Feedback algorithms for manual bailout systems for surgical instruments

Abstract

The present disclosure provides a surgical instrument including an end effector, a drive member movable to effectuate a motion in said end effector, a motor operable to move the drive member to effectuate the motion in the end effector and a bailout assembly operable to perform a mechanical bailout of the surgical instrument in response to a bailout error. The bailout assembly includes a bailout door, a bailout handle accessible through the bailout door. The bailout handle is operable to move the drive member to effectuate a bailout motion in the end effector. A controller includes a memory and a processor coupled to the memory. The processor is configured to detect the bailout error. The processor is programmed to stop the motor in response to the detection of the bailout error.

1 - 20 . (canceled) 
     
     
         21 . A modular connection assembly for use with a motor powered surgical system, the modular connection assembly comprising:
 a drive assembly comprising an elongate firing shaft configured to operably couple to a firing drive of the motor powered surgical system, wherein the elongate firing shaft is configured to be driven distally by a firing motion from the firing drive;   a tapered surface configured to slide along a receiving surface of the motor powered surgical system, wherein the tapered surface is configured to slide across the firing drive to operably align the elongate firing shaft with the firing drive; and   a locking arm pivotably coupled to the modular connection assembly, wherein the locking arm is configured bring the modular connection assembly into a locked configuration with the motor powered surgical system.   
     
     
         22 . The modular connection assembly of  claim 21 , further comprising:
 a shaft assembly extending from a distal end of the modular connection assembly; and   an end effector extending from a distal end of the shaft assembly.   
     
     
         23 . The modular connection assembly of  claim 22 , wherein the tapered surface and the receiving surface form a coupling interface, wherein the end effector is on a first side of the coupling interface, and wherein a motor of the motor powered surgical system on a second side of the coupling interface. 
     
     
         24 . The modular connection assembly of  claim 22 , wherein the end effector comprises:
 a first jaw;   a second jaw, wherein the second jaw is pivotable relative to the first jaw between an open configuration and a closed configuration;   a staple cartridge comprising staples removably stored therein; and   a firing member operably coupled to the elongate firing shaft.   
     
     
         25 . The modular connection assembly of  claim 24 , wherein at least a portion of the elongate firing shaft is flexible. 
     
     
         26 . The modular connection assembly of  claim 24 , wherein the firing member is configured to translate towards a distal end of the end effector based on the firing motion from the firing drive, and wherein the firing member is configured to translate towards a proximal end of the end effector based on a retraction motion. 
     
     
         27 . The modular connection assembly of  claim 26 , wherein the firing member comprises an engagement shoulder extending transversely therefrom, and wherein the engagement shoulder is configured to maintain a gap distance between the first jaw and the second jaw as the firing member translates towards the distal end of the end effector. 
     
     
         28 . The modular connection assembly of  claim 21 , wherein the locking arm is a first locking arm, wherein the modular connection assembly further comprising a second locking arm, and wherein the first locking arm and the second locking arm are configured to cooperatively bring the modular connection assembly into the locked configuration with to the motor powered surgical system. 
     
     
         29 . The modular connection assembly of  claim 21 , wherein the tapered surface is a first tapered surface, wherein the receiving surface is a first receiving surface, wherein the modular connection assembly comprises a second tapered surface, wherein the motor powered surgical system comprises a second receiving surface, wherein the first tapered surface and the second tapered surface are configured to slide along the first receiving surface and the second receiving surface, respectively, to cooperatively align the elongate firing shaft with the firing drive. 
     
     
         30 . The modular connection assembly of  claim 21 , wherein the locking arm comprises a tapered shoulder, wherein the motor powered surgical system comprises a shoulder engagement portion, and wherein the tapered shoulder is configured to align with the shoulder engagement portion in the locked configuration. 
     
     
         31 . The modular connection assembly of  claim 30 , wherein the tapered shoulder is biased toward the shoulder engagement portion. 
     
     
         32 . The modular connection assembly of  claim 30 , wherein the locking arm is configured to be pivoted relative to the modular connection assembly to drive the tapered shoulder away from the shoulder engagement portion. 
     
     
         33 . A modular connection assembly for use with a motor powered surgical system, the modular connection assembly comprising:
 an elongate firing shaft configured to operably couple to a firing drive of the motor powered surgical system, wherein the elongate firing shaft is configured to be driven distally by a firing motion from the firing drive;   a ramped surface configured to slide along a ramped receiving surface of the motor powered surgical system, wherein sliding the ramped surface along the ramped receiving surface is configured to operably align the elongate firing shaft with the firing drive; and   a latch system pivotably coupled to the modular connection assembly, wherein the latch system comprises a latch arm configured to be received within a detent of the motor powered surgical system.   
     
     
         34 . The modular connection assembly of  claim 33 , further comprising:
 a shaft assembly extending from a distal end of the modular connection assembly; and   an end effector extending from a distal end of the shaft assembly.   
     
     
         35 . The modular connection assembly of  claim 34 , wherein the ramped surface and the ramped receiving surface form a coupling interface, wherein the end effector is on a first side of the coupling interface, and wherein a motor of the motor powered surgical system on a second side of the coupling interface. 
     
     
         36 . The modular connection assembly of  claim 34 , wherein the end effector comprises:
 a first jaw;   a second jaw, wherein the second jaw is movable relative to the first jaw between an open configuration and a closed configuration;   a staple cartridge comprising staples removably stored therein; and   a firing member operably coupled to the elongate firing shaft.   
     
     
         37 . The modular connection assembly of  claim 36 , wherein at least a portion of the elongate firing shaft is flexible. 
     
     
         38 . The modular connection assembly of  claim 36 , wherein the firing member is configured to translate towards a distal end of the end effector based on the firing motion from the firing drive, and wherein the firing member is configured to translate towards a proximal end of the end effector based on a retraction motion. 
     
     
         39 . The modular connection assembly of  claim 34 , wherein the ramped surface is a first ramped surface, wherein the ramped receiving surface is a first ramped receiving surface, wherein the modular connection assembly comprises a second ramped surface, wherein the motor powered surgical system comprises a second ramped receiving surface, wherein the first ramped surface and the second ramped surface are configured to slide along the first ramped receiving surface and the second ramped receiving surface, respectively, to cooperatively align the elongate firing shaft with the firing drive. 
     
     
         40 . A surgical instrument for use with a motor powered surgical system, the surgical instrument comprising:
 an firing rod configured to operably couple to a firing system of the motor powered surgical system, wherein the firing rod is configured to be driven distally by a firing motion from the firing system;   a tapered surface configured to slide along a receiving surface of the motor powered surgical system, wherein sliding the tapered surface along the receiving surface of the motor powered surgical system is configured to operably align the firing rod with the firing system; and   a locking system configured to lock the surgical instrument to the motor powered surgical system, wherein the locking system is pivotably coupled to the surgical instrument, and wherein the locking system comprises a lock arm configured to be received within an aperture of the motor powered surgical system.