is in axial alignment with the second proximal drive train assembly for operable engagement therewith. A locking collar is movably journaled on one of the first and second coupling members and is configured to move between an unlocked position wherein the first and second distal drive train assemblies are detachable from the first and second proximal drive train assemblies, respectively and a locked position wherein the first and second distal drive train assemblies are retained in operable engagement with the first and second proximal drive train assemblies, respectively. 
     In accordance with another general aspect, there is provided a surgical cartridge that includes a cartridge body that defines a path therethrough for operably receiving a firing member of a surgical instrument. The surgical cartridge further includes an alignment member that is operably supported in the cartridge body and is configured to move the firing member from an inoperable configuration wherein firing member is misaligned with the path to an operable configuration wherein the firing member is in alignment with the path when the firing member is driven into contact therewith. 
     In accordance with yet another general aspect, there is provided an end effector for a surgical instrument. In at least one form, the end effector comprises a support member that has a slot and a lockout notch that is adjacent to the slot. The end effector further comprises a firing member that is movable between an inoperable configuration and an operable configuration, wherein the firing member is aligned with the slot and is structured to translate in the slot when it is in the operable configuration and wherein the firing member is engaged with the lockout notch and misaligned with the slot when it is in the inoperable configuration. 
     Another exemplary embodiment comprises a surgical instrument that includes an elongate channel that is configured to removably support a cartridge therein. In at least one form, the cartridge comprises a cartridge body and an alignment member that is movably supported within the cartridge body for movement from a first position to a second position therein. The surgical instrument also comprises a firing member that is operably supported relative to the elongate channel for movement between a starting position and an ending position upon application of actuation motions thereto. The firing member is incapable from moving from the starting position to the ending position unless the firing member is in operable engagement with the alignment member in the cartridge body. 
     Another exemplary embodiment comprises an end effector for a surgical instrument. In at least one form, the end effector comprises an elongate channel that is configured to removably support a cartridge therein. A firing member is operably supported relative to the elongate channel for movement between a starting and ending position. An implement drive shaft is in operable engagement with the firing member for moving the firing member between the starting and ending positions upon applications of actuation motions thereto from a drive arrangement. The implement drive shaft is moveable from an inoperable position wherein the implement drive shaft is out of operable engagement with the drive arrangement to an operable position wherein the implement drive shaft is in operable engagement with the drive arrangement. The end effector further comprises an alignment member that is movably supported for contact with the implement drive shaft to move the implement drive shaft from the inoperable position to the operable position upon installation of a cartridge in the elongate channel. 
     Another exemplary embodiment includes a surgical instrument that comprises an elongate channel and a cartridge that is removably supported in the elongate channel. A firing member is operably supported relative to the elongate channel for movement between a starting and ending position. An implement drive shaft is in operable engagement with the firing member for moving the firing member between the starting and ending positions upon applications of actuation motions thereto from a drive arrangement. The implement drive shaft is moveable from an inoperable position wherein the implement drive shaft is out of operable engagement with the drive arrangement to an operable position wherein the implement drive shaft is in operable engagement with the drive arrangement. The surgical instrument further comprises an alignment member movably supported for contact with the implement drive shaft to move the implement drive shaft from the inoperable position to the operable position upon installation of a cartridge in the elongate channel. 
     The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application. 
     Although the present invention has been described herein in connection with certain disclosed exemplary embodiments, many modifications and variations to those exemplary embodiments may be implemented. For example, different types of end effectors may be employed. Also, where materials are disclosed for certain components, other materials may be used. The foregoing description and following claims are intended to cover all such modification and variations. 
     Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.