Surgical instrument

Abstract

A surgical instrument. The surgical instrument has an end effector and a trigger in communication with the end effector. The surgical instrument also has a first sensor and an externally accessible memory device in communication with the first sensor. The first sensor has an output that represents a first condition of either the trigger or the end effector. The memory device is configured to record the output of the first sensor. In various embodiments, memory device may include an output port and/or a removable storage medium.

We claim: 
     
         1 - 20 . (canceled) 
     
     
         21 . A surgical instrument, comprising:
 a handle comprising a force delivery system, wherein the force delivery system is configured to operably deliver a changing force to a user holding the handle;   a shaft;   an end effector extending from the shaft;   a firing element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises a distal position; and   a sensor configured to detect when the firing element reaches the distal position, wherein the sensor operably communicates with the force delivery system, and wherein the sensor signals the force delivery system to deliver the changing force when the firing element reaches the distal position.   
     
     
         22 . The surgical instrument of  claim 21 , wherein the force delivery system comprises a firing trigger, wherein the force delivery system operably moves the firing trigger in a direction, and wherein the direction of the firing trigger is changed when the force delivery system delivers the changing force. 
     
     
         23 . The surgical instrument of  claim 21 , wherein the force delivery system comprises a motor that generates the changing force. 
     
     
         24 . The surgical instrument of  claim 23 , wherein the motor reverses its rotational direction when generating the changing force. 
     
     
         25 . The surgical instrument of  claim 21 , wherein the changing force comprises a force that changes direction. 
     
     
         26 . The surgical instrument of  claim 21 , wherein the sensor comprises an on-off type sensor. 
     
     
         27 . The surgical instrument of  claim 21 , comprising a gear train to move the firing element between the plurality of positions, wherein the force delivery system comprises a firing trigger geared into the gear train, and wherein movement of the firing trigger initiates movement of the firing element. 
     
     
         28 . The surgical instrument of  claim 27 , wherein the firing trigger delivers the changing force to the user. 
     
     
         29 . A surgical instrument, comprising:
 a handle comprising a tactile feedback generator, wherein the tactile feedback generator is configured to deliver a tactile feedback to a user;   an end effector operably linked to the handle;   an actuation element configured to move between a plurality of positions within the end effector, wherein the plurality of positions comprises an end-of-stroke position; and   a sensor configured to detect the position of the actuation element, wherein the sensor operably communicates with the tactile feedback generator, and wherein the tactile feedback generator delivers the tactile feedback to the user when the actuation element reaches the end-of-stroke position.   
     
     
         30 . The surgical instrument of  claim 29 , wherein the tactile feedback generator comprises a motor that operably communicates with the sensor, and wherein the motor generates the tactile feedback. 
     
     
         31 . The surgical instrument of  claim 30 , wherein the motor reverses its rotational direction when the tactile feedback generator delivers the tactile feedback. 
     
     
         32 . The surgical instrument of  claim 29 , wherein the tactile feedback delivered by the tactile feedback generator comprises a variable force. 
     
     
         33 . The surgical instrument of  claim 32 , wherein the variable force changes direction. 
     
     
         34 . The surgical instrument of  claim 29 , wherein the tactile feedback is delivered by the handle when the actuation element approaches the end-of-stroke position. 
     
     
         35 . The surgical instrument of  claim 29 , wherein the actuation element comprises a cutting element. 
     
     
         36 . A surgical instrument, comprising:
 a handle comprising:
 a drive system; and 
 a motor configured to produce a variable force when activated; 
   a shaft;   an actuation element configured to move between a first position and a second position relative to the shaft, wherein the drive system is configured to move the actuation element between the first position and the second position; and   a sensor configured to detect the position of the actuation element, wherein the sensor activates the motor when the actuation element reaches the second position.   
     
     
         37 . The surgical instrument of  claim 36 , wherein the variable force comprises a force that alternates direction. 
     
     
         38 . The surgical instrument of  claim 37 , wherein the variable force is delivered to a user by the handle. 
     
     
         39 . The surgical instrument of  claim 38 , comprising an end effector extending from the shaft, wherein the actuation element is configured to drive a cutting element through the end effector. 
     
     
         40 . The surgical instrument of  claim 36 , wherein the drive system comprises a motor. 
     
     
         41 . The surgical instrument of  claim 36 , wherein the shaft comprises an articulation joint. 
     
     
         42 . A surgical instrument, comprising:
 a handle comprising a force delivery system, wherein the force delivery system is configured to operably deliver a variable force to a user holding the handle;   a shaft assembly;   an end effector extending from the shaft assembly, wherein the end effector comprises an actuation element configured to move between a plurality of positions, and wherein the plurality of positions comprises a distal position; and   a sensor configured to detect when the actuation element approaches the distal position, wherein the sensor operably communicates with the force delivery system, and wherein the sensor signals the force delivery system to deliver the variable force when the actuation element approaches the distal position.   
     
     
         43 . The surgical instrument of  claim 42 , wherein the force delivery system comprises a motor that generates the variable force. 
     
     
         44 . The surgical instrument of  claim 43 , wherein the variable force comprises a force that alternates direction. 
     
     
         45 . The surgical instrument of  claim 42 , wherein the end effector is replaceable.